Fig. 4From: Reactive stepping with functional neuromuscular stimulation in response to forward-directed perturbationsStimulation patterns, perturbation and controller states before and after application of anterior force pulses were applied (t = 0). Muscle abbreviations are: Vasti (VS), Semimembranosus/hamstrings (HS), Gluteus maximus (GM), Posterior adductor magnus (PA), Iliacus/psoas major (IP), Gastrocnemius/soleus (GS), Tibialis anterior (TA), Gluteus medius (ME), Sartorius (SR), Tensor fasciae latae (TF)Back to article page