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. 2019 Sep 19;9:13539. doi: 10.1038/s41598-019-49328-1

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© The Author(s) 2019

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons license, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons license and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/.

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(a) Examples of the ISMS-evoked range of motions in the ipsilateral hindlimb of animal A. The location of the electrode tip for each movement is shown on the cross-sectional trace of the spinal cord. (b) Range of motion (ROM) of hip, knee and ankle joints produced by ISMS in the gray matter of the spinal cord (in Red). ROM of hip, knee and ankle joints of rhesus monkeys during quadrupedal locomotion on a treadmill at a speed of 1.79 m/s (in Blue). Treadmill locomotion data were obtained from Courtine et al.³⁶.