Fig. 2

Conceptual summary of exosuit-to-human power transmission. Power is generated at the cable end-effector. A portion of this power contributes to ankle plantarflexion (termed ankle augmentation power), while a portion is absorbed into the human-exosuit interfaces (termed proximal and distal interface powers). Power absorbed into the proximal (shank) and distal (foot) interfaces is due to viscoelastic deformation of interface materials and underlying biological tissues, as well as relative motion of the interface with respect to the body. Reporting convention: power absorbed by the interfaces is negative, and power returned by the interfaces is positive. Black arrows represent motions associated with each power term