Fig. 3

Effect of exosuit assistance on paretic ankle kinematics and kinetics. Time-normalized graphs of ankle angle, ankle moment and ankle power are shown, averaged over all stroke participants (n = 19, left column), full ambulators (speed > 0.93 m/s, n = 9, middle column) and limited ambulators (speed < 0.93 m/s, n = 10, right column). Walking without the exosuit is shown in black (noEXO), with the exosuit in red (EXO). Standard errors are indicated by the shaded area. Changes are indicated for ankle angle at initial contact, ankle angle mid swing, peak plantarflexion torque and positive power impulse during push-off, with non-significant average difference values between conditions in grey. Note that no interaction effect between exosuit and group was found for the ankle angle at initial contact or mid-swing; for the ankle torque and power the p-values from post-hoc testing are given for the full and limited community ambulators. The timing of dorsiflexion (green) and plantarflexion (blue) assistance are indicated at the bottom of the figure