Figure 3.

Comparison of desired stimulation timing determined from motion capture data (DESIRED) and the stimulation timing for five finite-state triggers used to control a FES system during walking. T1: Current gait phase-triggered stimulation for upcoming phase (pre-trigger), T2: 25% gait phase duration delay added to pre-trigger, T3: 50% gait phase duration delay added to the pre-trigger, T4: 75% gait phase duration delay added to the pre-trigger, and T5: Current gait phase-triggered stimulation for current phase.