Fig. 4. Joint angles, moments and powers for the hindlimb (hip, A; knee, B; ankle, C; MTP, metatarsophalangeal, D; HDIP, hindlimb distal interphalangeal, E). The blue line represents slow speed (<3.25 m s^–1), the red line medium speed (3.25–4.00 m s^–1) and the grey line fast speed (>4.0 m s^–1). The error bars on each curve are the standard deviation. The stick figure representations at the top are from every 20% of stance of the hindlimb from one medium speed trial (with the same orientation as the forelimb in Fig. 1) with the ground reaction force included.