Fig. 4

Force, power and work during walking. a Exosuit cable force measured via load cell. b Cable end-effector power, P _{cable_end} is parsed into power that goes into motion/deformation of the proximal, P _{prox_int} , and distal, P _{dist_int} , interfaces vs. power that contributes to augmenting ankle plantarflexion, P _{aug_indirect} . Power and force results are shown for a representative stride cycle. The left-hand gray box in the background indicates exosuit loading, the primary period of increasing force application. The right-hand gray box indicates exosuit unloading. c Positive and negative work (mean ± s.d.) during exosuit loading. d Positive and negative work (mean ± s.d.) over the full stride cycle. Net work is indicated by thick white line on each bar