Fig. 2From: A pelvic kinematic approach for calculating hip angles for active hip disarticulation prosthesis controlPelvic feature and stance time correlation with hip angle features. A Pelvic tilt angle at foot strike (PTθ) and hip angle at foot-strike (HθFS), B timing of pelvic angular velocity zero-crossing in early stance (PRZC) and hip angle range of motion during that period (ΔH), C timing of pelvic tilt angular velocity first zero crossing in midstance (PTZC) and hip max extension time (HτE), D timing of pelvic tilt angular velocity first zero crossing in mid-swing (PTZC) and hip max flexion time (HτF), E stance time (τs) and hip max flexion time (HτF)Back to article page