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. Author manuscript; available in PMC: 2009 Dec 1.
Published in final edited form as: Biol Cybern. 2008 Nov 5;99(6):503–516. doi: 10.1007/s00422-008-0258-5

Fig. 8.

Fig. 8

Tracking performance of (a) type I and (b) type II controller while maintaining the desired total activation level. The RMS output errors of type I control are 0.8° (1.6%)and 0.8° (2.0%) for ankle and subtalar joint respectively, and the RMS output errors of type II control are 0.6° (1.2%) and 0.5° (1.3%) for ankle and subtalar joint respectively.