1. 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): doi: /
Figure Legend:
Metal-frame knee-ankle-foot orthosis

2. 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): doi: /
Figure Legend:
Actuation structures for the (a) knee and (b) ankle joints

3. 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): doi: /
Figure Legend:
Schematics of the actuation structures for the (a) knee and (b) ankle

4. 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): doi: /
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.

5. 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): doi: /
Figure Legend:
Controller states and switching conditions

6. 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): doi: /
Figure Legend:
A healthy subject fitted with the powered lower-extremity orthosis

7. 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): doi: /
Figure Legend:
Comparison of the knee trajectories in walking, with and without power assist from the orthosis

8. 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): doi: /
Figure Legend:
Comparison of the ankle trajectories in walking, with and without power assist from the orthosis

9. 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): doi: /
Figure Legend:
(a) The knee joint assistive torque, and (b) power trajectories over a typical gait cycle

10. 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): doi: /
Figure Legend:
(a) The ankle joint assistive torque, and (b) power trajectories over a typical gait cycle