Fig. 4

Time series (normalized to percentage of prosthesis-side stride cycle) of the average power for the ankle-foot, knee, and hip. The ankle-foot was calculated using the unified deformable segment analysis, and knee and hip were calculated using a 6 degree-of-freedom model. All power is normalized to the participant’s biological body mass. The solid lines are the prosthetic side and the dashed lines are the contralateral side