Figure 6.

A representative trial showing force assignment to the three foot segments for a level step. (a) Probability of contact for each segment with the ground (normalized per segment). (b) Probability that the segment is supporting the full weight (normalized per segment). (c) Multiplying the contact and full force probabilities results in weighting for the ground force, which is normalized across all segments such that the sum of weights at each time during stance equals 1. (Online version in colour.)