Fig. 4From: Biomechanics and energetics of walking in powered ankle exoskeletons using myoelectric control versus mechanically intrinsic controlSoleus and Rectus Femoris Electromyography. a The mean soleus and rectus femoris EMG linear envelope from each walking condition is represented by the solid lines and +1 s.e.m. is represented by the dashed lines. b The mean soleus and rectus femoris r.m.s. of rectified EMG across the three walking conditions. All error bars represent ± 1 s.e.m.Back to article page