Figure 2.

Six-link sagittal model. Segment lengths were taken from anthropometric data [22]. (L_f) length of the foot; (L_s) length of the shank; (L_t) length of the thigh; (θ_fl) angle of the left foot; (θ_sl) angle of the left shank; (θ_tl) angle of the left thigh; (θ_fl) angle of the right foot; (θ_sl) angle of the right shank; (θ_tl) angle of the right thigh.