Measurement and Analysis of Gait Pattern during Stair Walk for Improvement of Robotic Locomotion Rehabilitation System

Table 4

Principal standard deviation of all subjects.

	Stair ascent		Stair descent
	Min.	Max.	Min.	Max.
Hip angle	2.12	6.28	2.30	4.86
Knee angle	2.96	12.22	2.55	11.18
Ankle angle	4.57	8.70	3.73	11.10
Hip translation	0.32	0.53	0.38	0.69
Hip rotation	1.47	4.42	1.80	3.17