Fig. 2. Time histories of the measured and calculated total vertical ground reaction force (F_Ry,total), as well as of the measured and calculated vertical ground reaction force on each of the limbs (F_Ry,i), of three horses at trot. Calculated F_Ry,i(t) were obtained from distal limb lengths, using the force–length relationships of the distal limbs determined with the help of calculated values of F_Ry,i and limb lengths at trot. Dotted horizontal lines indicate half the peak value of F_Ry,total. FL, left forelimb; FR, right forelimb; HL, left hindlimb; HR, right hindlimb.