Figure 10From: A two-axis cable-driven ankle-foot mechanismBode plot of the ankle impedance in the sagittal plane. Impedance of the ankle-foot mechanism and a human subject with both relaxed muscles and 10% MVC. The top plot is the magnitude and the bottom plot is the phase. The quasi-static impedance of the mechanism was above the human ankle impedance magnitude with 10% MVC at low frequencies (around 1Â Hz).Back to article page