Fig. 1
From: Varying negative work assistance at the ankle with a soft exosuit during loaded walking
Soft exosuit, off-board actuation platform and experimental setup. a An off-board actuation platform generated forces based on real-time data from load cells and gyroscopes. Bowden cables transmitted the forces to the exosuit. Ground reaction force, metabolic cost and kinematics were measured while participants walked on a treadmill with a 23-kg backpack wearing the exosuit. b The soft exosuit consisted of a spandex base layer, a waist belt, multi-articular straps and calf wraps, creating load paths that apply plantarflexion and hip flexion assistance