Fig. 1

Exoskeleton mass breakdown, exoskeleton control overview, and protocol summary. A Device components and mass. Values are mass per leg except for the waist assembly. B High- and low-level control layers. The high-level controller was responsible for gait event detection (i.e., toe-off and heel strike) and assistive torque profile generation. During stance, a forefoot force sensor signal was an input to a proportional joint moment controller (PJMC) that generated an adaptive plantarflexor torque profile in real time [17]. During swing, a constant dorsiflexor torque was prescribed. The low-level controller tracked the plantarflexor and dorsiflexor torque profiles using a closed-loop PD controller. C A summary of the experiments, cohorts, conditions, and measurements analyzed in this study