Fig. 2From: Effects of gait support in patients with spinocerebellar degeneration by a wearable robot based on synchronization controlControl scheme of the curara system for gait support. The curara system supports the wearer’s gait using a synchronization control method that uses a neural oscillator based on a central pattern generator. Adjusting the synchronization gain Ci helps curara to assist harmoniously with the wearer’s motionBack to article page