Fig 2. Desired limit cycles and VER applied torque and power illustration.

(a-b) compare the natural and designed trajectories at the knee and hip joints, where the gray background indicates the stance phase [42]. (c-d) compare the natural and desired limit cycles at 0.85m/s [42]. (e-h) illustrate VER applied torque and power w.r.t. the desired limit cycle. The color map shows the torque distribution w.r.t. the designed limit-cycles; yellow(dark blue) is positive(negative) highest value.