Journal of Robotics / 2018 / Article / Fig 6

Research Article

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

Figure 6

Affected-side knee flexion moment components with the AG shown for the Baseline condition where the clutch was disabled (thick solid blue line), the Active condition (thin solid red line), and the biological knee moment contribution during the Active condition (thin green dashed line). Shaded regions for these curves indicate 1 standard deviation, bounded by light dotted lines. For reference, biological knee moment data are also shown for the nonamputee from which the clutch spring was tuned (thick black dashed line) 1 standard deviation (black dotted lines). The vertical lines indicate the typical engagement and disengagement times for the clutch.