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Studies on gait control using a portable pneumatically powered ankle-foot orthosis (PPAFO) during human walking

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Figure

Figure 1 Gait of human walking (Borrowed from Prof. Hsiao-Wecksler’s ME481 Lecture Notes)
Figure 2 Walking with Portable Powered Ankle Foot Orthosis (PPAFO).
Table 1 Direct Event (DE) controller decision scheme for the PPAFO (Adapted from  [49])
Figure 3 Subject walking with Portable Powered Ankle Foot Orthosis (PPAFO).
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