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. Author manuscript; available in PMC: 2014 Dec 29.
Published in final edited form as: IEEE Trans Control Syst Technol. 2014 Jan;22(1):246–254. doi: 10.1109/TCST.2012.2236840

Fig. 5.

Fig. 5

Effective shapes (i.e., COP trajectories in shank coordinates) for three control modes simulated with Rs = 0.45 (top), three effective radii simulated under output linearization (middle), and three able-bodied human subjects (bottom). Note that the human ankle joint is 50 mm above the heel, causing an offset along the shank ys-axis.