JEB -- Grimmer et al. 211 (18): 2989 Figure IG4

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Fig. 4. Knee ( ${varphi}$ _knee) and ankle ( ${varphi}$ _ankle) joint angles during the two subsequent stance phases. (A,C) Both knee and ankle do not adapt in preparation for the following step as the mean values are within the mean area ±1 s.d. of the reference run. (B,D) Both adapt in the disturbed second contact as the initial contact joint angle ( ${varphi}$ _knee,TD, ${varphi}$ _ankle,TD) as well as the minimum joint angle ( ${varphi}$ _knee,min, ${varphi}$ _ankle,min) decrease. For detailed values see Table 2.