Fig. 4
From: Adaptive multichannel FES neuroprosthesis with learning control and automatic gait assessment
Two methods are proposed to fit the reference bands to the step of the subject. On the left: the resampling of the reference to the current duration of the step. And on the right: using dynamic time warping to adjust the reference to the joint angle of the current step. The second row shows the measured foot-to-ground angle of a subject (
) and the fitted reference bands (
). The third row shows the resulting error with respect to the reference bands (
). The problematic shift of the joint angle to the reference band obtained by the first method and the resulting error, is indicated (
). The missing dorsiflexion of the subject during the swing-phase is consistent with the error obtained from the warped reference (
)