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

Table 1

Defined assistive torque parameters. : peak value of the assistive torque; : time taken to reach the .

Joint	Stance phase		Swing phase
	Hip	-27 Nm	0.25 s	16 Nm	0.2 s
Knee	-29 Nm	0.25 s	12 Nm	0.2 s