Fig. 8From: Development of VariLeg, an exoskeleton with variable stiffness actuation: first results and user evaluation from the CYBATHLON 2016Amount of training necessary to achieve skill levels for different tasks. Both users required a considerable number of training sessions to gain proficient walking skills. The sit-to-stand motion was mastered after more than 20 sessions. Only basic skills were acquired on stairs and rampsBack to article page