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Dynamic primitives in the control of locomotion

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Academic year: 2021

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FIGURE 1 | Entrainment of human walking to periodic ankle torque pulses. Panel (A) shows experimental observation of unimpaired subjects (Ahn and Hogan, 2012b)
FIGURE 2 | Variation of static ankle mechanical impedance with muscle activation (Lee et al., 2012c)
FIGURE 3 | Variation of dynamic ankle mechanical impedance with muscle activation (Lee et al., 2012b)
FIGURE 4 | Time-variation of ankle dynamics during level walking (Lee et al., 2012a). Bode plots of admittance (inverse of impedance) at 50 ms intervals
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