..., investigating legged locomotion in compliant terrains has recently been gaining interest for the robust control of legged robots over natural environments. At the same time, the importance of ground compliance has also been highlighted in poststroke gait rehabilitation. Currently, there are not many ways...

... plays a key role in this issue. The purpose of this study is to assess the effects of the exoskeleton–human connection stiffness on the user comfort and limb tracking error during normal gait. A biomechanical model of the leg was built and connected to a model of an exoskeleton by elastic connections...