Fig. 9

Simulated kinematics for toe-gait. Flexion and extension angles of ankle, knee, and hip joints over the gait cycle in percent for velocity feedback gain and muscle weakness of \(\omega _{hw}=73\%\) and \(\omega _{hw}=0\%\) for comparison. For this scenario, the optimization process produced a controller with stable toe gait with initial ball contact. For more details on different gait features see Table 6