and Xylazine 5 mg/kg, ip) and positioned in a prone position
within a support system that let the hindlimbs hanging freely. The right paw
was secured within a 3D printed pedal connected to a stepper motor
(QSH4218-51-10-049, Trinamic Motion Control GmbH, Waterloohain, Germany). We
used this robotic platform to impose cyclic movements of the ankle with a
fixed amplitude (70 degrees) and frequency (0.54 Hz), while continuous EES
was delivered to evoke responses in the tibialis anterior muscle (
IZ2H Stimulator controlled by a RZ2 BioAmp Processor (Tucker-Davis
Technologies, Alachua, US). EES amplitude was set to approximately 1.2 times
the muscle response threshold. We tested EES frequencies ranging from 5 to
100 Hz, delivered in a random order. EMG activity of the tibialis anterior
was amplified with a PZ3 Low Impedance Amplifier (Tucker-Davis Technologies,
Alachua, US) and recorded with the RZ2 BioAmp Processor at a sampling
frequency of 24414 Hz. Ankle kinematics was record with the
Vicon motion capture system at sampling frequency of 200 Hz. For each tested
EES condition a minimum of 1 minute of recording was performed. To analyze
the modulation of the muscle responses, we used the same procedures that we
adopted in the equivalent experiment carried out in human subjects.