Fig. 2

Assistive torque profile provided to the user during a gait cycle. Plantarflexion and dorsiflexion torques are represented by the negative and positive directions, respectively. The assistance parameters that define the torque profile are shown in the figure. The parameters eLR, OnT, PT, OffT, and BSwT are defined as a percentage of a gait cycle. At each new step, the prediction of the gait cycle time was estimated as an average of the gait times measured during 10 steps that preceded the current one to adapt the gait time to possible gait pattern variations during the experiments. The torque profiles corresponding to different OnT are shown in the figure. The torque profiles provided during the third session are equal to the one with OnT set to 20%