Fig. 2

Trunk muscle activation patterns during robotic-assisted walking in able-bodied and SCI subjects. a) Mean trunk muscle activity patterns averaged across able-bodied participants during walking on treadmill with an average speed of 1.2 km/h. b) Mean trunk muscle activity patterns averaged across able-bodied participants during walking in the Lokomat (Loko-TM), Ekso on treadmill (Ekso-TM) and Ekso overground (Ekso-OG) with an average matched speed across conditions of 1.26 km/h. All plots represent the mean trunk muscle activity normalized to 100% of the gait cycle (n > 20 steps each plot for each subject). Grey shaded areas in each plot represent baseline EMG activity recorded in supine position (BAS). c) Mean trunk muscle activity patterns averaged across all SCI subjects during the same walking conditions with an average matched speed across conditions of 1.16 km/h. RA = Rectus Abdominis, EO = External Oblique, and ES = Erector Spinae