Development and Evaluation of a Powered Artificial Gastrocnemius for Transtibial Amputee Gait

Figure 6

Representative closed-loop system response during walking trials. Data were collected with an amputee participant. The torque error (blue) represents the difference in joint moment between the desired AG device torque (red) and the measured strain-gauge device torque (green). The vertical dashed line indicates ToeOff.