Fig. 3. Kinematics of the transition. (A) Average kinematics of the last walking step, the transition step and the first running step. The red line represents the last walking step, the grey line the transition step and the blue line the first running step. Stick figures were created at specific key events of each step, being heel contact (HC), opposite toe-off (OT), midstance (MS), opposite heel contact (OH) and toe-off (TO). (B) Hip, knee and ankle angles during swing in the last walking steps. Light grey line, step –3; dark grey line, step –2; black line, step –1. Negative sign stands for flexion (ankle, dorsiflexion), a positive sign for extension (ankle, plantar flexion). The vertical blue line indicates the beginning of the final 15% of the swing phase.