Figure 9. The hip trajectory and the mean and standard deviation of the kinematic and dynamic variables obtained for the modified leg models.

Kinematic and dynamic variables obtained for the system with a) four muscles, b) modified and c) misplaced S refers to the stance phase (when the end effector is in touch with the ground) and F refers to the flight phase (when the end effector is in the air). The hip trajectory recorded for the system with d) four muscles, e) modified and f) misplaced