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. Author manuscript; available in PMC: 2014 Oct 7.
Published in final edited form as: IEEE Int Conf Rehabil Robot. 2011;2011:5975459. doi: 10.1109/ICORR.2011.5975459

Fig. 2.

Fig. 2

Passive steady-state step velocity (left) and impact energy dissipation (right) over slope angle. Solution is solid if stable and dotted if unstable.