Fig. 3From: Assessing walking ability using a robotic gait trainer: opportunities and limitations of assist-as-needed control in spinal cord injuryVisual feedback provided to the subjects. The reference trajectory and reference position are shown in blue, while the actual trajectory is shown in orange. The actual position is indicated by a green dot when the error is in a physiological range, changing to red when the error is outside the deadbands defined in the adaptive controllerBack to article page