Fig. 4

Effect of exosuit assistance on paretic lower leg propulsion muscle activation. Time-normalized graphs are shown averaged over all stroke participants (left column, n = 19 Gastrocnemius; n = 18 Soleus muscle), full ambulators (speed > 0.93 m/s, middle column; n = 9, Gastrocnemius and n = 8 Soleus muscle) and limited ambulators (speed < 0.93 m/s, n = 10, right column). Average and standard deviation (shaded area) are shown for walking without the exosuit (black, noEXO) and with exosuit assistance (red, EXO). Values for the non-paretic leg are given for context, time-normalized to the non-paretic leg initial contacts. Muscle activity was normalized to the maximum of that respective muscle during walking without exosuit per individual, for the paretic and non-paretic muscles separately. The group average root-mean-square (RMS) activity values and standard error are indicated for each muscle over the phase where the plantarflexor muscles are activated to achieve propulsion, from non-paretic toe-off to paretic toe-off (average time window indicated for the paretic muscles in grey, note that this time window is not indicated for the non-paretic muscles). The timing of dorsiflexion (green) and plantarflexion (blue) assistance are indicated at the bottom of the figure. No significant effects of exosuit assistance were found, and neither were any interaction effects between exosuit effect and group