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. 2020 Apr 22;14:17. doi: 10.3389/fnbot.2020.00017

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Copyright © 2020 Mu, Zhang, Yang, Xie and Fang.

This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

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The performance of P1 when he lifted up and pushed down his foot voluntarily within 30–60% and 60–80% of the gait cycle, respectively (Case 2). (A,B) Ankle joint trajectories. (C,D) Input voltage. (E,F) Active force.