Fig. 7.

The basic workings of the neuroprosthesis: The knee angle is recorded and, with the heel-off event, passed to the gait assessment. The ILC learns new stimulation patterns from the resulting error of the assessment. These stimulation patterns are instantly applied until the next heel-off trigger (or the end of the pattern). The foot-to-ground angle control is working equivalently, but is triggered by the foot-flat event When supporting both legs, a counterpart is running at the same time for the other leg, using the gait events and joint angles of this leg