Fig. 19. Comparison of rotational forces between modes. (A) Time course of rotational velocities and (B) time course of rotational forces within Mode 2 (black) and Mode 1 (pink). The filled gray box indicates the dorsal rotation, and the open gray box indicates the ventral rotation. For the dorsal rotation, the pre-reversal portion occurs at the end of the upstroke, and the post-reversal portion occurs at the beginning of the downstroke. (C–G) The following data are for the experimental population. Correlation between downstroke deviation and (C) post-reversal normalized time delay of rotational force peak, (D) post-reversal peak rotational force, (E) post-reversal total force peak, (F) pre-reversal peak rotational force and (G) pre-reversal total force peak for Mode 2 (gray points; black line regression) and Mode 1 (pink points; red line regression).