Fig. 5

FSM using GED within the stepping function to transition through phases of gait. Transition between early swing and late swing occurred when the ipsilateral hip joint angle (θ_{hip_i}) exceeded a predetermined hip flexion angle threshold (θ_{hip flex threshold}). Transition between late swing and weight acceptance occurred when the ipsilateral knee joint angle (θ_{knee_i}) reached extension as indicated by being less than the set knee extension joint angle threshold (θ_{knee ext threshold}). Before the user could initiate the next step, the ipsilateral heel FSR signal (FSR_i) had to exceed the set weight acceptance threshold (FSR_{wt accept threhold}). Stimulation is indicated in red font color, black arrows indicate transitions that occur based on thresholds in GED, blue arrows indicate transitions in Timeout phases, green arrow correlates to pressing the “go” button, and red arrows correlate to pressing the “stop” button. (i = ipsilateral)