# Research on Kinematic Parameters of Multiple Gait Pattern Transitions
## 3 Results  
From the perspective of the whole gait cycle, almost all the acceleration parameters show no significant difference in contrast to the velocity parameters. Overall, the angular velocity (av) of the hip, knee, and ankle joints of both the leading limb and trailing limb; the velocity (v) of the thigh (T) and shank (S); and the velocity (v) of the trunk were significantly different in the comparison (Table 2). Among them, the parameters of the hip, knee, and ankle joints angular velocity with significant differences accounted for 75%, 69%, and 63%, respectively. Regarding the velocity of the thigh and the shank, the proportion of the parameters with significant differences reached 88% and 75%, respectively. The velocity of the trunk was significantly different in four gait pattern transitions: level walking to up-stair walking transition (L-S UP), down-stair walking to level walking transition (S-L DOWN), level walking to up-ramp walking transition (L-R UP), and down-ramp walking to level walking transition (R-L DOWN). In particular, these parameters showed less difference in up-stair walking to level walking transition (S-L UP) and up-ramp walking to level walking transition (R-L UP). In the following, we focus on the analysis of the velocity parameters with obvious overall differences and which parameters have significant differences in the early phase, and we pay attention to the parameters with significant differences and those with significant differences in the early phase in the up-stair walking to level walking transition (S-L UP) and the up-ramp walking to level walking transition (R-L UP). We calculated the proportion of the four gait phases in each transition gait cycle (Table 3) and then calculated the proportion of the significant difference points in each gait phase of each parameter. The results are shown in Tables 4-7. In these tables, rt indicates the hip of the leading limb, It indicates the hip of the trailing limb, rs indicates the knee of the leading limb, Is indicates the knee of the trailing limb, rf indicates the ankle of the leading limb, If indicates the ankle of the trailing limb, trunk is trunk, T indicates the thigh of the leading limb, S indicates the shank of the leading limb, aa indicates angular acceleration, av indicates angular velocity, a indicates acceleration, and v indicates velocity. \begin{table}
\begin{tabular}{c c c c c c c c c} \hline \hline \multirow{2}{*}{**Comparison Phase**} & \multicolumn{6}{c}{**L-S vs. L**} \\ \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 & 19 & 32 & 31 & 18 & 21 & 49 & 8 & 22 \\ l taa & 34 & 6 & 34 & 26 & 19 & 22 & 35 & 24 \\ rs aa & 19 & 43 & 23 & 15 & 22 & 30 & 8 & 40 \\ ls aa & 24 & 24 & 35 & 17 & 25 & 20 & 15 & 40 \\ rf aa & 19 & 53 & 17 & 11 & 38 & 37 & 14 & 11 \\ If aa & 32 & 14 & 22 & 32 & 26 & 7 & 16 & 51 \\ rt av & 13 & 41 & 23 & 23 & 22 & 30 & 11 & 37 \\ l t av & 15 & 6 & 12 & 67 & 17 & 36 & 7 & 40 \\ rs av & 17 & 33 & 18 & 32 & 15 & 23 & 18 & 44 \\ ls av & 20 & 14 & 25 & 41 & 17 & 31 & 14 & 38 \\ rf av & 11 & 41 & 22 & 26 & 24 & 51 & 12 & 13 \\ If av & 26 & 6 & 28 & 40 & 21 & 1 & 15 & 63 \\ T a & 19 & 52 & 6 & 23 & 23 & 22 & 12 & 43 \\ S a & 23 & 47 & 15 & 15 & 18 & 37 & 11 & 34 \\ T v & 18 & 33 & 20 & 29 & 28 & 26 & 2 & 44 \\ S v & 19 & 35 & 22 & 24 & 22 & 30 & 13 & 35 \\ trunk a & 3 & 47 & 23 & 27 & 28 & 28 & 13 & 31 \\ trunk v & 24 & 50 & 17 & 9 & 55 & 14 & 29 & 2 \\ \hline \hline \end{tabular}
\end{table} 
Table 4: Percentage of the significant difference points in each gait phase of each parameter (%).