Cyclogram Planarity is Preserved in Upward Slope Walking

In a recent paper [1] Borghese et al., demonstrated that 4D pelvis-thigh-shank-foot cyclograms of human locomotion are surprisingly planar, if the segmental elevation angles rather than the traditional inter-segmental angles are used. In this work, we demonstrate that the planarity of elevation angle cyclograms is preserved even for slope walking, within a 15 degree range.