Fig. 9.

Schematic of the ILC. The knee assessment and ILC are triggered by the heel-off event. The error of the last knee angle cycle gets passed to the ILC, which generates the new control input. The control input is in the gait cycle percentage domain and has to be resized to the estimate of the duration of the next cycle. The resized control input is played back sample by sample and transformed to stimulation intensities for the antagonistic knee muscles. Equally the foot assessment and ILC are triggered by the foot-flat event