Fig. 1. Group mean sagittal plane joint angles (A–C) and angular velocities (D–F) for the hip, knee and ankle during walking with stride rates above (+20%), below (–20%), and at the preferred rate. The ±10% conditions have been omitted for clarity, but were generally intermediate to the preferred and ±20% conditions. At lower stride rates, there was a greater range of motion at the hip and a lower range of motion at the knee. The joint angular velocities were similar across stride rates for all three joints during the early to mid stance phase (0–50% of the gait cycle), but were higher for the hip and the knee during the late stance phase and the swing phase (50–100% of the gait cycle). Flex, flexion; ext, extension; DF, dorsiflexion; PF, plantarflexion.