Fig. 5From: Mechanics and energetics of post-stroke walking aided by a powered ankle exoskeleton with speed-adaptive myoelectric controlIncreased paretic peak pushoff vertical GRF in the Assisted condition supports suggestion that reductions in TLA encourage the conversion of exoskeleton torque into vertical rather than forward propulsion. The peak paretic vertical GRF during pushoff are plotted with (blue) and without (grey) exoskeleton assistance applied as walking speed increases. To the right of the dashed line peak vertical GRF are averaged at each user’s comfortable OVG speedBack to article page