Fig 4. Kinetics and kinematics for the slow speed.

Average ground reaction forces, joint angles, joint moments, and muscle forces for all trials at the slow speed (0.8 m/s). The shaded area denotes on standard deviation. The graphs use Winter’s sign convention, where flexion angles and extension moments are positive for hip and knee. Dorsiflexion angle and plantarflexion moment are positive for the ankle.