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Fig. 2. Joint kinematics. Thick curves are nine subject mean ankle, knee and hip
joint kinematics for unpowered walking from the beginning of practice session
3 (black) and powered walking at the beginning of practice session 1 (light
gray) and end of practice session 3 (dark gray). Thin curves are +1 s.d. and
match colors for means. Curves are the stride average of left and right legs
and are plotted from heel-strike (0%) to heel-strike (100%). Stance is 
0%
to 60% of the stride, swing 60% to 100%. For all joints, zero degrees is
upright standing posture. Ankle plantarflexion, knee extension and hip
extension are positive.
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