Figure 2
Six-link sagittal model. Segment lengths were taken from anthropometric data [22]. (Lf) length of the foot; (Ls) length of the shank; (Lt) length of the thigh; (θfl) angle of the left foot; (θsl) angle of the left shank; (θtl) angle of the left thigh; (θfl) angle of the right foot; (θsl) angle of the right shank; (θtl) angle of the right thigh.
