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Fig. 4 | Journal of NeuroEngineering and Rehabilitation

Fig. 4

From: Novel velocity estimation for symmetric and asymmetric self-paced treadmill training

Fig. 4

Pelvis position during self-paced trials. All subjects were able to maintain their position within a 1 m range on the treadmill without the need of a position control loop showing that the velocity estimation is stable without position feedback. One subject (S7) shifted their location during the first few steps for the three velocities, and walked closer to the back of the treadmill for the rest of the trial. The front and back vertical dashed lines represent the location of the virtual walls in the safety protocol. The front wall was not reached by any subject during the three trials, and the back wall was reached an average of 0.55, 0.87, and 0.75 times per 100 steps for the three speeds respectively

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