Figure 6

Developing kinematic diversity in gait simulations by changing the set ofcontrol parameters ζ. The sequence of black and white rectangles belowthe three graphs in the lower panel indicate consecutive phases of double supportphase (0–5% of GC), left leg single support phase (5–50% of GC),double support phase (50–55% of GC) and left leg swing phase (55–100%of GC). Two transitions from black to white (5% of GC and 55% of GC) indicateright leg and left leg take-off respectively, whereas transition from white toblack (50% of GC and 100% of GC) indicates the right leg and left leg contactphase respectively. Additionally, the interval 0–10% of GC is referred to asearly stance phase, the interval 10–40% is referred to as midstance, thepush off indicates the interval 40–50% of GC and the interval 50–55%denotes terminal stance phase.