Fig. 2.
Examples of forelimb elemental (left) and potential performance variables (right) during 30 cycles of ladder walking from a representative cat BL. Each individual cycle is represented by a thin black line. Vertical dashed line in each panel separates the swing and stance phase. Left (from top to bottom): Cartesian horizontal qSX (after detrending, see text) and vertical qSY coordinates of the shoulder, orientation angles of the upper arm qUA, forearm qFA and forefoot qFF (for definition of the elemental variables, see Fig. 1). Right (from top to bottom): Cartesian horizontal qFPX (after detrending) and vertical qFPY coordinates of the forepaw, forelimb length LFORELIMB and forelimb orientation θFORELIMB (for definition of the potential performance variables see Fig. 1). The gray line in each panel represents the mean of the linearized forward kinematics solutions computed for 30 walking cycles (see Eq. 3).