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. Author manuscript; available in PMC: 2019 Jan 1.
Published in final edited form as: IEEE Trans Control Syst Technol. 2017 Jan 17;26(1):181–193. doi: 10.1109/TCST.2016.2646319

Fig. 2.

Fig. 2

Heel contact configuration (left), flat foot configuration (center), and toe contact configuration (right) during stance on a slope with angle γ.