(Downloading may take up to 30 seconds.
If the slide opens in your browser, select File -> Save As to save it.)
Click on image to view larger version.


Figure 5


Fig. 5. Angular time profile and power oscillations during a bipedal stride. The top graph shows the 3D joint angles at hip (solid line), knee (squares) and ankle (triangles) of the stance limb (as indicated by the horizontal black bar). The bottom graph shows the power oscillations during the same bipedal stride.