Fig. 2. Top: Average kinematic (left) and EMG (right) data for one participant who exhibited large, repeatable responses to exoskeleton torque and high model prediction accuracies (P03). Black lines show the zero-torque condition (K0) that was subtracted from all conditions to reflect responses to exoskeleton torque. Bottom: Average (±1SD) kinematic and myoelectric responses for all participants in each torque condition. Brackets denote significant differences between exoskeleton conditions according to post-hoc paired t-tests (α = 0.05) and a Holm-Sidak step-down correction. Thin gray lines represent individual legs.
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