Increase in hip and knee angle during foot-clearance support for the healthy control subjects. Mean absolute changes in the hip and knee angle for the trials in which the healthy subjects walked with the compliant step-height VMC (HC), stiff VMC (HS), and with the stiff VMC in combination with the visual feedback (HSV). Then mean parameters are calculated during the last 10 steps of the last exposure block. The error bars indicate the standard error of the mean. *p < 0.05.