Figure 1
From: A neuromechanics-based powered ankle exoskeleton to assist walking post-stroke: a feasibility study
Illustration of the proportional myoelectric propulsion (PMP) powered exoskeleton. The soleus electromyography (EMG) and anterior-posterior ground reaction force (GRF) from an instrumented treadmill were collected in real-time to control the magnitude and timing of exoskeleton actuation. The proportional myoelectric propulsion (PMP) controller supplies plantarflexion moment proportional to the soleus EMG activity only during a phase of gait when the stance limb is subjected to an anteriorly directed ground reaction force. The red highlighted region denotes the duration in which the exoskeleton is activated.