Fig. 2From: Biomechanics and energetics of walking in powered ankle exoskeletons using myoelectric control versus mechanically intrinsic controlCreating the Timing-Based Control Signal for a Representative Subject. a The actuation signals from 80 of the final 100 strides of a subject’s walking bout with the dynamic gain proportional myoelectric controller were considered in creating the actuation signal for the timing-based controller. Those 80 strides are shown here for a single representative subject and from a single leg. The darker the color of the actuation signal, the later in the walking bout it occurred. b The actuation signal for the timing-based mechanically intrinsic controller was generated from the average of the 80 strides considered from the walking bout with the myoelectric controllerBack to article page