Fig. 6

Relative frequency of recovery strategies throughout swing phase. a Able-bodied subjects used elevating and delayed-lowering strategies in early to mid-swing. As onset increased, lowering strategies were increasingly employed. b For sound side limbs, recovery from trips was achieved using typical able-bodied strategies in the same intervals of swing phase as able-bodied subjects, although the elevating and delayed-lowering strategies were less frequently used for trips from 30-45 % and 30-60 % of swing phase, respectively. Skipping and hopping strategies were used in early to mid-swing. c Trips on the prosthesis side elicited typical able-bodied recovery strategies, but amputees used delayed-lowering strategies less than able-bodied subjects from 45-60 % of swing phase. Hopping strategies were used in early to mid-swing