Fig. 13

Stair Torque/Angle Characteristics. Ankle and knee angle, torque without WA (Black) and with WA (Blue), knee carriage (carr., equivalent to KA _z ), and ankle moment arm position (Mom. Arm, equivalent to A _ϕ ) for a representative stair climbing and descent cycle. During this test the handrail was used. State 1 is the Stair Down Stance, State 2 is Swing, State 3 is Early Stance, State 4 is Pushoff, and State 5 is Stair Down Swing