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Figure 3. Average response and recovery times for each subject, with standard deviation, when threshold-based controller was active during upper-limb loading trials with hands placed on handles of instrumented walker. S = subject.

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Figure 5. Forward trunk flexion and attempts of subject S1 to resume upright sitting in wheelchair (a) with no stimulation and (b) with threshold-based controller active. Actual and accelerometer-based estimate of trunk angle are shown.

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