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

Figure 9

Joint angles and muscle synergies. ch1, tibialis anterior; ch2, gastrocnemius; ch3, soleus; ch4, vastus medialis; ch5, rectus femoris; ch6, biceps femoris; ch7, gluteus maximus.

(a) Continuous jumping with uniform velocity

(b) Continuous jumping with variable velocity