Fig. 7

Example of set point generation with the experimental data of one healthy subject. A An example of the set-point calculated by the two assistive strategies (Pattern in blue and Echo in orange); they are compared with the movement of the master leg that fed the algorithm (brown dashed line) and with the movement of the equivalent leg whose motion should be synchronized with the generated set point (red dashed line). B Compares the phase portrait of the movement of the master leg (in brown) with the set point generated by the Pattern assistive strategy (in blue) or the echo assistive strategy (in orange). Two experimental conditions were evaluated: variable gait speed (two left panels) and constant gait speed (two right panels)