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

Figure 14

(a) Photograph of the gait motion measured using the video camera. (b) Averaged gait motions for the cases in which the soft exoskeleton is worn with its power switched on, is worn with its power switched off, and is not worn. An assistive force was provided by the soft exoskeleton during the preswing phase. (c, d, e)All gait motions for each scenario.

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