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  ______   __   __    ______   __   __            
 /_____//  \ \\/ //  /_____//  \ \\/ //     ___   
 `____ `    \ ` //   `____ `    \ ` //     /   || 
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 `__ `       |_||    `__ `       |_||      \__ || 
 /_//        `-`'    /_//        `-`'       -|_|| 
 `-`                 `-`                     `-`

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Text this: Synchronization control scheme for gait training robot and treadmill