Fig. 2
Scatter plot for stability score in (a) and selected gait characteristics when turning off GAS. In (a), only simulations that produced valid stride-normalized results are shown. Due to the normalization of \(t_\text {off}\) to % stride time, most failed simulations fall outside the displayed y-axis limits. The failed samples often appear higher up on the y-axis due to post-processing errors in step detection when the model falls. White areas indicate regions without data points. (b) shows the average forward walking velocity (top) and the x-momentum change (bottom) of the trailing leg. In (b), the colors represent the relative change to the reference solution. The absolute value for the reference quantity is given in the title of each scatterplot. The color scale includes the 1st to 99th percentile of all results, with outliers shown in gray. Note that the y-axis limits in (b) are different from those in (a), to focus on the range of viable solutions. The cross \(\textcircled {x}\) marks the selected sample, which will be evaluated in detail. The vertical lines indicate the average timing of HO, TDc, and TO in human gait from13 for orientation. See Fig. S2 for scatter plots of all other metrics.
