Fig. 4. Torque generated by isolated joints of representative Eremopus and Leiobunum during simulated locomotor cycles. Arrows denote the mean limits of joint excursion measured in walking animals. (A-C) Different internal fluid pressures. (D) Two work loops generated by tibia—basitarsus of Leiobunum at 0 kPa representing typical variation between frequencies and individuals. The heavy line represents the approximation of torque used in the calculation of elastic recoil to forward motion. Values of resilience (%) are shown next to the corresponding work loop.