Figure 5

Joint angles. Joint angular displacements as a function of time, averaged over all subjects (solid lines and coloured shadows represent mean ± SD): values gathered in L-LA (a), L-MA, (b), H-LA (c) and H-MA (d) conditions. The normalized time goes from 0 to 1 for the elevation phase and from 1 to 2 for the lowering one. The four coloured curves represent the four DOFs of the kinematic model, as defined in Figure 1.