Figure 5.

Second-order transition schematic diagram. The possible transferability between motions with the constraints is demonstrated. (a) demonstrates the possible transitions among activities Standing, TurningSTL, and Lying. (b) demonstrates the possible transitions among activities Walking and Running. (c) demonstrates the possible transitions among activities Walking, Upstairs, and Downstairs. (d) demonstrates the possible transitions among activities ElevatorUp, Elevatordown, Standing, and Walking.