Figure 2. Comparison of representative graphs of the WRTS-1, WRTS, and WRTS+1 strides, and representative graphs of three constant speed walking and running strides for (a) vhip and (b) ωankle. The time of the first stride is represented as 0 to 100%, the second stride as 100% to 200%, and the third stride from 200% to 300%. Vertical lines mark the beginning and end of strides (heelstrikes).