Fig. 1

Protocol Set-up. Times, belt speeds, and trials for each experimental group. The time periods, Baseline (blue), Adaptation (red), and Post-adaptation (purple), are represented by the outlines. Numbers at the top represent the minutes spent in each section. D stands for dominant and ND stands for non-dominant. The color filling represents the individual belt velocities of the split-belt treadmill. Grey represents the standard velocity at 1.0 ms^− 1, light grey represents the slow velocity at 0.75 ms^− 1, and black represents the fast velocity at 1.25 ms^− 1. The exosuit resists the leg on the slow belt in Exo-Sb