# Research on Kinematic Parameters of Multiple Gait Pattern Transitions
## 3 Results
* L-S UP and L-S DOWN  
In the first two gait phases of L-S UP, all parameters of the leading limb were more differentiated than those of the trailing limb, and the points of significant difference of the velocity of the trunk were mostly concentrated in the first two phases of the gait (Table 4). The parameters with early significant differences were the angular acceleration of the knee and ankle joints of the leading limb, the acceleration of the thigh and shank, and the velocity of the trunk. However, for L-S DOWN, in the first two phases of the gait cycle, it was found that the proportion of the significant difference points was significantly increased compared with that in L-S UP (Table 4). Similarly, except for the angular velocity of the knee and ankle joints, more than half of the significant difference points of the other parameters of the leading limb were concentrated in the first two gait phases; the parameters of the trunk are also relatively concentrated in the first two phases (more than half). The parameters with early significant differences were the angular acceleration of the hip and ankle joints and the angular velocity of the ankle joint of the leading limb and the velocity of the trunk and the acceleration of the trunk (56%). * S-L UP and S-L DOWN  
As mentioned above, on the whole, there are basically no parameters of significant difference in the process of ascending stairs to the level (Table 2). However, interestingly, the joint angular acceleration of the knee and ankle of the leading limb were significantly different in the second phase of S-L UP, and the significant difference points account for 81% and 60% of the transition gait cycle, respectively. In the second phase of the transition gait cycle, the angular velocity of the ankle of the leading limb was also significantly different, accounting for 67% of the gait cycle. Most of the significant difference points of the remaining parameters were concentrated in the last two phases of the gait cycle (Table 5). Therefore, for the identification of S-L UP, the parameters with early significant differences are the key reference object. During S-L DOWN, the parameters with early significant differences were the angular acceleration of the ankle of the trailing limb, the angular velocity of the ankle of the leading limb, and the angular acceleration of the leading limb hip joint (57%). \begin{table}
\begin{tabular}{c c c c c c c c c} \hline \hline \multirow{2}{*}{**Comparison Phase**} & \multicolumn{6}{c}{**R-L vs. R**} \\ \cline{2-9}  & \multicolumn{3}{c}{**UP**} & \multicolumn{3}{c}{**DOWN**} \\ \cline{2-9}  & **1** & **2** & **3** & **4** & **1** & **2** & **3** & **4** \\ \hline rt aa & 77 & 3 & 14 & 6 & 40 & 13 & 15 & 32 \\ l ta aa & 3 & 25 & 2 & 70 & 32 & 16 & 1 & 51 \\ rs aa & 51 & 14 & 9 & 26 & 20 & 25 & 21 & 34 \\ ls aa & 31 & 4 & 13 & 52 & 21 & 3 & 23 & 53 \\ rf aa & 56 & 10 & 21 & 13 & 24 & 33 & 13 & 30 \\ lfa aa & 15 & 15 & 6 & 64 & 35 & 8 & 16 & 41  
* L-R UP and L-R DOWN During L-R UP, the parameters with early significant differences were the angular acceleration of the hip, knee, and ankle joint and the angular velocity of the ankle of the leading limb; the acceleration of the thigh (T) and shank (S); the angular velocity and angular acceleration of the knee joint of the trailing limb, as well as the angular velocity of the hip joint of the trailing limb (58%); and the velocity of the trunk (59%) (Table 6). During L-R DOWN, the parameters with early significant differences were the angular acceleration and velocity of the ankle of the leading limb, as well as the velocity of the thigh, the velocity of the shank (58%), and the angular acceleration of the knee joint; the angular velocity of the hip joint in the trailing limb side; and the acceleration and velocity of the trunk (Table 6).