Fig. 6

Synchronous – asynchronous- synchronous cycle diagram. (a) Spatiotemporal diagram. (b) Synchronous-asynchronous velocity variation diagram of the left foot. (c) Synchronous-asynchronous velocity variation diagram of the right foot. (d) Spatiotemporal diagram. (e) Asynchronous—synchronous velocity variation diagram of the left foot. (f) Asynchronous—synchronous velocity variation diagram of the right foot.