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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. 7.

Fig. 7

Step linear velocity (left), step length (center), step time period (right) from −30% to 25% virtual BWS, real gravity support (GS), and real mass support (MS). Divided by a red dotted line, the sign of the x-axis denotes negative or positive BWS.