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. Author manuscript; available in PMC: 2014 Oct 17.
Published in final edited form as: IEEE Trans Biomed Eng. 2012 Feb 7;59(5):1310–1318. doi: 10.1109/TBME.2012.2186808

Fig. 9.

Fig. 9

Vertical (left) and mediolateral (right) ground reaction forces for the period-two 3D gait of μ = 0.763, where the second step cycle is shifted to coincide with the first step cycle for visual comparison. The first leg’s Fx curve has the opposite sign of the second leg’s Fx curve, so the latter is negated for comparison (right).