Figure 2

Largest Lyapunov exponent values as the toe-off impulse (J) was increased in each simulation. The ramp angle remained fixed at 0.0185 radians for all simulations. The simulations predict that the magnitude of the largest Lyapunov exponent will increase as the toe-off impulse is increased and assists the forward progression of the center of mass. These simulations indicate that toe-off impulses can be used to control the structure of the chaotic gait pattern.