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

Figure 6

Simulated (a) hip moment, (b) angular velocity of the hip joint, and (c) mechanical power during a walking gait cycle. Here, the solid and dotted lines represent the cases in which the soft exoskeleton is not worn and worn, respectively. A constant assistive force was applied during the preswing phase for conserving power.