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. Author manuscript; available in PMC: 2017 Oct 23.
Published in final edited form as: IEEE Trans Neural Syst Rehabil Eng. 2016 Sep 22;25(8):1164–1171. doi: 10.1109/TNSRE.2016.2613020

Fig.1.

Fig.1

A portion of the finite state machine is shown for walking mode only. Within-mode transitions that occurred based on mechanical sensor data are shown with black arrows. Between-mode transitions that occurred based on mechanical sensors are shown with blue arrows. Between-mode transitions that occur based on the execution of a key fob or a pattern recognition classifier are shown with green arrows. Walking mode transitions are displayed with solid lines and all outgoing ambulation mode transitions from walking mode are displayed with dashed lines.