Table 1 Mean (± SE) Stride length, contact time, 1st peak vertical ground reaction force (GRF), 2nd peak vertical GRF, peak horizontal propulsive GRF, peak horizontal braking GRF, and step width when subjects walked at 1.25 m/s using the exoskeleton (Exo) with no ropes engaged, the exoskeleton with r2-long engaged without and with ankle assistance (Ankle), the exoskeleton with r2-short engaged without and with ankle assistance, and without the exoskeleton. * represents a significant difference compared to Exo not engaged (p < 0.05) and # represents a significant difference compared to No Exo (p < 0.05)
From: Passive-elastic knee-ankle exoskeleton reduces the metabolic cost of walking
Exo not engaged | Exo r2-long | Exo r2-long + Ankle | Exo r2-short | Exo r2-short + Ankle | No Exo | |
|---|---|---|---|---|---|---|
Stride length (m) | 1.34 ± 0.03# | 1.36 ± 0.03*# | 1.36 ± 0.03*# | 1.36 ± 0.03*# | 1.36 ± 0.03*# | 1.33 ± 0.04 |
Contact time (s) | 0.642 ± 0.02# | 0.639 ± 0.01# | 0.642 ± 0.01# | 0.643 ± 0.01# | 0.640 ± 0.02# | 0.582 ± 0.01 |
1st peak vertical GRF (N) | 1.13 ± 0.09 | 1.13 ± 0.09 | 1.13 ± 0.09 | 1.13 ± 0.09 | 1.13 ± 0.08 | 1.10 ± 0.09 |
2nd peak vertical GRF (N) | 1.11 ± 0.09# | 1.13 ± 0.09*# | 1.14 ± 0.08*# | 1.13 ± 0.08*# | 1.13 ± 0.08*# | 1.10 ± 0.09 |
Peak horizontal propulsive GRF (units of BW) | 0.22 ± 0.01# | 0.22 ± 0.01# | 0.21 ± 0.01# | 0.21 ± 0.01# | 0.21 ± 0.01# | 0.20 ± 0.01 |
Peak horizontal braking GRF (units of BW) | −0.22 ± 0.04 | −0.21 ± 0.04 | −0.22 ± 0.04 | −0.21 ± 0.04 | −0.21 ± 0.04 | −0.20 ± 0.05 |
Step width (m) | 0.192 ± 0.01# | 0.184 ± 0.01# | 0.183 ± 0.01# | 0.178 ± 0.01# | 0.173 ± 0.01# | 0.152 ± 0.01 |