Fig. 2

Flowchart of the OIDA. Schematic representation of the optimal interval detection algorithm. After setting the parameters, a predefined number of passive (without stimulation) and active (with continuous stimulation) cycles are recorded. The net-torque (i.e. active torque minus passive torque) is used to determine an optimal interval (i.e. start and stop value of the crank-angle) for applying stimulation