Figure 11
Bode plot of the magnitude and phase of the ankle impedance in the frontal plane. Impedance of the ankle-foot mechanism and a human subject with 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 in between of the human ankle impedance magnitude with relaxed muscles and with 10% MVC at low frequencies (around 1Â Hz).