... flexorsprovide ~70% of the joint work during walking, far morethan the muscles crossing the hip or knee [22,23]. The muscles acting at the ankle joint act to support the body,propel the center of mass ... in spinal stepping andstanding. Advances in Neurology 1997, 72:233-247.8. Lovely RG, Gregor RJ, Roy RR, Edgerton VR: Effects of training on the recovery of full-weight-bearing stepping in the ... level of mechanical assistance of the powered orthoses, we calculated the maximum orthosestorque over the gait cycle. Finally, to examine differences in the timing of assistance between the therapist-control-led...