Science Robotics

Supplementary Materials

The PDF file includes:

  • Materials and Methods
  • Fig. S1. Foot clearance is defined as the distance between the foot and the ground in the vertical (y) axis.
  • Fig. S2. The Utah lightweight leg comprises powered ankle and knee modules, each having one actuated degree of freedom in the sagittal plane.
  • Table S1. Group averages of the maximum knee flexion, thigh range, hip range, maximum clearance, and stride duration for all tested conditions.
  • Table S2. Subject data.

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Other Supplementary Material for this manuscript includes the following:

  • Movie S1 (.mp4 format). Example experiment showing one participant walking and crossing over obstacles.

Files in this Data Supplement: