Development and Validation of a Closed-Loop Functional Electrical Stimulation-Based Controller for Gait Rehabilitation Using a Finite State Machine Model by Naoki Hayami, Heather E. Williams, Koshi Shibagaki, Albert H. Vette, Yasuyuki Suzuki, Kimitaka Nakazawa, Taishin Nomura, Matija Milosevic

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