Fig. 4

Continuous relative phases knee–ankle of the amputated limb in people with a transfemoral amputation (TFA) and transtibial amputation (TTA) at self-selected, slow, and fast walking speed. Joint angles of able-bodied individuals (AB) are included as reference. The first column represents the mean (± SD) joint angle across all gait cycles. The gait cycles are defined based on the hip flexion peak angles. The second and third columns present the results of the non-parametric mapping (non-parametric independent t-tests) between TFA and AB, and TTA and AB, respectively. Red horizontal dashed lines depict the critical t-values