## 3 Results
### Kinematic Evaluation  
Table 1 shows the left and right joint angles and the actual measured step length when walking at 1 km/h, for step lengths of 310, 350, 390, and 430 mm. The ROM values of the hip and knee increased statistically with the step length of the right leg. Three joint extensions and ankle flexions were not affected by the step length. There was no statistical difference in the gait event ratio as the step length increased in both legs. As shown in Table 2, swing time, stance time, and step duration increased on average. It can be seen that the maximum heel height increases significantly as the step length increases. \begin{table}
\begin{tabular}{c c c c c c c c c c} \hline \hline \multicolumn{2}{c}{} & \multicolumn{4}{c}{**Right Leg**} & \multicolumn{4}{c}{**Left Leg**} \\ \hline \multicolumn{2}{c}{**Set Step Length (mm)**} & **310** & **350** & **390** & **430** & **310** & **350** & **390** & **430** \\ \hline \multirow{4}{*}{Hip angle (deg)} & Max (flexion) & 30.08 & 32.58 & 33.73 & 36.01 & 27.58  & 32.00  \\  & \(\pm\)5.95 & \(\pm\)3.95 & \(\pm\)3.05 & \(\pm\)4.81 & \(\pm\)3.21 & \(\pm\)2.31 & \(\pm\)1.25 & \(\pm\)2.36 \\ \cline{2-10}  & Min (extension) & 1.10 & 0.12 & 1.07 & 0.51 & 0.18 & 0.10 & \(-\)0.50 & \(-\)1.04 \\  & \(\pm\)5.40 & \(\pm\)1.39 & \(\pm\)1.83 & \(\pm\)4.08 & \(\pm\)3.84 & \(\pm\)1.22 & \(\pm\)1.82 & \(\pm\)2.05 \\ \cline{2-10}  & RoM & 28.99  & 27.40  & 29.81 & 32.44  & 33.03  \\  & \(\pm\)3.07 & \(\pm\)3.14 & \(\pm\)1.94 & \(\pm\)3.64 & \(\pm\)1.16 & \(\pm\)2.25 & \(\pm\)1.90 & \(\pm\)2.12 \\ \hline \multirow{4}{*}{Knee angle (deg)} & Max (flexion) & 44.76 & 49.02 & 52.57 & 56.48 & 44.01  & 47.14  & 51.57  & 54.74  \\  & \(\pm\)7.78 & \(\pm\)7.10 & \(\pm\)7.00 & \(\pm\)5.94 & \(\pm\)1.62 & \(\pm\)2.81 & \(\pm\)3.47 & \(\pm\)3.59 \\ \cline{2-10}  & Min (extension) & 3.05 & 3.49 & 2.57 & 3.13 & 1.27 & 1.44 & \(-\)0.33 & 0.86 \\  & \(\pm\)1.72 & \(\pm\)1.28 & \(\pm\)1.96 & \(\pm\)0.54 & \(\pm\)0.96 & \(\pm\)1.86 & \(\pm\)3.42 & \(\pm\)0.68 \\ \cline{2-10}  & RoM & 41.71  & 45.53 & 50.01 & 53.35  & 42.73  & 45.71  & 51.90  & 53.88  \\  & \(\pm\)6.62 & \(\pm\)6.96 & \(\pm\)5.74 & \(\pm\)5.83 & \(\pm\)1.19 & \(\pm\)1.79 & \(\pm\)6.67 & \(\pm\)3.63 \\ \hline \multirow{4}{*}{Ankle angle (deg)} & Max (dorsi) & 29.79 & 26.87 & 27.83 & 32.33 & 29.04 & 27.67 & 28.49 & 32.16 \\  & \(\pm\)5.43 & \(\pm\)4.77 & \(\pm\)5.55 & \(\pm\)4.22 & \(\pm\)3.02 & \(\pm\)6.59 & \(\pm\)7.13 & \(\pm\)6.95 \\ \cline{2-10}  & Min (plantar) & \( \begin{array}{c}-5.64\\ \pm\)3.45 \\ \end{array}  & \( \begin{array}{c}-7.92\\ \pm\)4.45 \\ \end{array}  & \( \begin{array}{c}-8.85\\ \pm\)4.45 \\ \end{array}  & \( \begin{array}{c}-7.25\\ \pm\)6.96 \\ \end{array}  & \( \begin{array}{c}-7.25\\ \pm\)5.63 \\ \end{array}  & \( \begin{array}{c}-7.25\\ \pm\)6.35 \\ \end{array}  & \( \begin{array}{c}-4.87\\ \pm\)6.35 \\ \end{array}  & \( \begin{array}{c}-5.32\\ \pm\)6.59 \\ \end{array}  & \( \begin{array}{c}-5.82\\ \pm\)5.82 \\ \end{array}  & \( \begin{array}{c}-4.95\\ \pm\)4.95 \\ \end{array}  \\ \cline{2-10}  & RoM & 35.43 & 34.79 & 36.68 & 39.58 & 33.91 & 32.99 & 34.31 & 37.11 \\  & \(\pm\)7.88 & \(\pm\)6.18 & \(\pm\)9.39 & \(\pm\)8.29 & \(\pm\)5.62 & \(\pm\)3.66 & \(\pm\)2.89 & \(\pm\)2.39 \\ \hline \multirow{2}{*}{Measured step length (mm)} & 310.80 & 352.00 & 392.80 & 433.40 & 311.20 & 353.60 & 395.40 & 435.80 \\  & \(\pm\)0.45 & \(\pm\)1.22 & \(\pm\)0.45 & \(\pm\)1.14 & \(\pm\)0.45 & \(\pm\)2.19 & \(\pm\)2.19 & \(\pm\)1.10 \\ \hline \multicolumn{2}{c}{Mean \(\pm\) SD (standard deviation), \({}^{\text{a,b,c,d}}\)\(p\) < 0.05: Tukey’s HSD test, one-way ANOVA at each leg angle variable.} \\ \cline{2-10}  & Min (plantar) & \( \begin{array}{c}-5.64\\ \pm\)3.45 \\ \end{array}  & \( \begin{array}{c}-7.92\\ \pm\)4.45 \\ \end{array}  & \( \begin{array}{c}-8.85\\ \pm\)4.45 \\ \end{array}  & \( \begin{array}{c}-7.25\\ \pm\)6.96 \\ \end{array}  & \( \begin{array}{c}-7.25\\ \pm\)5.63 \\ \end{array}  & \( \begin{array}{c}-8.87\\ \pm\)6.35 \\ \end{array}  & \( \begin{array}{c}-5.32\\ \pm\)6.59 \\ \end{array}  & \(