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. 2021 Jul 19;8:702845. doi: 10.3389/frobt.2021.702845

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Copyright © 2021 Luo, Androwis, Adamovich, Su, Nunez and Zhou.

This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

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Case1: Joint behavior statistics in the first squatting cycle (curve: mean; shade: STD) with respect to time for 200 simulated environments. (A) Hip, knee, ankle dorsiflexion/plantarflexion, ankle inversion/eversion joint angles with respect to time during the first squatting cycle. Since the learned STDs $Σ$ (in Eq. 4) of the joint angles are very small (less than 0.05), the variances of joint angles are indiscernible in figure. (B) Corresponding joint torques during the first squatting cycle.