Extended Data Fig. 6: Augmented muscle afferents restore neuromodulation of biomimetic slope adaptation.
From: Continuous neural control of a bionic limb restores biomimetic gait after amputation
a, CTL and AMI cohort averaged torque-angle trajectories on the 5-degree slope with varying levels of residual muscle afferents are plotted as: non-biomimetic (n = 4 CTL), low level (n = 3 CTL), moderate level (n = 3 AMI), and high level (n = 4 AMI). Corresponding agonist-antagonist muscle afferents for each group are reported (mean ± SEM). Note, as residual muscle afferents were augmented, the evolving neuromodulated bionic gait moved towards a natural slope adaptation, regulating gait energetics while maintaining level-ground walking mechanics. b, All subjects’ bionic functional metrics in the slope adaptation are plotted against their agonist-antagonist muscle afferents. Pearson correlations (\(r\)), 95% CI, and slopes (m) are reported (n = 14, *P < 0.034, **P < 0.0049, ***P < 7.4\(\times\)10-4).