(a) Orbital energy of different gait patterns with external force 5 N
(b) Foot trajectories of different gait patterns with external force 5 N
(c) Orbital energy of different gait patterns with external force 15 N
(d) Foot trajectories of different gait patterns with external force 15 N
(e) Orbital energy of different gait patterns with external force 25 N
(f) Foot trajectories of different gait patterns with external force 25 N
Figure 7: Experimental results of different gait patterns with external force (5 N, 15 N, 25 N).