Journal of Robotics / 2018 / Article / Fig 3

Research Article

Biomechanic and Energetic Effects of a Quasi-Passive Artificial Gastrocnemius on Transtibial Amputee Gait

Figure 3

Example action of the clutch engagement. A typical knee flexion angle profile is shown for level-ground walking. The dashed red section indicates the region in the gait cycle when the clutch in the AG would be engaged. Colored bars show the sequence of intended finite-state-machine state transitions.