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. 2020 Mar 9;10:4372. doi: 10.1038/s41598-020-60932-4

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© The Author(s) 2020

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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Example decoding for a single gait cycle for hip joint for each tap length resulting from Experiment 1 (delta band feature). Rows show different decoding algorithms and columns show different tap sizes used to train the model. Black lines are the ground truth from an actual joint angle measured with goniometers. For knee and ankle joints, plots are available in the Appendix.