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Fig. 3. Contour plot showing the range of duty cycles and phases of activation that can achieve 99%, 80%, 60% and 40% of maximum power output (A,B) and efficiency (C,D) for a compliant relative stiffness (solid lines) and a stiff relative stiffness (broken lines) at two different amplitudes of oscillation ±0.0335Lo (A,C) and ±0.2Lo (B,D). The colour bars represent the absolute values for power (A,B) and efficiency (C,D). Compliant relative stiffness=3–4Po/Lo; stiff relative stiffness=16–22Po/Lo (lower stiffness value for forces less than 0.15Po; see Lichtwark and Wilson, 2005).