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Fig. 2 | BMC Geriatrics

Fig. 2

From: A wearable hip-assist robot reduces the cardiopulmonary metabolic energy expenditure during stair ascent in elderly adults: a pilot cross-sectional study

Fig. 2

Phases of the gait cycle divided into 4 as follows: foot contact to pull-up (FC-PU), pull-up to hip crossing (PU-HC), hip crossing to peak joint angle of a swing leg (HC-PJA), and peak joint angle of a swing leg to foot contact (PJA-FC), and 2 events (PU and PJA) used as initiation and termination criterion of assistance torque for the desired assistance duration, respectively. FC = Foot Contact, PU = Pull Up, HC = Hip Crossing, PJA = Peak Joint Angle

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BMC Geriatrics

ISSN: 1471-2318

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