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Fig. 1. Movement of the limb through stance. Thick line indicates position of lower limb and COM at heel strike and toe-off. L, limb length; {phi}, excursion angle; U, running speed. For this model: step length is d = 2Lsin{phi}/2; contact time per step is tc = U–1d and tc = U–1 [2Lsin({phi}/2)].