Single-Actuator-Based Lower-Limb Soft Exoskeleton for Preswing Gait Assistance

Figure 13

(a) Photograph of the metabolic tests conducted while walking on a treadmill. (b) The measured statistical distributions of the metabolic rate reduction for the cases in which loads are carried, power is switched off, and power is switched on. The error bar indicated one standard deviation. The metabolic rates were normalized to the case in which only the knee braces were worn (i.e., without wearing the soft exoskeleton).

(a)

(b)