Fig. 6From: Passive-elastic knee-ankle exoskeleton reduces the metabolic cost of walkingMean vertical and horizontal ground reaction forces versus time for Subject 5 during the stance phase of walking at 1.25 m/s using the exoskeleton with no ropes engaged (Exo not engaged), the exoskeleton with r-2 long engaged and with ankle assistance (Exo r2-long + Ankle), the exoskeleton with r-2 short engaged and with ankle assistance (Exo r2-short + Ankle), and without the exoskeletonBack to article page