Experimental Set-up. A. Subjects were secured in a standing position with foam bumpers pinching the hips from four sides and a safety harness prevented subjects from slipping down. The subject's foot was attached to a boot that was fixed to a six DOF load cell that would measure joint torques about the hip, knee and ankle. A monitor provided feedback on the torque generated in the primary joint direction. EMG activity was recorded from eight muscles. B. Photograph of experimental setup.