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Relative functional phases of gait for recumbent stepping, cycling and walking. Flexion–extension for stepping, recovery–powder for cycling, and stance–swing for walking refer to the ipsilateral (right) leg and correspond to the images in the figure. The topmost terms of biomechanical flexion and extension refer to the overall motion of the limb towards or away from the body, respectively. Adapted from Zehr et al. (2007c) J Physiol
