Fig. 5
From: Novel velocity estimation for symmetric and asymmetric self-paced treadmill training
Average joint angles and torques for the intermediate speed (FN: 0.15). In general, the joint angle and joint torque trajectories for the lower leg were consistent between fixed and self-paced trials. The dashed vertical lines show the instant of contralateral heel strike which was consistent between fixed and self-paced conditions. We observed some statistically significant differences in the ankle and knee, especially at the middle speed. Each block represents one of the seven selected phases of the gait cycle. The horizontal blocks (FN: 0.075, dark red; FN: 0.15, orange; FN: 0.225, dark green) represent statistical significance \((\text {P}<0.05)\) for the corresponding gait phase