Fig. 6

Optimized hip, knee and ankle torque profiles for each participant. The optimized torque profiles with no load (blue), light load (green), and heavy load (orange) are plotted as a percent of stride. Ankle torque magnitude was the smallest for the no-load condition and largest for the heavy load condition for all three participants. Optimized hip and knee torque magnitudes varied for each participant. Most timing parameters were similar across loads and participants. The knee torque profiles have two state-based periods which result in torque changes on a step-to-step basis