Fig. 2

Adaptation of robotic support: robotic stiffness of hip and knee joint and normalized BWS during the adaptive task for subject P22. On the z axis, the sum of hip and knee stiffness is shown, while it decreases from step 1 to step 50 (y axis). For every step, the stiffness profile along the gait cycle is shown on the x axis. Stance phase lasts ca. from 0 to 60% of the whole gait cycle. The color is proportional to the BWS normalized by body weight