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Ensemble curves of subcomponents of MDT at the hip (A) and knee (B) joints during the swing phase. +, extension torque; −, flexion torque; FAAT, torque due to foot angular acceleration; FAVT, torque due to foot angular velocity; HLAT, torque due to hip linear acceleration; SAAT, torque due to shank angular acceleration; SAVT, torque due to shank angular velocity; TAAT, torque due to thigh angular acceleration; TAVT, torque due to thigh angular velocity.
