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. 2014 Oct 27;9(10):e109959. doi: 10.1371/journal.pone.0109959

Table 5. Comparison of function characteristics.

Inline graphic Inline graphic
Gait Set Inline graphic (ms) Inline graphic (ms) Inline graphic (ms) Inline graphic (ms)
Stable 1B 175 215 190 255
3B 190 230 220 330
4B 155 190 165 245
5A 140 275 125 225
6A 220 230 230 275
6B 215 195 225 270
Unstable 1A 160 190 160 180
2A 135 215 130 175
2B 155 205 165 175
3A 280 195 185 180
4A 225 225 130 145
5B 155 185 185 185

The duration (Inline graphic) and peak time (Inline graphic) of the hip transfer functions were compared to determine the influence on whether RunBot's gait is stable or unstable. Inline graphic needs to have a longer duration than Inline graphic to produce a stable gait pattern.