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Fig. 4. Vertical impulse Impz decreased with increased speed for both limbs in both conditions (A). Vertical impulse generated by the forelimb was lower on the incline than on the level but vertical impulse generated by the hindlimb was higher on the incline than on the level. Using the vertical impulse to determine the average force generated over a stride (B) shows that on the level the force is distributed so that the force distribution is 57%/43% fore/hind (the values in the figure are force values, but expressed as a percentage in Table 1). On the incline the average force distribution was 52%/48% fore/hind respectively. Symbols and lines are explained in the legend to Fig. 2.





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