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Central nervous system activation by sensory feedback from hybrid assistive limb-assisted training. (A) Central nervous system (CNS) lesion resulted in gait disability. (B) The hybrid assistive limb (HAL) assisted core function, and sensory input was sent back to the CNS levels to activate the brain and the central pattern generator in the spinal cord. (C) In turn, the damaged CNS generated improved descending signals to the muscle for better locomotion.
