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Fig. 5. Relationship of kinetic variables versus speed. (A) Peak vertical force. (B) Vertical impulse. (C) Braking impulse. (D) Propulsive impulse. The sample ellipses emphasize substrate and limb groups. The dimensions of the ellipses were determined from the standard deviations of the y and x variables; sample covariance between y and x determines the orientation of the ellipse.