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. 2017 Dec 27;12(12):e0190135. doi: 10.1371/journal.pone.0190135

Fig 2. Human locomotion diagram and trunk angle trajectories.

Fig 2

(A) Side view of the instrumented walkway with three consecutive force plates. The second force plate (step-down) was lowered 10 cm during uneven walking with RE, TF1 and TF2 conditions. (B) Illustration of the definitions of the trunk angle as well as hip, knee, and ankle joint angles, the effective leg and the leg angle as used in this study. (C) The trunk kinematics in the sagittal plane across three level steps (blurred curves) and three uneven steps (solid curves) with regular erect (RE, black), ~30° of trunk flexion (TF1, blue) and ~50° of trunk flexion (TF2, green) during walking. The vertical grey and red lines represent TD and TO instants pertaining to the three consecutive steps during level and uneven walking, respectively. The horizontal grey and red lines highlight the maximum of the trunk angle in the step ‘U-1’ and the minimum of the trunk angle in the step ‘U0’ for each walking postures, respectively. L, unperturbed level step; U-1, pre-perturbation step; U0, step-down; U+1, step-up; CoM, center of mass; α, leg angle; CoP, center of pressure; TD, touchdown; TO, toe-off.