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Fig. 8 | Journal of NeuroEngineering and Rehabilitation

Fig. 8

From: Volition-adaptive control for gait training using wearable exoskeleton: preliminary tests with incomplete spinal cord injury individuals

Fig. 8

Joint trajectories and interaction torques of the patient P01 with adaptive stiffness; Gait initiation occurs with the onset of BMI trigger (green line) at the beginning of each gait cycle. BMI triggers received at the movement attempt stage are only considered for the gait initiation. The control states indicate the transition between different states indicated in the FSM and the BMI trigger received at the movement attempt stage

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