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Fig. 9 | Journal of NeuroEngineering and Rehabilitation

Fig. 9

From: A unilateral robotic knee exoskeleton to assess the role of natural gait assistance in hemiparetic patients

Fig. 9

Phase portrait representation of the knee movement from the trials performed by a healthy subject (HS1). Orange lines correspond to the movement of the assisted knee while cyan lines correspond to the movement of the unassisted knee; brown lines correspond to the set point followed by the robot. Solid lines represent the median movement, while semi-transparent lines correspond to the movement of individual steps. When the user wears the robot, the phase portrait of the assisted leg changes in hip and knee joints; however, the action of the robot during Echo and Pattern conditions compensates for the effect of wearing the robot and makes the phase portrait of the assisted leg more closely approach to the portrait of the unassisted leg

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