Lower-Limb-Assisting Robotic Exoskeleton Reduces Energy Consumption in Healthy Young Persons during Stair Climbing

Figure 2

Reduced mechanical impedance (resistive force) on the knee joint of the robotic exoskeleton after applying ZIC: (a) an arbitrary motion applied to the joint; (b) a resistive force against motion inputs; (c) a mechanical impedance defined as the magnitude of the ratio of the resistive force to the joint velocity in the frequency domain.

(a)

(b)

(c)