Fig. 3From: Robotic body weight support enables safe stair negotiation in compliance with basic locomotor principlesLower limb joint angle trajectories during stair ascent and descent under various levels of unloading. Average hip, knee and ankle joint angles over all subjects for a single gait cycle during stair ascent and descent. Different line colors correspond to investigated BWS levels and shaded area to one standard deviation from mean baseline angleBack to article page