ang vs tau, marko no weight data, subject jd gas length vs ankle torque

50 50

0 0
ankle moment[Nm]

ankle moment[Nm]
-50 -50
s1 s1
s2 s2
-100 -100
s3 s3
s4 s4
s5 - swing s5 - swing
-150 -150

-200 -200
-0.6 -0.4 -0.2 0 0.2 0.33 0.34 0.35 0.36 0.37 0.38
ankle angle[rad] est gastroc length[m], maA = 0.05, maK = 0.025

knee angle[rad] vs ankle torque[Nm] ankle torque[Nm], subject mass[kg] = 50.1, height[m] = 1.58
50 50

0 0
ankle moment[Nm]

ankle moment[Nm]

-50 -50
s1 s1
s2 s2
-100 -100
s3 s3
s4 s4 - 48%
s5 - swing s5 - swing
-150 -150

-200 -200
-1 -0.5 0 0.5 0 20 40 60 80 100
knee angle[rad] %gait cycle, walking vel[m/s] = 1.3

knee angle vs cycle time knee angle vs knee torque

0.4 40

0.2 30

0
20
-0.2
s1 10 s1
-0.4 s2 s2
s3 s3
0
-0.6 s4 - 48% s4
s5 - swing s5 - swing
-0.8 -10

-1 -20
0 20 40 60 80 100 -1 -0.5 0 0.5
% gait cycle knee angle[rad]
 ang vs tau, marko no weight data, subject wg gas length vs ankle torque
50 50

0 0
ankle moment[Nm]

ankle moment[Nm]
-50 -50

s1 s1
-100 s2 -100 s2
s3 s3
s4 s4
s5 - swing s5 - swing
-150 -150

-200 -200
-0.6 -0.4 -0.2 0 0.2 0.4 0.35 0.36 0.37 0.38 0.39 0.4 0.41
ankle angle[rad] est gastroc length[m], maA = 0.05, maK = 0.025

knee angle[rad] vs ankle torque[Nm] ankle torque[Nm], subject mass[kg] = 62.7, height[m] = 1.69
50 50

0 0
ankle moment[Nm]

ankle moment[Nm]

-50 -50

s1 s1
-100 s2 -100 s2
s3 s3
s4 s4 - 50%
s5 - swing s5 - swing
-150 -150

-200 -200
-1.5 -1 -0.5 0 0.5 0 20 40 60 80 100
knee angle[rad] %gait cycle, walking vel[m/s] = 1.38

knee angle vs cycle time knee angle vs knee torque

0.2 40

0
20
-0.2

0
-0.4
s1 s1
-0.6 s2 s2
-20
s3 s3
-0.8 s4 - 50% s4
s5 - swing s5 - swing
-40
-1

-1.2 -60
0 20 40 60 80 100 -1.5 -1 -0.5 0 0.5
% gait cycle knee angle[rad]
 ang vs tau, marko no weight data, subject wh gas length vs ankle torque
50 50

0 0
ankle moment[Nm]

ankle moment[Nm]
-50 -50

-100 s1 -100 s1
s2 s2
s3 s3
s4 s4
-150 s5 - swing -150 s5 - swing

-200 -200
-0.4 -0.2 0 0.2 0.4 0.4 0.42 0.44 0.46 0.48 0.5
ankle angle[rad] est gastroc length[m], maA = 0.05, maK = 0.025

knee angle[rad] vs ankle torque[Nm] ankle torque[Nm], subject mass[kg] = 81.9, height[m] = 1.87
50 50

0 0
ankle moment[Nm]

ankle moment[Nm]

-50 -50

-100 s1 -100 s1
s2 s2
s3 s3
s4 s4 - 53%
-150 s5 - swing -150 s5 - swing

-200 -200
-1.5 -1 -0.5 0 0 20 40 60 80 100
knee angle[rad] %gait cycle, walking vel[m/s] = 1.32

knee angle vs cycle time knee angle vs knee torque

0 80

-0.2 60

-0.4 40

-0.6 20

-0.8 s1 0 s1
s2 s2
-1 s3 -20 s3
s4 - 53% s4
s5 - swing s5 - swing
-1.2 -40

-1.4 -60
0 20 40 60 80 100 -1.5 -1 -0.5 0
% gait cycle knee angle[rad]
 ang vs tau, marko no weight data, subject sv gas length vs ankle torque
50 50

0 0
ankle moment[Nm]

ankle moment[Nm]
-50 -50

-100 s1 -100 s1
s2 s2
s3 s3
s4 s4
-150 s5 - swing -150 s5 - swing

-200 -200
-0.4 -0.2 0 0.2 0.4 0.39 0.4 0.41 0.42 0.43 0.44 0.45
ankle angle[rad] est gastroc length[m], maA = 0.05, maK = 0.025

knee angle[rad] vs ankle torque[Nm] ankle torque[Nm], subject mass[kg] = 73.9, height[m] = 1.82
50 50

0 0
ankle moment[Nm]

ankle moment[Nm]

-50 -50

-100 s1 -100 s1
s2 s2
s3 s3
s4 s4 - 55%
-150 s5 - swing -150 s5 - swing

-200 -200
-1 -0.8 -0.6 -0.4 -0.2 0 0 20 40 60 80 100
knee angle[rad] %gait cycle, walking vel[m/s] = 1.18

knee angle vs cycle time knee angle vs knee torque

0 80
s1
60 s2
-0.2 s3
s4
40 s5 - swing
-0.4
20
-0.6 s1
s2
0
s3
s4 - 55%
-0.8 s5 - swing -20

-1 -40
0 20 40 60 80 100 -1 -0.8 -0.6 -0.4 -0.2 0
% gait cycle knee angle[rad]
 ang vs tau, marko no weight data, subject th gas length vs ankle torque
20 20

0 0

-20 -20
ankle moment[Nm]

ankle moment[Nm]
-40 -40

-60 -60
s1 s1
-80 s2 -80 s2
s3 s3
-100 s4 -100 s4
s5 - swing s5 - swing
-120 -120

-140 -140
-0.6 -0.4 -0.2 0 0.2 0.32 0.33 0.34 0.35 0.36 0.37
ankle angle[rad] est gastroc length[m], maA = 0.05, maK = 0.025

knee angle[rad] vs ankle torque[Nm] ankle torque[Nm], subject mass[kg] = 49.9, height[m] = 1.6
20 20

0 0

-20 -20
ankle moment[Nm]

ankle moment[Nm]

-40 -40

-60 -60
s1 s1
-80 s2 -80 s2
s3 s3
-100 s4 -100 s4 - 50%
s5 - swing s5 - swing
-120 -120

-140 -140
-1 -0.8 -0.6 -0.4 -0.2 0 0 20 40 60 80 100
knee angle[rad] %gait cycle, walking vel[m/s] = 1.06

knee angle vs cycle time knee angle vs knee torque

0 40

30
-0.2
20

-0.4
10

s1 0 s1
-0.6
s2 s2
s3 -10 s3
s4 - 50% s4
-0.8 s5 - swing s5 - swing
-20

-1 -30
0 20 40 60 80 100 -1 -0.8 -0.6 -0.4 -0.2 0
% gait cycle knee angle[rad]
 ang vs tau, marko no weight data, subject aw gas length vs ankle torque
50 50

0 0
ankle moment[Nm]

ankle moment[Nm]
-50 -50
s1 s1
s2 s2
s3 s3
-100 s4 -100 s4
s5 - swing s5 - swing

-150 -150
-0.6 -0.4 -0.2 0 0.2 0.35 0.36 0.37 0.38 0.39 0.4
ankle angle[rad] est gastroc length[m], maA = 0.05, maK = 0.025

knee angle[rad] vs ankle torque[Nm] ankle torque[Nm], subject mass[kg] = 57.2, height[m] = 1.67
50 50

0 0
ankle moment[Nm]

ankle moment[Nm]

-50 -50
s1 s1
s2 s2
s3 s3
-100 s4 -100 s4 - 50%
s5 - swing s5 - swing

-150 -150
-1 -0.5 0 0.5 0 20 40 60 80 100
knee angle[rad] %gait cycle, walking vel[m/s] = 1.4

knee angle vs cycle time knee angle vs knee torque

0.4 60

0.2
40
0

20
-0.2

-0.4 s1 s1
0
s2 s2
-0.6 s3 s3
s4 - 50% s4
s5 - swing -20 s5 - swing
-0.8

-1 -40
0 20 40 60 80 100 -1 -0.5 0 0.5
% gait cycle knee angle[rad]
 ang vs tau, marko no weight data, subject jb gas length vs ankle torque
50 50

0 0
ankle moment[Nm]

ankle moment[Nm]
-50 -50

-100 s1 -100 s1
s2 s2
s3 s3
s4 s4
-150 s5 - swing -150 s5 - swing

-200 -200
-0.4 -0.2 0 0.2 0.4 0.39 0.4 0.41 0.42 0.43 0.44
ankle angle[rad] est gastroc length[m], maA = 0.05, maK = 0.025

knee angle[rad] vs ankle torque[Nm] ankle torque[Nm], subject mass[kg] = 82.6, height[m] = 1.92
50 50

0 0
ankle moment[Nm]

ankle moment[Nm]

-50 -50

-100 s1 -100 s1
s2 s2
s3 s3
s4 s4 - 53%
-150 s5 - swing -150 s5 - swing

-200 -200
-1.5 -1 -0.5 0 0.5 0 20 40 60 80 100
knee angle[rad] %gait cycle, walking vel[m/s] = 1.24

knee angle vs cycle time knee angle vs knee torque

0.2 80
s1
0 s2
60
s3
-0.2 s4
s5 - swing
40
-0.4

-0.6 s1 20
s2
-0.8 s3
s4 - 53%
s5 - swing 0
-1

-1.2 -20
0 20 40 60 80 100 -1.5 -1 -0.5 0 0.5
% gait cycle knee angle[rad]
 ang vs tau, marko no weight data, subject jp gas length vs ankle torque
50 50

0 0
ankle moment[Nm]

ankle moment[Nm]
-50 -50

-100 s1 -100 s1
s2 s2
s3 s3
s4 s4
-150 s5 - swing -150 s5 - swing

-200 -200
-0.4 -0.2 0 0.2 0.4 0.38 0.39 0.4 0.41 0.42 0.43 0.44
ankle angle[rad] est gastroc length[m], maA = 0.05, maK = 0.025

knee angle[rad] vs ankle torque[Nm] ankle torque[Nm], subject mass[kg] = 64.6, height[m] = 1.79
50 50

0 0
ankle moment[Nm]

ankle moment[Nm]

-50 -50

-100 s1 -100 s1
s2 s2
s3 s3
s4 s4 - 50%
-150 s5 - swing -150 s5 - swing

-200 -200
-1 -0.5 0 0.5 0 20 40 60 80 100
knee angle[rad] %gait cycle, walking vel[m/s] = 1.41

knee angle vs cycle time knee angle vs knee torque

0.4 80

0.2 60

0
40
-0.2
20
-0.4 s1 s1
s2 s2
0
-0.6 s3 s3
s4 - 50% s4
s5 - swing -20 s5 - swing
-0.8

-1 -40
0 20 40 60 80 100 -1 -0.5 0 0.5
% gait cycle knee angle[rad]
 ang vs tau, marko no weight data, subject jc gas length vs ankle torque
50 50

0 0
ankle moment[Nm]

ankle moment[Nm]
-50 -50

-100 s1 -100 s1
s2 s2
s3 s3
s4 s4
-150 s5 - swing -150 s5 - swing

-200 -200
-0.6 -0.4 -0.2 0 0.2 0.37 0.38 0.39 0.4 0.41 0.42 0.43
ankle angle[rad] est gastroc length[m], maA = 0.05, maK = 0.025

knee angle[rad] vs ankle torque[Nm] ankle torque[Nm], subject mass[kg] = 65.3, height[m] = 1.76
50 50

0 0
ankle moment[Nm]

ankle moment[Nm]

-50 -50

-100 s1 -100 s1
s2 s2
s3 s3
s4 s4 - 53%
-150 s5 - swing -150 s5 - swing

-200 -200
-1 -0.5 0 0.5 0 20 40 60 80 100
knee angle[rad] %gait cycle, walking vel[m/s] = 1.4

knee angle vs cycle time knee angle vs knee torque

0.4 80

0.2 60

0 40
s1
-0.2 20 s2
s3
s4
-0.4 s1 0 s5 - sw
s2
-0.6 s3 -20
s4 - 53%
s5 - swing
-0.8 -40

-1 -60
0 20 40 60 80 100 -1 -0.5 0 0.5
% gait cycle knee angle[rad]
 ang vs tau, marko no weight data, subject mp gas length vs ankle torque
50 50

0 0
ankle moment[Nm]

ankle moment[Nm]
-50 -50

-100 s1 -100 s1
s2 s2
s3 s3
s4 s4
-150 s5 - swing -150 s5 - swing

-200 -200
-0.4 -0.2 0 0.2 0.4 0.39 0.4 0.41 0.42 0.43 0.44 0.45
ankle angle[rad] est gastroc length[m], maA = 0.05, maK = 0.025

knee angle[rad] vs ankle torque[Nm] ankle torque[Nm], subject mass[kg] = 76.8, height[m] = 1.84
50 50

0 0
ankle moment[Nm]

ankle moment[Nm]

-50 -50

-100 s1 -100 s1
s2 s2
s3 s3
s4 s4 - 52%
-150 s5 - swing -150 s5 - swing

-200 -200
-1.5 -1 -0.5 0 0.5 0 20 40 60 80 100
knee angle[rad] %gait cycle, walking vel[m/s] = 1.33

knee angle vs cycle time knee angle vs knee torque

0.2 100
s1
0 80 s2
s3
-0.2 60 s4
s5 - swing
-0.4 40

-0.6 s1 20
s2
-0.8 s3 0
s4 - 52%
s5 - swing
-1 -20

-1.2 -40
0 20 40 60 80 100 -1.5 -1 -0.5 0 0.5
% gait cycle knee angle[rad]