Date of download: 12/16/2017 Copyright © ASME. All rights reserved. From: Design and Control of a Pneumatically Actuated Lower-Extremity Orthosis J. Med. Devices. 2012;6(4):041004-041004-9. doi:10.1115/1.4007636 Figure Legend: Metal-frame knee-ankle-foot orthosis

Date of download: 12/16/2017 Copyright © ASME. All rights reserved. From: Design and Control of a Pneumatically Actuated Lower-Extremity Orthosis J. Med. Devices. 2012;6(4):041004-041004-9. doi:10.1115/1.4007636 Figure Legend: Actuation structures for the (a) knee and (b) ankle joints

Date of download: 12/16/2017 Copyright © ASME. All rights reserved. From: Design and Control of a Pneumatically Actuated Lower-Extremity Orthosis J. Med. Devices. 2012;6(4):041004-041004-9. doi:10.1115/1.4007636 Figure Legend: Schematics of the actuation structures for the (a) knee and (b) ankle

Date of download: 12/16/2017 Copyright © ASME. All rights reserved. From: Design and Control of a Pneumatically Actuated Lower-Extremity Orthosis J. Med. Devices. 2012;6(4):041004-041004-9. doi:10.1115/1.4007636 Figure Legend: Comparison of the torque capacity of powered orthotic joints versus the torque requirements of various locomotion modes: (a) knee joint, and (b) ankle joint. Note that the black lines indicate the torque capacities of the actuated joints.

Date of download: 12/16/2017 Copyright © ASME. All rights reserved. From: Design and Control of a Pneumatically Actuated Lower-Extremity Orthosis J. Med. Devices. 2012;6(4):041004-041004-9. doi:10.1115/1.4007636 Figure Legend: Controller states and switching conditions

Date of download: 12/16/2017 Copyright © ASME. All rights reserved. From: Design and Control of a Pneumatically Actuated Lower-Extremity Orthosis J. Med. Devices. 2012;6(4):041004-041004-9. doi:10.1115/1.4007636 Figure Legend: A healthy subject fitted with the powered lower-extremity orthosis

Date of download: 12/16/2017 Copyright © ASME. All rights reserved. From: Design and Control of a Pneumatically Actuated Lower-Extremity Orthosis J. Med. Devices. 2012;6(4):041004-041004-9. doi:10.1115/1.4007636 Figure Legend: Comparison of the knee trajectories in walking, with and without power assist from the orthosis

Date of download: 12/16/2017 Copyright © ASME. All rights reserved. From: Design and Control of a Pneumatically Actuated Lower-Extremity Orthosis J. Med. Devices. 2012;6(4):041004-041004-9. doi:10.1115/1.4007636 Figure Legend: Comparison of the ankle trajectories in walking, with and without power assist from the orthosis

Date of download: 12/16/2017 Copyright © ASME. All rights reserved. From: Design and Control of a Pneumatically Actuated Lower-Extremity Orthosis J. Med. Devices. 2012;6(4):041004-041004-9. doi:10.1115/1.4007636 Figure Legend: (a) The knee joint assistive torque, and (b) power trajectories over a typical gait cycle

Date of download: 12/16/2017 Copyright © ASME. All rights reserved. From: Design and Control of a Pneumatically Actuated Lower-Extremity Orthosis J. Med. Devices. 2012;6(4):041004-041004-9. doi:10.1115/1.4007636 Figure Legend: (a) The ankle joint assistive torque, and (b) power trajectories over a typical gait cycle