Fig. 7

Calibration results by using three HNM categories on Participant Sub05 under single-speed modes. The calibration performance by using sEMG-, US imaging-, and sEMG-US imaging-driven HNMs under 5 single-speed modes on Sub05. The red lines and light shadowed areas represent the mean and SD of the net PF moment from the ID calculation, the blue, green, black lines and light shadowed areas represent the mean and SD of the net PF moment from calibrations by using sEMG-driven HNM, US imaging-driven HNM, and sEMG-US imaging-driven HNM, respectively. a–e represent the results at each walking speed from 0.50 to 1.50 m/s