Fig. 5.

Comparisons of a) the trunk angle, b) knee angle, and c) foot angle at two essential gait characteristic events (touchdown or TD and liftoff or LO) between pre- and post-training gait. Trunk angle was calculated between the trunk segment and a vertical axis. Positive trunk angle represents that the trunk leans backward against the vertical line. Knee joint angle was the one formed by thigh segment and the extension line of leg segment with flexion as positive. Foot angle was the angle between the sole and ground where a flat foot corresponded to zero degrees with toe up as positive. The knee and foot angles are calculated for the leading leg.