Figure 3.

Comparison of healthy modules across included studies. Common modules found during normal steady state walking as described for comparison by Clark et al. [14], Ferrante et al. [28], and Coscia et al. [27]. For each module, the primary muscle activity which composes the module is listed as well as the corresponding phase of gait and biomechanical function. The image reproduced from Ferrante et al. [28] demonstrates the muscle weightings and timing for each module and highlights the phase of the gait cycle where each module is used. Key coactive muscles in each module are highlighted red on the lower body illustration. TA: tibialis anterior; SO: soleus; MG: medial gastrocnemius; VM: vastus medialis; RF: rectus femoris; MH: medial hamstrings; LH or HL: lateral hamstrings; GM: gluteus medius.