Extended Data Fig. 5: Neuroprosthesis restores biomimetic lower-extremity kinematics during terrain adaptation.

a and b, CTL and AMI cohort lower-extremity kinematics during slope adaptation (a) and stair adaptation (b) are plotted (n = 7 per cohort; bolded lines, mean; shaded regions, SEM). ROM, range of motion. For comparison, biologically-intact lower-extremity kinematics are shown on the right⁸². Averaged hip-knee joint coordination is computed to demonstrate each cohort’s terrain adaptability in detail. The AMI subjects demonstrated highly symmetric and coordinated hip and knee terrain adaptation between limbs, replicating terrain adaptation found in biologically-intact individuals⁸². Additionally, both the bionic and contralateral ankles demonstrated biomimetic foot positioning for effective terrain adaptation^13,14. In contrast, the CTL subjects showed asymmetric and less coordinated hip and knee terrain adaptation, with only the contralateral ankle demonstrating terrain adaptability. Extended Data Figs. 6 and 7 show the bionic ankle mechanics for biomimetic slope and stair adaptation in more detail, respectively.