During the gait cycle the foot can pronate in many different ways based on rearfoot and forefoot function.

The gluteus medius is very important during the stance phase of the gait cycle to maintain both hips at the same level.

Moreover, one leg stance accounts for about 60% of the gait cycle.

Furthermore, during the stance phase of the gait cycle, there is approximately three times the body weight transmitted to the hip joint.

Therefore, the normal gait cycle is affected by the drop foot syndrome.

Shoes were also found to reduce foot motion and increase the support (weight-bearing) phases of the gait cycle.

The gait cycle can be further broken down into a number of component parts.

One complete gait cycle involves a stance and swing phase for each leg.

The outward rolling of the forefoot which occurs during the gait cycle.

These robots use joint trajectories of the entire gait cycle and offer a uniform (more or less) stiff control along this trajectory.