Research Article
Use of the Human Walking Gait Cycle for Assistive Torque Generation for the Hip Joint Exoskeleton
| | Frame | Left foot | Right foot | Tilt angle of the body |
| | 1 | Toe off (TO) | Loading response (LR) | − | | 2 | Midswing (MSw) | Midstance (MSt) | − | | 3 | Terminal swing (TSw) | Terminal stance (TSt) | − | | 4 | Heel strike (HS) | Preswing (PS) | − | | 5 | Loading response (LR) | Toe off (TO) | + | | 6 | Midstance (MSt) | Midswing (MSw) | + | | 7 | Terminal stance (TSt) | Terminal swing (TSw) | + | | 8 | Preswing (PS) | Heel strike (HS) | + |
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