Fig. 12

Slope Torque/Angle Characteristics. Ankle and knee angle, torque without WA (Black) and with WA (Blue), knee carriage (carr., equivalent to KA _z ), and ankle moment arm position (Mom. Arm, equivalent to A _ϕ ) for a representative slope climbing and descent cycle. The WA is used here to provide stiffness to the joint during ascent, although the amount the pilot used the WA for the task was lower than expected. The ankle dorsiflexes during the swing for foot clearance, and provides large torque during stance and pushoff. State 1 is the Slope Down Stance, State 2 is Swing, State 3 is Early Stance, State 4 is Pushoff, and State 5 is Slope Down Swing