Extended Data Fig. 3: Neuroprosthesis restores biomimetic speed adaptation.

a, CTL and AMI cohort averaged torque-angle trajectories at various walking speeds are plotted (n = 7 per cohort). For comparison, biologically-intact ankle torque-angle trajectories are shown on the right¹¹. The AMI cohort torque-angle loop demonstrated a counterclockwise movement, producing positive net work throughout the gait cycle. Moreover, the AMI cohort increased bionic ankle net work by elevating LR and PO as walking speed increased, emulating the speed adaptation mechanics observed in biologically-intact individuals¹¹. In contrast, no biomimetic speed adaptation mechanics were found in the CTL cohort. b, CTL and AMI cohort lower-extremity kinematics at various walking speeds are plotted (n = 7 per cohort; bolded lines, mean; shaded regions, SEM). For comparison, biologically-intact lower-extremity kinematics are shown on the right¹¹. The AMI cohort lower-extremity kinematics emulated the speed adaptation found in biologically-intact individuals. In the CTL cohort, speed adaptation was observed only in the contralateral ankle joint kinematics.