The effects of adding mass to the legs on the energetics and biomechanics of walking.

By R. Browning, Jesse R Modica, R. Kram, Ambarish Goswami. Medicine & Science in Sports & Exercise, 2007

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A biologically inspired soft exosuit for walking assistance (2015, background): “The distribution of the mass is important as prior biomechanics studies have identified that mass at the foot during walking has a metabolic cost of 7.5% to 8.5% per kg of total added mass, as compared to 1% to 2% for mass at the waist (Rose and Gamble, 2006; Browning et al., 2007).”
Autonomous exoskeleton reduces metabolic cost of human walking during load carriage (2014, background): “Adding mass to the lower limbs requires additional metabolic power, and the effects are amplified as the mass is moved distally or further away from the hip [17].”
Stronger, Smarter, Softer: Next-Generation Wearable Robots (2014, background): “• IEEE ROBOTICS & AUTOMATION MAGAZINE • DECEMBER 2014 32 between 1–2%/kg for mass carried on the torso, and 8%/kg for mass at the foot [20].”