Figure 3

Results obtained from the moment-based optimization of the four exotendon designs, arranged from left to right in order of increasing complexity. Exotendon forces are shown on the top row, with the contralateral (phase shifted) twin represented by a dashed line. Note the different scale of vertical axes. The second row shows the total joint moments in one leg (red: hip, green: knee, blue: ankle) with the residual moments as dashed lines. Moments are defined positive when causing an anterior acceleration of the distal body segment. Horizontal axes represent one full gait cycle from heel strike to the next heel strike. The cost function without exotendon assistance was C _mom = 14.09 N m. The bottom row displays the optimized designs, with exotendons in red and green, pulleys and exoskeleton in blue. The optimized design parameters for all exotendon systems can be found in Table 1, and also in Sheet 2 of the additional data file exotendons.xls.