Comparison of simulated and experimental lower-limb swing kinematics for four individuals with different levels of spasticity.

Experimental data from Fowler et al. ([3], Fig 3). The model parameters were manually tuned to obtain a good fit with the experimental data and are reported in the table. Relative length is with respect to the length of the generic model [14]. Swing kinematics were simulated using reflex torques based on feedback from force and derivative of force (black), and using reflex torques based on feedback from length and velocity (red). (Left) Reflex torques are shown below the kinematic trajectories. (Middle) Kinematics during the first 2s after release of the leg. (Right) Reflex torques scaled to mass and length of the individual during the first 2s after release of the leg.