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. 2020 Feb 28;17:36. doi: 10.1186/s12984-020-0640-7

Fig. 8.

Fig. 8

Second version of the foot control. Due to the duration from the foot-flat event to the stimulation during the swing phase, timing problems can arise in persons with irregular gait. This alternative triggers the stimulation at the heel-off event, which is closer to the swing phase, to ensure correct timing. This sacrifices the ability for push-off support since much of the support happens before the heel-off event