Fig. 7

Changes in gait parameters (mean ± SD) from pre-training to post-training without FES: A maximum ankle dorsiflexion angle during swing phase, B peak ankle plantarflexion angle, C maximum knee flexion angle, D peak AGRF, E lateral symmetry, and F anteroposterior symmetry. *denotes significant improvement in gait parameters at each training stage compared to pre-training. Significant difference: *P <0.05, **P <0.01, ***\(P<0.001\)