Fig. 2

Simulation results of the normal locomotion model. a Stick diagram of the normal model. b Midbrain locomotor region (MLR) activation, central pattern generator (CPG) activation, and leg acceleration during 15 s of walking. c Joint angles. d Muscle activations. A gait cycle is the period of events during locomotion from the time one foot contacts the ground until the same foot contacts the ground again. The solid lines represent the mean of the five gait cycles (steps 4 to 8) of the left leg in one simulation, and the shaded region represents the standard deviation (SD). The gray areas represent measured data [40] (μ ± 2 SD). R is the correlation coefficient, and S represents cosine similarity