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Fig. 6. Individual and summed joint torque (A) and power (B) curves during the
stance phases of stair descent (broken lines) and ascent (solid lines) walking
averaged across all subjects. Positive torques are extensors and positive
powers are energy generation. Summed torques were similar in shape and showed
that both gaits were produced by net extensor torques across all joints. Hip
and ankle torques were similar in the stair gaits, whereas knee torque had one
larger extensor phase in ascent and two smaller extensor phases in descent. As
in ramp gait, summed powers in stair descent and ascent were nearly entirely
negative and positive, respectively. In contrast to ramp gait, there was
minimal power and work at the hip on the stairs. Energy dissipation in stair
descent was done at the ankle joint in early stance and at the knee joint in
later stance. Stair ascent was produced by positive power and work at the knee
joint in early stance and at the ankle joint in later stance. Stair descent
had an 8% shorter stance phase, partially leading to reduced area under the
joint power curves and reduced muscle work compared to stair ascent.
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