Fig. 5From: Biomechanics and energetics of walking in powered ankle exoskeletons using myoelectric control versus mechanically intrinsic controlJoint Kinematics, Dynamics, and Power. The mean joint angles, moments, and powers from the unpowered, timing-based mechanically intrinsic control, and second bout with the dynamic gain proportional myoelectric control conditions. Joint dynamics and power have been normalized by subject mass. In the kinematics and dynamics subplots all positive numbers represent extension while all negative numbers represent flexionBack to article page