Fig. 5

Exoskeleton positive power. Positive exoskeleton power at the hips, knees, ankles and the whole leg. The joint power was summed between the left and right legs for each joint, and the total power is the sum of the joint powers. The results for no load (blue), light load (green) and heavy load (orange) are shown, and the results for each participant are shown with symbols [p1 \(\square\), p2 O, p3 \(\triangle\)]