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Fig. 3. Deriving the horizontal force component of the LiMb model. Diagram shows the position of the limb (Limb) at heel strike and the instantaneous vertical GRF vector (open arrow, GRF). The horizontal force (Fx) required to produce a resultant (Fres) that is directed toward te COM (filled circle) is given by Fx=GRFxtan({phi}/2).