Fig. 7. Graphs of total joint moments (tot), including inertial and gravitational components (solid lines) and external joint moments (ext, dotted lines) from a representative trial for each condition: (A) acceleration, 5.97 m s^-2, (B) steady speed, -0.41 m s^-2 and (C) deceleration, -5.99 m s^-2. During accelerations, moments reach a peak later in stance and are maintained for a longer duration of the stance period, as compared to steady speed trials. Conversely, during decelerations the moments reach a peak early in stance and fall to near zero for the later part of stance. Peak moments for all joints remains relatively constant across trails. Note that the difference between total joint moments and external joint moments is small and can only be seen at the hip.