Fig. 3: Hip joint motion results for young adults.

a, WalkON actively assists the hip joint during swing. b, Raw hip phase portraits averaged across steps and subjects, combining hip angle and velocity measured on the sagittal plane. c, The hip range of motion (ROM) exhibited a significant increase with WalkON (navy) compared with the no assistance condition (grey). d, There were no significant variations in hip velocity peaks with WalkON compared with the no assistance condition. In c and d, the upper rows show the mean time-series across young adults and steps (where the shaded area is the s.d.), whereas the bar plots in the lower rows report the mean ± s.e.m hip ROM and peak velocity. ***P < 0.001 (linear mixed-effects model).