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Fig. 6 | Journal of NeuroEngineering and Rehabilitation

Fig. 6

From: Passive-elastic knee-ankle exoskeleton reduces the metabolic cost of walking

Fig. 6

Mean 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 exoskeleton

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