Fig. 4

Exoskeleton assistance in perturbed walking. A The exoskeleton moment increased in response to pelvis push perturbations in the neuromuscular controller with COM feedback compared to the default neuromuscular controller and compared to steady-state walking assistance. B The type of controller had a significant influence on the average exoskeleton moment during the perturbed right stance phase after push perturbations [F(2,22) = 29.5001, p < 0.001]. C The assistive ankle moment decreased in response to pelvis pull perturbations in the neuromuscular controller with COM feedback compared to the default neuromuscular controller and compared to steady-state walking. D The type of controller had a significant influence on the average exoskeleton moment during the perturbed right stance phase after push perturbations [F(2,20) = 81.1381, p < 0.001]. A and C contain data of one representative subject. The bar plots in B and D contain data of all subjects with the dots representing the response of individual subjects and the bars the averages across subjects. A repeated measures anova with Tukey’s HSD post-hoc test was used to compare the exoskeleton moment between controllers