Supplementary Materials

Supplementary Material for:

A multidirectional gravity-assist algorithm that enhances locomotor control in patients with stroke or spinal cord injury

Jean-Baptiste Mignardot, Camille G. Le Goff, Rubia van den Brand, Marco Capogrosso, Nicolas Fumeaux, Heike Vallery, Selin Anil, Jessica Lanini, Isabelle Fodor, Grégoire Eberle, Auke Ijspeert, Brigitte Schurch, Armin Curt, Stefano Carda, Jocelyne Bloch, Joachim von Zitzewitz, Grégoire Courtine*

*Corresponding author. Email: gregoire.courtine{at}

Published 19 July 2017, Sci. Transl. Med. 9, eaah3621 (2017)
DOI: 10.1126/scitranslmed.aah3621

This PDF file includes:

  • Materials and Methods
  • Fig. S1. Attachment to the robotic support system.
  • Fig. S2. Transparent mode of the robotic support system.
  • Fig. S3. Representation and processing of kinematic and muscle activity recordings.
  • Fig. S4. Impact of upward and forward forces on body kinematics and muscle activity.
  • Fig. S5. Interaction between upward and forward forces during locomotion on a treadmill.
  • Table S1. List of parameters computed during walking and standing.
  • Table S2. Characteristics of the subjects.
  • Legends for movies S1 to S5
  • Legend for database S1
  • References (5456)

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Other Supplementary Material for this manuscript includes the following:

  • Movie S1 (.mp4 format). Interaction between upward and forward forces during walking.
  • Movie S2 (.mp4 format). Accuracy of the algorithm to configure the MGA.
  • Movie S3 (.mp4 format). Performance of the MGA to facilitate locomotion after SCI and stroke.
  • Movie S4 (.mp4 format). The MGA improved locomotor performance after a 1-hour training session.
  • Movie S5 (.mp4 format). The MGA enabled skilled locomotion.
  • Database S1 (.pdf format). Summary of the gait analyses for all the recorded subjects with SCI or stroke, without or with the MGA.