Fig. 8
From: Adaptive multichannel FES neuroprosthesis with learning control and automatic gait assessment
Second version of the foot control. Due to the duration from the foot-flat event to the stimulation during the swing phase, timing problems can arise in persons with irregular gait. This alternative triggers the stimulation at the heel-off event, which is closer to the swing phase, to ensure correct timing. This sacrifices the ability for push-off support since much of the support happens before the heel-off event