Fig. 7

Joint biomechanics. Hip, knee, and ankle biomechanics (angle, torque, and power) for one gait cycle of level walking (solid, 1.3 m/s, [169]), walking inclines (dotted, 1.25 m/s, 9°, [170]), and ascending (dashed, black) and descending (dashed gray) stairs [148]. For [170] and [148], joint torques and angles were digitized. Joint angular velocity and power were calculated using these values in combination with the published gait cycle time information [171]