Fig. 4From: A unilateral robotic knee exoskeleton to assess the role of natural gait assistance in hemiparetic patientsAssistive pattern generation based on synchronizing a healthy gait pattern. The knee pattern is scaled and shifted according to the features extracted from the movement of the unassisted leg; afterward, it is provided as the set point for the robotic exoskeleton according to the gait phase estimated for the assisted limbBack to article page