10 Figs From Walking Data. Angles And Torques, Muscle Lengths, Etc For 10 Subjects
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gas length vs ankle torque 50
0
0 ankle moment[Nm]
ankle moment[Nm]
ang vs tau, marko no weight data, subject jd 50
-50 s1 s2 s3 s4 s5 - swing
-100
-150
-200 -0.6
-0.4
-0.2 ankle angle[rad]
s1 s2 s3 s4 s5 - swing
-100
-150
0
-200 0.33 0.34 0.35 0.36 0.37 0.38 est gastroc length[m], maA = 0.05, maK = 0.025
0.2
knee angle[rad] vs ankle torque[Nm]
ankle torque[Nm], subject mass[kg] = 50.1, height[m] = 1.58 50
50
0 ankle moment[Nm]
0 ankle moment[Nm]
-50
-50 s1 s2 s3 s4 s5 - swing
-100
-150
-200 -1
-50 s1 s2 s3 s4 - 48% s5 - swing
-100
-150
-0.5 0 knee angle[rad]
0.5
-200
0
knee angle vs cycle time
20 40 60 80 %gait cycle, walking vel[m/s] = 1.3
100
knee angle vs knee torque
0.4
40
0.2
30
0
20
-0.2 10
s1 s2 s3 s4 - 48% s5 - swing
-0.4 -0.6
0 -10
-0.8 -1
s1 s2 s3 s4 s5 - swing
0
20
40 60 % gait cycle
80
100
-20 -1
-0.5 0 knee angle[rad]
0.5
gas length vs ankle torque 50
0
0 ankle moment[Nm]
ankle moment[Nm]
ang vs tau, marko no weight data, subject wg 50
-50 s1 s2 s3 s4 s5 - swing
-100
-150
-200 -0.6
-0.4
s1 s2 s3 s4 s5 - swing
-100
-150
-0.2 0 ankle angle[rad]
0.2
-200 0.35 0.36 0.37 0.38 0.39 0.4 0.41 est gastroc length[m], maA = 0.05, maK = 0.025
0.4
knee angle[rad] vs ankle torque[Nm]
ankle torque[Nm], subject mass[kg] = 62.7, height[m] = 1.69 50
50
0 ankle moment[Nm]
0 ankle moment[Nm]
-50
-50 s1 s2 s3 s4 s5 - swing
-100
-150
-200 -1.5
-1
-0.5 knee angle[rad]
-50 s1 s2 s3 s4 - 50% s5 - swing
-100
-150
0
0.5
-200
0
knee angle vs cycle time
20 40 60 80 %gait cycle, walking vel[m/s] = 1.38
100
knee angle vs knee torque
0.2
40
0 20 -0.2 0
-0.4 s1 s2 s3 s4 - 50% s5 - swing
-0.6 -0.8
-20
-40
s1 s2 s3 s4 s5 - swing
-1 -1.2
0
20
40 60 % gait cycle
80
100
-60 -1.5
-1
-0.5 knee angle[rad]
0
0.5
gas length vs ankle torque 50
0
0 ankle moment[Nm]
ankle moment[Nm]
ang vs tau, marko no weight data, subject wh 50
-50 s1 s2 s3 s4 s5 - swing
-100
-150
-200 -0.4
-0.2
s1 s2 s3 s4 s5 - swing
-100
-150
0 0.2 ankle angle[rad]
-200 0.4 0.42 0.44 0.46 0.48 0.5 est gastroc length[m], maA = 0.05, maK = 0.025
0.4
knee angle[rad] vs ankle torque[Nm]
ankle torque[Nm], subject mass[kg] = 81.9, height[m] = 1.87 50
50
0 ankle moment[Nm]
0 ankle moment[Nm]
-50
-50 s1 s2 s3 s4 s5 - swing
-100
-150
-200 -1.5
-50 s1 s2 s3 s4 - 53% s5 - swing
-100
-150
-1 -0.5 knee angle[rad]
0
-200
0
knee angle vs cycle time 80
-0.2
60
-0.4
40
-0.6
20
-1.2 -1.4
0
s1 s2 s3 s4 - 53% s5 - swing
-1
0
20
40 60 % gait cycle
100
knee angle vs knee torque
0
-0.8
20 40 60 80 %gait cycle, walking vel[m/s] = 1.32
-20 -40 80
100
-60 -1.5
s1 s2 s3 s4 s5 - swing
-1 -0.5 knee angle[rad]
0
gas length vs ankle torque 50
0
0 ankle moment[Nm]
ankle moment[Nm]
ang vs tau, marko no weight data, subject sv 50
-50 s1 s2 s3 s4 s5 - swing
-100
-150
-200 -0.4
-0.2
s1 s2 s3 s4 s5 - swing
-100
-150
0 0.2 ankle angle[rad]
-200 0.39 0.4 0.41 0.42 0.43 0.44 0.45 est gastroc length[m], maA = 0.05, maK = 0.025
0.4
knee angle[rad] vs ankle torque[Nm]
ankle torque[Nm], subject mass[kg] = 73.9, height[m] = 1.82 50
50
0 ankle moment[Nm]
0 ankle moment[Nm]
-50
-50
-150
s1 s2 s3 s4 s5 - swing
-200 -1
-0.8
-100
-0.6 -0.4 knee angle[rad]
-50 s1 s2 s3 s4 - 55% s5 - swing
-100
-150
-0.2
0
-200
0
knee angle vs cycle time
20 40 60 80 %gait cycle, walking vel[m/s] = 1.18
100
knee angle vs knee torque
0
80 60
-0.2
40
s1 s2 s3 s4 s5 - swing
-0.4 20 s1 s2 s3 s4 - 55% s5 - swing
-0.6
-0.8
-1
0
20
40 60 % gait cycle
0 -20
80
100
-40 -1
-0.8
-0.6 -0.4 knee angle[rad]
-0.2
0
gas length vs ankle torque 20
0
0
-20
-20
ankle moment[Nm]
ankle moment[Nm]
ang vs tau, marko no weight data, subject th 20
-40 -60 s1 s2 s3 s4 s5 - swing
-80 -100 -120 -140 -0.6
-0.4
-0.2 ankle angle[rad]
-60
0
-100
-140 0.32 0.33 0.34 0.35 0.36 0.37 est gastroc length[m], maA = 0.05, maK = 0.025
0.2
knee angle[rad] vs ankle torque[Nm]
ankle torque[Nm], subject mass[kg] = 49.9, height[m] = 1.6 20 0
-20
-20
ankle moment[Nm]
0
-40 -60 s1 s2 s3 s4 s5 - swing
-80 -100 -120 -140 -1
-0.8
-0.6 -0.4 knee angle[rad]
s1 s2 s3 s4 s5 - swing
-80
-120
20
ankle moment[Nm]
-40
-40 -60 s1 s2 s3 s4 - 50% s5 - swing
-80 -100 -120
-0.2
0
-140
0
knee angle vs cycle time
20 40 60 80 %gait cycle, walking vel[m/s] = 1.06
100
knee angle vs knee torque
0
40 30
-0.2 20 -0.4
10
-0.8
-1
0
s1 s2 s3 s4 - 50% s5 - swing
-0.6
0
20
40 60 % gait cycle
-10 -20 80
100
-30 -1
s1 s2 s3 s4 s5 - swing
-0.8
-0.6 -0.4 knee angle[rad]
-0.2
0
0
0
-50 s1 s2 s3 s4 s5 - swing
-100
-150 -0.6
-0.4
-0.2 ankle angle[rad]
0
knee angle[rad] vs ankle torque[Nm]
ankle moment[Nm]
-50 s1 s2 s3 s4 s5 - swing
-150 -1
-0.5 0 knee angle[rad]
s1 s2 s3 s4 s5 - swing
-100
ankle torque[Nm], subject mass[kg] = 57.2, height[m] = 1.67 50
0
-100
-50
-150 0.35 0.36 0.37 0.38 0.39 0.4 est gastroc length[m], maA = 0.05, maK = 0.025
0.2
50
ankle moment[Nm]
gas length vs ankle torque 50
ankle moment[Nm]
ankle moment[Nm]
ang vs tau, marko no weight data, subject aw 50
0.5
0
-50 s1 s2 s3 s4 - 50% s5 - swing
-100
-150
0
knee angle vs cycle time
20 40 60 80 %gait cycle, walking vel[m/s] = 1.4
100
knee angle vs knee torque
0.4
60
0.2 40 0 20
-0.2 -0.4
s1 s2 s3 s4 - 50% s5 - swing
-0.6 -0.8 -1
0
20
40 60 % gait cycle
0
-20
80
100
-40 -1
s1 s2 s3 s4 s5 - swing
-0.5 0 knee angle[rad]
0.5
gas length vs ankle torque 50
0
0 ankle moment[Nm]
ankle moment[Nm]
ang vs tau, marko no weight data, subject jb 50
-50 s1 s2 s3 s4 s5 - swing
-100
-150
-200 -0.4
-0.2
s1 s2 s3 s4 s5 - swing
-100
-150
0 0.2 ankle angle[rad]
-200 0.39 0.4 0.41 0.42 0.43 0.44 est gastroc length[m], maA = 0.05, maK = 0.025
0.4
knee angle[rad] vs ankle torque[Nm]
ankle torque[Nm], subject mass[kg] = 82.6, height[m] = 1.92 50
50
0 ankle moment[Nm]
0 ankle moment[Nm]
-50
-50 s1 s2 s3 s4 s5 - swing
-100
-150
-200 -1.5
-1
-0.5 knee angle[rad]
-50 s1 s2 s3 s4 - 53% s5 - swing
-100
-150
0
0.5
-200
0
knee angle vs cycle time
100
knee angle vs knee torque
0.2
80
0 60 -0.2 40
-0.4 -0.6
s1 s2 s3 s4 - 53% s5 - swing
-0.8 -1 -1.2
20 40 60 80 %gait cycle, walking vel[m/s] = 1.24
0
20
40 60 % gait cycle
s1 s2 s3 s4 s5 - swing
20
0
80
100
-20 -1.5
-1
-0.5 knee angle[rad]
0
0.5
gas length vs ankle torque 50
0
0 ankle moment[Nm]
ankle moment[Nm]
ang vs tau, marko no weight data, subject jp 50
-50 s1 s2 s3 s4 s5 - swing
-100
-150
-200 -0.4
-0.2
s1 s2 s3 s4 s5 - swing
-100
-150
0 0.2 ankle angle[rad]
-200 0.38 0.39 0.4 0.41 0.42 0.43 0.44 est gastroc length[m], maA = 0.05, maK = 0.025
0.4
knee angle[rad] vs ankle torque[Nm]
ankle torque[Nm], subject mass[kg] = 64.6, height[m] = 1.79 50
50
0 ankle moment[Nm]
0 ankle moment[Nm]
-50
-50 s1 s2 s3 s4 s5 - swing
-100
-150
-200 -1
-50 s1 s2 s3 s4 - 50% s5 - swing
-100
-150
-0.5 0 knee angle[rad]
0.5
-200
0
knee angle vs cycle time
20 40 60 80 %gait cycle, walking vel[m/s] = 1.41
100
knee angle vs knee torque
0.4
80
0.2
60
0
40
-0.2 20 -0.4
s1 s2 s3 s4 - 50% s5 - swing
-0.6 -0.8 -1
0
20
40 60 % gait cycle
0 -20
80
100
-40 -1
s1 s2 s3 s4 s5 - swing
-0.5 0 knee angle[rad]
0.5
gas length vs ankle torque 50
0
0 ankle moment[Nm]
ankle moment[Nm]
ang vs tau, marko no weight data, subject jc 50
-50 s1 s2 s3 s4 s5 - swing
-100
-150
-200 -0.6
-0.4
-0.2 ankle angle[rad]
s1 s2 s3 s4 s5 - swing
-100
-150
0
-200 0.37 0.38 0.39 0.4 0.41 0.42 0.43 est gastroc length[m], maA = 0.05, maK = 0.025
0.2
knee angle[rad] vs ankle torque[Nm]
ankle torque[Nm], subject mass[kg] = 65.3, height[m] = 1.76 50
50
0 ankle moment[Nm]
0 ankle moment[Nm]
-50
-50 s1 s2 s3 s4 s5 - swing
-100
-150
-200 -1
-50 s1 s2 s3 s4 - 53% s5 - swing
-100
-150
-0.5 0 knee angle[rad]
0.5
-200
0
knee angle vs cycle time
100
knee angle vs knee torque
0.4
80
0.2
60
0
40
-0.2
s1 s2 s3 s4 s5 - sw
20
-0.4
0
s1 s2 s3 s4 - 53% s5 - swing
-0.6 -0.8 -1
20 40 60 80 %gait cycle, walking vel[m/s] = 1.4
0
20
40 60 % gait cycle
-20 -40 80
100
-60 -1
-0.5 0 knee angle[rad]
0.5
gas length vs ankle torque 50
0
0 ankle moment[Nm]
ankle moment[Nm]
ang vs tau, marko no weight data, subject mp 50
-50 s1 s2 s3 s4 s5 - swing
-100
-150
-200 -0.4
-0.2
s1 s2 s3 s4 s5 - swing
-100
-150
0 0.2 ankle angle[rad]
-200 0.39 0.4 0.41 0.42 0.43 0.44 0.45 est gastroc length[m], maA = 0.05, maK = 0.025
0.4
knee angle[rad] vs ankle torque[Nm]
ankle torque[Nm], subject mass[kg] = 76.8, height[m] = 1.84 50
50
0 ankle moment[Nm]
0 ankle moment[Nm]
-50
-50 s1 s2 s3 s4 s5 - swing
-100
-150
-200 -1.5
-1
-0.5 knee angle[rad]
-50 s1 s2 s3 s4 - 52% s5 - swing
-100
-150
0
0.5
-200
0
knee angle vs cycle time 100
0
80
-0.2
60
-0.4
40
-1 -1.2
0
20
40 60 % gait cycle
s1 s2 s3 s4 s5 - swing
20
s1 s2 s3 s4 - 52% s5 - swing
-0.8
100
knee angle vs knee torque
0.2
-0.6
20 40 60 80 %gait cycle, walking vel[m/s] = 1.33
0 -20 80
100
-40 -1.5
-1
-0.5 knee angle[rad]
0
0.5
0
0 ankle moment[Nm]
ankle moment[Nm]
ang vs tau, marko no weight data, subject jd 50
-50 s1 s2 s3 s4 s5 - swing
-100
-150
-200 -0.6
-0.4
-0.2 ankle angle[rad]
s1 s2 s3 s4 s5 - swing
-100
-150
0
-200 0.33 0.34 0.35 0.36 0.37 0.38 est gastroc length[m], maA = 0.05, maK = 0.025
0.2
knee angle[rad] vs ankle torque[Nm]
ankle torque[Nm], subject mass[kg] = 50.1, height[m] = 1.58 50
50
0 ankle moment[Nm]
0 ankle moment[Nm]
-50
-50 s1 s2 s3 s4 s5 - swing
-100
-150
-200 -1
-50 s1 s2 s3 s4 - 48% s5 - swing
-100
-150
-0.5 0 knee angle[rad]
0.5
-200
0
knee angle vs cycle time
20 40 60 80 %gait cycle, walking vel[m/s] = 1.3
100
knee angle vs knee torque
0.4
40
0.2
30
0
20
-0.2 10
s1 s2 s3 s4 - 48% s5 - swing
-0.4 -0.6
0 -10
-0.8 -1
s1 s2 s3 s4 s5 - swing
0
20
40 60 % gait cycle
80
100
-20 -1
-0.5 0 knee angle[rad]
0.5
gas length vs ankle torque 50
0
0 ankle moment[Nm]
ankle moment[Nm]
ang vs tau, marko no weight data, subject wg 50
-50 s1 s2 s3 s4 s5 - swing
-100
-150
-200 -0.6
-0.4
s1 s2 s3 s4 s5 - swing
-100
-150
-0.2 0 ankle angle[rad]
0.2
-200 0.35 0.36 0.37 0.38 0.39 0.4 0.41 est gastroc length[m], maA = 0.05, maK = 0.025
0.4
knee angle[rad] vs ankle torque[Nm]
ankle torque[Nm], subject mass[kg] = 62.7, height[m] = 1.69 50
50
0 ankle moment[Nm]
0 ankle moment[Nm]
-50
-50 s1 s2 s3 s4 s5 - swing
-100
-150
-200 -1.5
-1
-0.5 knee angle[rad]
-50 s1 s2 s3 s4 - 50% s5 - swing
-100
-150
0
0.5
-200
0
knee angle vs cycle time
20 40 60 80 %gait cycle, walking vel[m/s] = 1.38
100
knee angle vs knee torque
0.2
40
0 20 -0.2 0
-0.4 s1 s2 s3 s4 - 50% s5 - swing
-0.6 -0.8
-20
-40
s1 s2 s3 s4 s5 - swing
-1 -1.2
0
20
40 60 % gait cycle
80
100
-60 -1.5
-1
-0.5 knee angle[rad]
0
0.5
gas length vs ankle torque 50
0
0 ankle moment[Nm]
ankle moment[Nm]
ang vs tau, marko no weight data, subject wh 50
-50 s1 s2 s3 s4 s5 - swing
-100
-150
-200 -0.4
-0.2
s1 s2 s3 s4 s5 - swing
-100
-150
0 0.2 ankle angle[rad]
-200 0.4 0.42 0.44 0.46 0.48 0.5 est gastroc length[m], maA = 0.05, maK = 0.025
0.4
knee angle[rad] vs ankle torque[Nm]
ankle torque[Nm], subject mass[kg] = 81.9, height[m] = 1.87 50
50
0 ankle moment[Nm]
0 ankle moment[Nm]
-50
-50 s1 s2 s3 s4 s5 - swing
-100
-150
-200 -1.5
-50 s1 s2 s3 s4 - 53% s5 - swing
-100
-150
-1 -0.5 knee angle[rad]
0
-200
0
knee angle vs cycle time 80
-0.2
60
-0.4
40
-0.6
20
-1.2 -1.4
0
s1 s2 s3 s4 - 53% s5 - swing
-1
0
20
40 60 % gait cycle
100
knee angle vs knee torque
0
-0.8
20 40 60 80 %gait cycle, walking vel[m/s] = 1.32
-20 -40 80
100
-60 -1.5
s1 s2 s3 s4 s5 - swing
-1 -0.5 knee angle[rad]
0
gas length vs ankle torque 50
0
0 ankle moment[Nm]
ankle moment[Nm]
ang vs tau, marko no weight data, subject sv 50
-50 s1 s2 s3 s4 s5 - swing
-100
-150
-200 -0.4
-0.2
s1 s2 s3 s4 s5 - swing
-100
-150
0 0.2 ankle angle[rad]
-200 0.39 0.4 0.41 0.42 0.43 0.44 0.45 est gastroc length[m], maA = 0.05, maK = 0.025
0.4
knee angle[rad] vs ankle torque[Nm]
ankle torque[Nm], subject mass[kg] = 73.9, height[m] = 1.82 50
50
0 ankle moment[Nm]
0 ankle moment[Nm]
-50
-50
-150
s1 s2 s3 s4 s5 - swing
-200 -1
-0.8
-100
-0.6 -0.4 knee angle[rad]
-50 s1 s2 s3 s4 - 55% s5 - swing
-100
-150
-0.2
0
-200
0
knee angle vs cycle time
20 40 60 80 %gait cycle, walking vel[m/s] = 1.18
100
knee angle vs knee torque
0
80 60
-0.2
40
s1 s2 s3 s4 s5 - swing
-0.4 20 s1 s2 s3 s4 - 55% s5 - swing
-0.6
-0.8
-1
0
20
40 60 % gait cycle
0 -20
80
100
-40 -1
-0.8
-0.6 -0.4 knee angle[rad]
-0.2
0
gas length vs ankle torque 20
0
0
-20
-20
ankle moment[Nm]
ankle moment[Nm]
ang vs tau, marko no weight data, subject th 20
-40 -60 s1 s2 s3 s4 s5 - swing
-80 -100 -120 -140 -0.6
-0.4
-0.2 ankle angle[rad]
-60
0
-100
-140 0.32 0.33 0.34 0.35 0.36 0.37 est gastroc length[m], maA = 0.05, maK = 0.025
0.2
knee angle[rad] vs ankle torque[Nm]
ankle torque[Nm], subject mass[kg] = 49.9, height[m] = 1.6 20 0
-20
-20
ankle moment[Nm]
0
-40 -60 s1 s2 s3 s4 s5 - swing
-80 -100 -120 -140 -1
-0.8
-0.6 -0.4 knee angle[rad]
s1 s2 s3 s4 s5 - swing
-80
-120
20
ankle moment[Nm]
-40
-40 -60 s1 s2 s3 s4 - 50% s5 - swing
-80 -100 -120
-0.2
0
-140
0
knee angle vs cycle time
20 40 60 80 %gait cycle, walking vel[m/s] = 1.06
100
knee angle vs knee torque
0
40 30
-0.2 20 -0.4
10
-0.8
-1
0
s1 s2 s3 s4 - 50% s5 - swing
-0.6
0
20
40 60 % gait cycle
-10 -20 80
100
-30 -1
s1 s2 s3 s4 s5 - swing
-0.8
-0.6 -0.4 knee angle[rad]
-0.2
0
0
0
-50 s1 s2 s3 s4 s5 - swing
-100
-150 -0.6
-0.4
-0.2 ankle angle[rad]
0
knee angle[rad] vs ankle torque[Nm]
ankle moment[Nm]
-50 s1 s2 s3 s4 s5 - swing
-150 -1
-0.5 0 knee angle[rad]
s1 s2 s3 s4 s5 - swing
-100
ankle torque[Nm], subject mass[kg] = 57.2, height[m] = 1.67 50
0
-100
-50
-150 0.35 0.36 0.37 0.38 0.39 0.4 est gastroc length[m], maA = 0.05, maK = 0.025
0.2
50
ankle moment[Nm]
gas length vs ankle torque 50
ankle moment[Nm]
ankle moment[Nm]
ang vs tau, marko no weight data, subject aw 50
0.5
0
-50 s1 s2 s3 s4 - 50% s5 - swing
-100
-150
0
knee angle vs cycle time
20 40 60 80 %gait cycle, walking vel[m/s] = 1.4
100
knee angle vs knee torque
0.4
60
0.2 40 0 20
-0.2 -0.4
s1 s2 s3 s4 - 50% s5 - swing
-0.6 -0.8 -1
0
20
40 60 % gait cycle
0
-20
80
100
-40 -1
s1 s2 s3 s4 s5 - swing
-0.5 0 knee angle[rad]
0.5
gas length vs ankle torque 50
0
0 ankle moment[Nm]
ankle moment[Nm]
ang vs tau, marko no weight data, subject jb 50
-50 s1 s2 s3 s4 s5 - swing
-100
-150
-200 -0.4
-0.2
s1 s2 s3 s4 s5 - swing
-100
-150
0 0.2 ankle angle[rad]
-200 0.39 0.4 0.41 0.42 0.43 0.44 est gastroc length[m], maA = 0.05, maK = 0.025
0.4
knee angle[rad] vs ankle torque[Nm]
ankle torque[Nm], subject mass[kg] = 82.6, height[m] = 1.92 50
50
0 ankle moment[Nm]
0 ankle moment[Nm]
-50
-50 s1 s2 s3 s4 s5 - swing
-100
-150
-200 -1.5
-1
-0.5 knee angle[rad]
-50 s1 s2 s3 s4 - 53% s5 - swing
-100
-150
0
0.5
-200
0
knee angle vs cycle time
100
knee angle vs knee torque
0.2
80
0 60 -0.2 40
-0.4 -0.6
s1 s2 s3 s4 - 53% s5 - swing
-0.8 -1 -1.2
20 40 60 80 %gait cycle, walking vel[m/s] = 1.24
0
20
40 60 % gait cycle
s1 s2 s3 s4 s5 - swing
20
0
80
100
-20 -1.5
-1
-0.5 knee angle[rad]
0
0.5
gas length vs ankle torque 50
0
0 ankle moment[Nm]
ankle moment[Nm]
ang vs tau, marko no weight data, subject jp 50
-50 s1 s2 s3 s4 s5 - swing
-100
-150
-200 -0.4
-0.2
s1 s2 s3 s4 s5 - swing
-100
-150
0 0.2 ankle angle[rad]
-200 0.38 0.39 0.4 0.41 0.42 0.43 0.44 est gastroc length[m], maA = 0.05, maK = 0.025
0.4
knee angle[rad] vs ankle torque[Nm]
ankle torque[Nm], subject mass[kg] = 64.6, height[m] = 1.79 50
50
0 ankle moment[Nm]
0 ankle moment[Nm]
-50
-50 s1 s2 s3 s4 s5 - swing
-100
-150
-200 -1
-50 s1 s2 s3 s4 - 50% s5 - swing
-100
-150
-0.5 0 knee angle[rad]
0.5
-200
0
knee angle vs cycle time
20 40 60 80 %gait cycle, walking vel[m/s] = 1.41
100
knee angle vs knee torque
0.4
80
0.2
60
0
40
-0.2 20 -0.4
s1 s2 s3 s4 - 50% s5 - swing
-0.6 -0.8 -1
0
20
40 60 % gait cycle
0 -20
80
100
-40 -1
s1 s2 s3 s4 s5 - swing
-0.5 0 knee angle[rad]
0.5
gas length vs ankle torque 50
0
0 ankle moment[Nm]
ankle moment[Nm]
ang vs tau, marko no weight data, subject jc 50
-50 s1 s2 s3 s4 s5 - swing
-100
-150
-200 -0.6
-0.4
-0.2 ankle angle[rad]
s1 s2 s3 s4 s5 - swing
-100
-150
0
-200 0.37 0.38 0.39 0.4 0.41 0.42 0.43 est gastroc length[m], maA = 0.05, maK = 0.025
0.2
knee angle[rad] vs ankle torque[Nm]
ankle torque[Nm], subject mass[kg] = 65.3, height[m] = 1.76 50
50
0 ankle moment[Nm]
0 ankle moment[Nm]
-50
-50 s1 s2 s3 s4 s5 - swing
-100
-150
-200 -1
-50 s1 s2 s3 s4 - 53% s5 - swing
-100
-150
-0.5 0 knee angle[rad]
0.5
-200
0
knee angle vs cycle time
100
knee angle vs knee torque
0.4
80
0.2
60
0
40
-0.2
s1 s2 s3 s4 s5 - sw
20
-0.4
0
s1 s2 s3 s4 - 53% s5 - swing
-0.6 -0.8 -1
20 40 60 80 %gait cycle, walking vel[m/s] = 1.4
0
20
40 60 % gait cycle
-20 -40 80
100
-60 -1
-0.5 0 knee angle[rad]
0.5
gas length vs ankle torque 50
0
0 ankle moment[Nm]
ankle moment[Nm]
ang vs tau, marko no weight data, subject mp 50
-50 s1 s2 s3 s4 s5 - swing
-100
-150
-200 -0.4
-0.2
s1 s2 s3 s4 s5 - swing
-100
-150
0 0.2 ankle angle[rad]
-200 0.39 0.4 0.41 0.42 0.43 0.44 0.45 est gastroc length[m], maA = 0.05, maK = 0.025
0.4
knee angle[rad] vs ankle torque[Nm]
ankle torque[Nm], subject mass[kg] = 76.8, height[m] = 1.84 50
50
0 ankle moment[Nm]
0 ankle moment[Nm]
-50
-50 s1 s2 s3 s4 s5 - swing
-100
-150
-200 -1.5
-1
-0.5 knee angle[rad]
-50 s1 s2 s3 s4 - 52% s5 - swing
-100
-150
0
0.5
-200
0
knee angle vs cycle time 100
0
80
-0.2
60
-0.4
40
-1 -1.2
0
20
40 60 % gait cycle
s1 s2 s3 s4 s5 - swing
20
s1 s2 s3 s4 - 52% s5 - swing
-0.8
100
knee angle vs knee torque
0.2
-0.6
20 40 60 80 %gait cycle, walking vel[m/s] = 1.33
0 -20 80
100
-40 -1.5
-1
-0.5 knee angle[rad]
0
0.5
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