The prostheses in both groups had adequate placement without significant differences in cup inclination, leg-length difference, or femoral stem alignment (Table 5).
The optimal body and legs inclination for any middle leg's position could be chosen from Fig. 9.
From Fig. 8, the backward inclination of the legs improves the adhesion requirement when the middle leg's position is below 0.38 (see red circle in Fig. 8b).
The backward legs' inclination for any other position will cause an increase in the required force.
The arrangement and inclination of the legs are not the same among the different designs of the robots.
The effect of legs' inclination for different height to length ratios has the same effect as the investigated structure with 1 2 height to length ratio; with the exception that the point that improves with the backward legs inclination is varied to be between 0.38 and 0.41 for the range of heights considered in Part 1.
Specifically, Fig. 10a shows five different optimal configurations when the inclination of the legs was kept constant (configurations shown in Fig. 10a were obtained by intersecting the curves of Fig. 9a with the vertical black solid line shown in this latter figure).
Main measures: COP trajectories and time functions; distribution of reaction forces between the two legs; inclination angles obtained through second order regression analysis using stabilogram data.
The former are attached on the surface of the foot, shank and thigh to measure the angular velocity of each segment, and the latter are used to measure inclination of the attached leg segment (shank) in every single human motion cycle for recalibration.
The case when the middle leg's inclination equals the front leg's is considered first.
At the same time, the S1C7 axis presented an inclination towards the stance leg during swing and was vertical during double support when bending was maximal.
