Fig. 2

The GEMS-H uses the DOFC to prescribe torque inputs into both hip joints (top). Without the need for explicit activity recognition or gait phase estimation, it can provide appropriate torque and power for a variety of walking tasks during both assist mode (bottom left) or resist mode (bottom right). For comparison, the grey lines in each figure show human nominal values (scaled down by multiplying by 0.1, and assuming a body weight of 75 kg at level ground) based on data made available by Bovi et. al [23]. Note that the exoskeleton’s definition of gait cycle percentage may differ slightly from this reference source, and that the GEMS-H does not measure joint angles as accurately as the motion capture system used in [23]