Soleus EMG RMS, ankle angle correlation common variance, positive orthosis work, and negative orthosis work changes across both training sessions. Soleus EMG RMS, ankle angle correlation common variance, positive orthosis work, and negative orthosis work are plotted (mean ± standard error) across both training sessions for each minute. Results for each controller [footswitch control = black line and dark shading, proportional myoelectrical control = gray line and light shading] are shown along with the steady state band for each measure. Time till steady state was used as a measure of the adaptation rate. Differences in day 1 versus day 2 adaptation rates were significant (ANOVA, p < 0.005). On day 2, footswitch control resulted in faster adaptation in negative orthosis work (GLM, p = 0.0115). At steady state, proportional myoelectric control resulted in less soleus activation (GLM, p = 0.0342), closer to normal ankle kinematics (GLM, p = 0.0417), and less negative work (GLM, p = 0.0085) than footswitch control. The steady state envelopes displayed are calculated for the group mean data (n = 6 for each controller) for display purposes only; individual subject analyses were calculated in the same way and were used for statistical tests.