Fig. 4From: Assessing walking ability using a robotic gait trainer: opportunities and limitations of assist-as-needed control in spinal cord injuryStrides were divided in 6 gait phases: first double support (DS1), single stance (SS), second double support (DS2), initial swing (IS), mid swing (MS) and terminal swing (TS). For every gait phase the stiffness K and the damping B (except in DS1 and SS) are calculated as the average between left and right legBack to article page