Time course of representative session. Results from a representative online session for each subject, showing epochs of idling and BCI-RoGO walking determined from the gyroscope trace (green blocks). The red trace represents the decoded BCI states, while the blue trace represents the instructional cues. The thick/thin blocks indicate walking/idling. Corresponding EMG (gold: quadriceps; teal: tibialis anterior; purple: gastrocnemius) are also shown. Note that EMG was not measured for Subject 2.