Fig. 7. Mean peak values of the measured and calculated vertical ground reaction forces on the individual limbs (F_Ry,i) at trot and at walk. Calculated results were obtained using the GRF distribution method; at trot we used the peak value of F_Ry,i, at walk we took the largest one from the two values selected during each stance phase (see Fig. 3). The dotted line is the line of identity.