Figure 8

Right and left ankle dorsiflexion-plantarflexion angles, and knee and hip flexion–extension angles from right foot touchdown to left foot take-off for the data-tracking (T) and predictive simulations (A-free, K-free, H-free, A-K-free, H-K-free, H-A-free, A-K-H-free). The horizontal bars at the top of the figure indicate periods of right (R) and left (L) stance. The outputs from the simulations were not plotted on the same set of axes to avoid interpretability and visualisation issues.