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. Author manuscript; available in PMC: 2019 Jan 1.
Published in final edited form as: IEEE Trans Neural Syst Rehabil Eng. 2017 Sep 22;26(1):224–232. doi: 10.1109/TNSRE.2017.2756023

Figure 4.

Figure 4

This figure shows the inputs applied to the right leg of S1 and left leg of S2. [Norm.] stands for normalized (no units). The dashed lines stand for desired control inputs, which were computed based on the musculoskeletal parameters as described in Section 4.2.