Fig 4. Normalized CoM, normalized effective leg length and lower limb joint angle trajectories.
Shown are ensemble-averaged normalized vertical position of center of mass (CoM), normalized effective leg length, hip, knee, and ankle angles pertaining to (A) unperturbed step (L), (B) pre-perturbation step (U-1), (C) step-down (U0) and (D) step-up (U+1) in the sagittal plane during the stance phase for RE (black), TF1 (blue) and TF2 (green) (N = 12). RE, regular erect trunk; TF1, ~30° trunk flexion; TF2, ~50° trunk flexion.