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(Top) Simulated kinematics (right leg hip, knee, and ankle) for nondisabled gait and moderate and severe crouch with individual muscle control (IMC), five-synergy control, and three-synergy control. (Bottom) Root-mean squared errors (RMSE) between tracked kinematics and simulated gait at each lower-extremity joint and muscle activations squared (a2) required to generate each gait pattern.
