AD, assistive device; P, paretic; NP, nonparetic; AGRF, anterior GRF; F, female; M, male; Y, yes; N, no.
| Participant | Side of paresis | Sex | Age (years) | Chronicity (years) | Regular orthosis | Regular AD | Handrail | Walking speed (m/s) | Peak P ankle angle (°) | Peak P AGRF (% bw) | Peak NP AGRF (% bw) | Cost of transport (ml O2/kg/m) |
| 01 | Right | F | 30 | 7.08 | AFO | None | Y | 1.05* | −0.02 | 12.80 | 24.57 | 0.28 |
| 02 | Left | M | 56 | 3.58 | None | None | N | 1.05 | 4.20 | 7.09 | 20.32 | 0.20 |
| 03 | Left | F | 52 | 0.75 | None | Cane | Y | 0.53 | 0.30 | 3.89 | 11.05 | 0.28 |
| 04 | Left | M | 51 | 2.83 | AFO† | Cane | Y | 0.93 | −14.73 | 9.48 | 17.60 | 0.15 |
| 05 | Left | F | 37 | 1.08 | AFO† | Cane | N | 0.67 | 0.39 | 7.64 | 17.43 | 0.33 |
| 06 | Right | M | 44 | 2.33 | None | None | N | 1.29 | −2.34 | 18.77 | 22.27 | 0.14 |
| 07 | Right | F | 46 | 4.25 | None | None | N | 1.3* | −0.80 | 20.06 | 27.34 | 0.18 |
| 08‡ | Right | M | 61 | 14.17 | AFO | None | Y | 0.92 | −7.52 | — | — | — |
| 09‡ | Left | M | 67 | 3.33 | None | Cane | Y | 0.81 | 3.85 | — | — | — |
*The participant’s actual 10-m overground walk test speed was higher than the speed tested on the treadmill. Participant #01’s actual overground speed was 1.16 m/s, but this participant was not safe walking at this speed on the treadmill. Participant #07’s speed was 1.72 m/s, but this speed was beyond the capabilities of the electromechanical actuator used for this study.
†Participant #04 typically used a foot-up brace. Participant #05 used a custom brace that supported frontal plane motion.
‡GRF data unavailable.