Fig. 7. Comparison of the analytical approximation (red line) to McMahon and
Cheng's outcome for a man running at 18.0 km h–1 (black line;
McMahon and Cheng, 1990) for
(A) Ay/g against vertical displacement
(cm). The dotted line shows the experimental results from Cavagna et al.
(1988). (B) Dimensionless
horizontal force (Fx/mg) and (C)
dimensionless vertical force (Fy/mg)
against dimensionless time (
0t) where
0=(vertical leg stiffness/m)0.5.