Table 1: Result of conducting combined ankle movement tasks.

SubjectS1S2S3S4S5

Number of accordant task2018161718
Success rate100%90%80%85%90%
ITR (bits/min)2416.511.513.816.5

Note. Two kinds of tasks, one for combined DF and PF training, and the other for combined INV and EV training. The total number of motion intentions requested to identify for every subject is 20. The duration for robot to judge the motion intention of subjects is 5 s. The number of flickering circles representing the motion intention of subjects was 4.