Fig. 2

Left - The ReWalk ReStore™ graphical user interface allows three modes of use: Assist, where ankle plantarflexion and dorsiflexion are actively assisted; Slack, where the device is made transparent to the user; Brace, where the ankle dorsiflexion cable is tensioned throughout the entire gait cycle to mimic an ankle foot orthosis during swing phase without hindering ankle dorsiflexion during the stance phase. In addition, the user’s stance time symmetry is shown and updated on a step-by-step basis. Right - The amplitude of ankle plantarflexion and dorsiflexion assistance can be modified in real-time using a visual slide ruler with a 0 to 100% scale. 100% plantarflexion assistance corresponds to a force equal to 25% of the wearer’s bodyweight. 100% dorsiflexion assistance corresponds to the maximum allowed cable travel distance (50 mm). For the study, the target level for plantarflexion assistance was 100% (i.e., 25% of the wearer’s bodyweight) and the target level for dorsiflexion assistance was the minimum needed for adequate ground clearance and heel strike, as determined visually by the physical therapist. See previous work [19] for visual depiction of the forces applied by the exosuit