Adaptation rates. Adaptation rates expressed as time in minutes to steady state for ankle angle correlation common variance, soleus EMG RMS, positive orthosis work, and negative orthosis work are plotted for each controller and each day (mean + standard error) [footswitch control = solid bars, proportional myoelectrical control = hashed bars]. Significant differences in time to steady state were found between days for each controller (GLM, p < 0.005). The only difference in between controllers was the adaptation rate of the negative orthosis work, in which the footswitch control was faster (GLM, p = 0.0115). (asterisk) indicates significant difference between studies.