Table 3 Mean ± SD of human hip angle deviation (H-HAD), human knee angle deviation (H-KAD) and human ankle angle deviation (H-AAD) categorized by speed and walking modality

TM

1.8 ± 0.8

2.0 ± 1.1

2.9 ± 0.9

3.9 ± 2.6

2.6 ± 1.5

3.0 ± 1.7

2.1 ± 0.6

1.7 ± 0.8

1.9 ± 0.7

AM1

3.2 ± 0.6

2.8 ± 1.1

2.1 ± 0.4

5.1 ± 1.9

4.2 ± 2.2

2.8 ± 1.2

2.5 ± 0.9

1.8 ± 0.7

2.4 ± 0.7

AM2

3.3 ± 0.7

3.0 ± 1.3

2.5 ± 0.8

5.7 ± 1.5

3.7 ± 0.9

3.5 ± 1.3

3.8 ± 3.0

2.1 ± 0.8

2.7 ± 1.2

AM3

3.2 ± 1.0

3.9 ± 1.1

2.9 ± 1.0

5.3 ± 1.6

4.0 ± 2.1

4.1 ± 1.7

3.6 ± 3.0

2.2 ± 1.0

2.6 ± 1.1