Fig. 6.

Example of PG/PS control system output (hindlimb F) in an intermittent training paradigm: angle output trajectories (top) and stimulus current amplitude patterns (bottom). Plot details as in Fig. 3. The first column shows output for the first set of five movement cycles (cycles 1–5), the second column shows a middle set (cycles 241–245), and the third column shows the 100th set (cycles 496–500). The intermittent training paradigm used sets of five movement cycles (4.8 s stimulation) interspersed with 20 s of rest. These plots demonstrate that the adaptive control system achieved and sustained good movement tracking throughout the trial.