Figure 8.

Output information of the first closed-loop test trial of subject S2. Information is presented in a similar way to Figure 7. In the upper image it is also included the actual movement status of the exoskeleton caused by the EXO commands. As it can be seen, there is a certain lag between the EXO command status and the actual movement due to the hardware (difference between the thicked black line and the thin black line in the upper image). The exoskeleton was commanded for this example using just the MI paradigm, neglecting the information provided by the attention paradigm. The combination of both paradigms would have result in a shorter movement following the rules in subsection 2.3.4 issuing the activation command in the 33 s approximately instead of the 30.5 s.