Ankle kinematics for without vs. passive vs. therapist-controlled orthoses across speeds. Mean ankle joint angle data for subjects with incomplete spinal cord injury who walked on a treadmill with partial bodyweight support at (left to right) 0.36 m/s (five subjects), 0.54 m/s (five subjects), 0.72 m/s (four subjects) and 0.89 m/s (four subjects). For each speed, subjects walked wearing no orthoses (without-orthoses), wearing orthoses unpowered (passive-orthoses) and wearing orthoses powered under pushbutton control by a therapist (therapist-controlled orthoses). Stride cycles begin (0%) and end (100%) at heel strike. Double support phases are indicated by vertical lines.