Fig. 3

Bilateral 3D phase diagrams. Representative 3D phase diagrams of average gait cycles for a representative HF and CG participant during the a pre-force, b force, c post-force, and d cane conditions. b–d The darker outline of the pre-force 3D phase diagram (from a) is superimposed for direct comparison with force, post-force and cane diagrams. The intersegmental angular trajectories (outer traces) are joined by perpendicular angular velocity ribbon traces. Blue to green (left leg) and red to grey (right leg) colour changes correspond to stance and swing phases, respectively. The circles and squares correspond to the moment of heel strike and toe lift, respectively. Some increases in angular velocity traces (thickening of ribbon traces) can be seen in the gait cycle such as the toe lift and during the swing phase in force, post-force, and cane 3D phase diagrams (b–d) for the HF individual in particular. Greater overlap with the pre-force trace is seen with the CG individual in comparison (b–d)