Fig. 4.

Knee position kinematics averaged across 5 consecutive stair ascent strides. Blue represents forward stair ascent, purple represents backward stair ascent. Grey shaded regions represent when the foot is in contact with the ground and white shaded regions represent when the foot is not in contact with the ground. The bottom three graphs represent, from left to right, maximum Knee Position [deg], Flexion Torque [Nm], EMG [V]. Bar height and error bars show mean ± one standard deviation. The bargraphs are calculated only when the user’s foot was not in contact with the ground.