Fig. 4

Synchronous diagram of ascending and descending stairs. (a) Stair path. (b) Descent path. (c) Left foot up the stairs synchronization diagram. (d) Right foot up the stairs synchronization diagram. (e) Left foot down the stairs synchronization diagram. (f) Right foot down the stairs synchronization diagram. (g) Left foot going up the stairs in sync. (h) Right foot going up the stairs in sync. (i) Left foot going down the stairs in sync. (j) Right foot going down the stairs in sync.