Effect of Common Pavements on Interjoint Coordination of Walking with and without Robotic Exoskeleton

Figure 3

Continuous relative phase (CRP) patterns between the knee and ankle and between the hip and knee in the sagittal plane. Mean CRP for participants () with/without exoskeleton over the gait cycle on each kind of pavements. The gait cycle is from the heel strike to the next heel strike of the left foot. ES = early stance; MS = midstance; LS = late stance; SW = swing phase.