When the output value of FTM surpasses the threshold, a trigger was generated.  The rehabilitation device was operated. Note the system was programmed as such that the rotation angle was kept constant for 20 seconds once the trigger is generated. Extra trigger during this period were ignored. After the 20 s period, another trigger can operate the system.    
The motor imagery effect on EEG was compared with the control condition in which the machine moves the leg autonomously with the L-FTM algorithm [25] [26]. Each column shows ICA components where the relative activation area was illuminated in red as compared with less activated one blue (as compared to average in green). Results of ICA analysis indicate that overall EEG power was stronger during the test period when an ankle rehabilitation system using L-FTM was used during motor imagery (Fig. 10 a) compared to the period with the autonomous movement task (Fig. 10 b). Results show that the activity around Cz was more conspicuous for the movement with motor imagery. This result demonstrates that the brain signals of EEG increased with motor imagery, which was used for the rehabilitation system to be operated.