Fig. 4From: Learning to walk with an adaptive gain proportional myoelectric controller for a robotic ankle exoskeletonSoleus and Rectus Femoris EMG. a The mean soleus and mean rectus femoris EMG linear envelope (high-pass cutoff frequency of 35 Hz and low-pass cutoff frequency of 10 Hz) of eight subjects is represented by the solid lines and + 1 s.d. is represented by the dashed lines. b The mean soleus and mean rectus femoris r.m.s. of rectified EMG for four time intervals is indicated by the colored bars across all three sessions. Error bars represent ±1 s.e.m. Each subject’s r.m.s. values were normalized to the corresponding session’s 1st unpowered r.m.s. value prior to averagingBack to article page