Science Robotics

Supplementary Materials

Supplementary Material for:

Assistance magnitude versus metabolic cost reductions for a tethered multiarticular soft exosuit

B. T. Quinlivan, S. Lee, P. Malcolm, D. M. Rossi, M. Grimmer, C. Siviy, N. Karavas, D. Wagner, A. Asbeck, I. Galiana, C. J. Walsh*

*Corresponding author. Email: walsh{at}

Published 18 January 2017, Sci. Robot. 2, eaah4416 (2017)
DOI: 10.1126/scirobotics.aah4416

This PDF file includes:

  • Supplementary Text
  • Fig. S1. Structure of the waist belt component.
  • Fig. S2. Structure of the calf wrap component.
  • Fig. S3. Structure of the Y-strap part of the calf wrap component.
  • Fig. S4. Structure of the vertical strap component.
  • Fig. S5. Changes in ground reaction forces and center of mass velocity.
  • Fig. S6. Changes in center of mass power.
  • Fig. S7. Hip and ankle force profiles.
  • Fig. S8. Changes in biological joint moment.
  • Fig. S9. Changes in biological joint power.
  • Fig. S10. Net biological joint power.
  • Table S1. Changes in net metabolic rate for each participant.
  • References (4244)

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Other Supplementary Material for this manuscript includes the following:

  • Movie S1 (.mp4 format). Varying assistance level with a soft exosuit: Methods and metabolic results.

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