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Fig. 4. (A) Maximum power output (solid lines) and efficiency (broken lines) with
changes in the amplitude of stretch/shortening at a low stiffness (blue) and
high stiffness (red). (B) Maximum power output and efficiency and the duty
cycle, phase of activation and amplitude of stretch/shortening that achieve
that power output with varying relative stiffness. Solid lines represent the
values obtained for maximum power output and broken lines those obtained for
maximum efficiency.
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