(A) (Left) Decoding accuracy (Pearson's correlation coefficient, R ± SEM across all subjects) of EMG envelopes for activities recorded from the Tibialis Anterior (TA), Vastus Medialis (VM), Biceps Femoris (BF) muscles of the right leg (red bars) and left leg (blue bars) in the swing phase of the right leg (Top) and left leg (Bottom), respectively (B) (Right) Example of EMG envelope reconstruction (Red line, right leg; Blue line, left leg) superimposed on the actual EMG envelope (Black dotted line). Blue- and pink-shaded regions indicate left and right leg swing phases, respectively.