Figure 5From: Hybrid FES-robot cooperative control of ambulatory gait rehabilitation exoskeletonRepresentative results in cycle domain from participant 3. Data corresponds to the entire walking trial. X-axis is cycle number. TTI (red), maximum knee flexion angle (blue), exoskeleton stiffness (pink), normalized stimulation output (NILC, black) for each step are shown. Green boxes show learning state active, otherwise means monitoring state active.Back to article page