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Fig. 2. Joint kinematics. Thick lines are the mean ankle (left column), knee
(middle column) and hip (right column) joint angles over the stride from heel
strike (0%) to heel strike (100%) of nine subjects. Data are averages of left
and right legs. Each row is walking data at 1.25 m s–1 on a
single surface gradient (0%-level at top to 15%-uphill at bottom). In each
subplot, curves are for unpowered (black circles), and powered (gray circles)
walking and thin lines are +1 s.d. Stance is 
0–60% of the stride,
swing 60–100%. For all joints 0 deg. is upright standing posture. Ankle
joint plantarflexion, knee joint extension and hip joint extension are all
positive.
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