Figure 9

Algorithm validation using offline testing. EMG and kinematics responses when the forelimbs were stepping or not stepping. (A) 2-D stick diagrams (50 ms between sticks) of the limbs observed when the forelimbs were stepping or not stepping with the corresponding EMG. (B) Changes in the elbow angle for the data shown in (A). (C) Scatterplot between the linear envelope of the BB EMG and the elbow angle during stepping. (D) Scatterplot between the linear envelope of the BB EMG and the elbow angle when the forelimbs were not stepping. (E) 3-D plot representing the elbow angle, BB EMG, and peak frequency (see Figure3v and vi and Figure4).