Fig. 8

Real-time estimation/prediction results on the torque by NARX-RNN for the SCI patients P1 and P2. Patient P1 possesses strong muscle strength which was trained with daily spasticity from his neurological problem. It resulted in producing to produce the ankle joint torque in a larger range compared to patient P2, who possesses weaker muscles and thus his torque ranges at a lower level. During the experiment, we used the posture where P1 did not show the spasticity