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. 2017 Oct 12;14:104. doi: 10.1186/s12984-017-0312-4

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© The Author(s). 2017

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. 5 — a Mean values of the normalized root mean squared error (RMSE, black line) and its standard error (gray shaded areas) across healthy subjects, corresponding to the shoulder (left) and elbow (right) joints. Dotted lines denote significance difference between trials. b Mean values of provided FES intensity, represented as a percent of the maximum stimulation intensity, across subjects. Light gray and dark gray areas depict the contribution of the feedforward (ufb) and feedback (uff) loop to the total FES intensity, measured with the power ratio (PR)