Fig 4. Kinematic patterns.

A: ensemble-averaged waveforms (±SD, n = 6) of the limb joint (knee, ankle, elbow, wrist) and segment elevation (thigh, shank, foot, scapula, upper arm, lower arm, hand) angles in the sagittal plane (for galloping, the waveforms for the leading HL are shown). Data are plotted versus normalized gait cycle. Note a similar temporal sequence of minima of the elevation angles across gaits for each limb (schematically marked by green arrows). The dashed vertical lines in each subplot represents the onset of forward limb movement. B: range of angular motion (mean+SD) for HL and FL in different gaits.