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Model performance after removal of supraspinal drive and recovery. (A) Changes in the limb biomechanical output during locomotor movement. (B) Rhythmic activity of RG neurons (RG-F and RG-E) and corresponding inhibitory interneurons (four top traces) and the activity of all four afferents controlling the RG. For the meaning of the dashed and dash–dotted lines see Figures 2A and B.
