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. 2016 Jul 16;13:64. doi: 10.1186/s12984-016-0170-5

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© The Author(s). 2016

Open AccessThis article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. The Creative Commons Public Domain Dedication waiver (http://creativecommons.org/publicdomain/zero/1.0/) applies to the data made available in this article, unless otherwise stated.

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Fig. 3 — Forward-dynamic (FD) predicted (solid lines) versus measured (dashed lines) knee angles over time, for a typically developing (TD) slow; b cerebral palsy (CP) slow; c TD fast and d CP fast . Data are averaged over all subjects. For CP fast stretches, results including the stretch reflex controller with increasing gain (G) values are shown