Steady state muscle activation. Steady state EMG RMS values of the soleus, medial gastrocnemius, and lateral gastrocnemius are plotted for each controller and each day (mean ± standard error) [footswitch control = solid bars, proportional myoelectrical control = hashed bars]. Average data is used for each plot (n = 6), except for the proportional myoelectric control medial gastrocnemius (n = 5) and lateral gastrocnemius (n = 5). The RMS values are normalized by dividing by the RMS of the passive orthosis condition. Proportional myoelectric control resulted in less muscle activation for the soleus than footswitch control (GLM, p = 0.0144). (asterisk) indicates significant difference between studies. (triangle) indicates significant difference from baseline (GLM, p < 0.03).