Generating Human-Like Velocity-Adapted Jumping Gait from sEMG Signals for Bionic Leg’s Control

Figure 7

Synergies weighing coefficients of different jumping rhythm for flight phase. 1, tibialis anterior; 2, gastrocnemius; 3, soleus; 4, vastus medialis; 5, rectus femoris; 6, biceps femoris; 7, gluteus maximus.

(a) Jumping rhythm of 430 ms

(b) Jumping rhythm of 480 ms

(c) Jumping rhythm of 530 ms

(d) Jumping rhythm of 580 ms