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. 2018 Jul 13;12:471. doi: 10.3389/fnins.2018.00471

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Copyright © 2018 Park, Islam, Grover, Klishko, Prilutsky and DeWeerth.

This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

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Ground reaction force (GRF) during 14 cycles of prosthesis loading (A) and the corresponding changes in PWM duty cycle of the actuator (B). The three target values of GRF peak (14, 6, and 12 N) are indicated by the horizontal dashed lines in (A). The numbers at bottom of force traces indicate the cycle number. For details, see text.