Table 2 Values of ζ _i in selected gait cycles

L _st,v,mid

L _st,v,end

q _P,mid

q _P,end

${\dot{q}}_{P,\mathrm{end}}$

q _T,mid

q _T,end

${\dot{q}}_{T,\mathrm{end}}$

L _st,ankle,mid

L _st,ankle,end

${\dot{L}}_{\mathrm{st},\mathrm{ankle},\mathrm{end}}$

L _sw,ankle,mid

L _sw,ankle,end

${\dot{L}}_{\mathrm{sw},\mathrm{ankle},\mathrm{end}}$