Figure 3

Ankle joint mechanics (averaged over 5 subjects). Sagittal plane data (time-normalized to 101 data points across gait cycle) of paretic and non-paretic ankle mechanics (angle, moment, power) were analyzed from the last minute of each condition (NoEXO – black; UnPOW – red; POWx3 – blue). For clarity, data from POWx1 and POWx2 are not shown. The two vertical lines define the propulsion phase of stance (i.e., onset of propulsion and toe-off). During POW conditions, the exoskeleton generated plantarflexion moment during late stance (shown in dotted blue), and contributed to the increased total paretic moment (16% increase during POW relative to NoEXO, p < 0.05).