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Fig. 7. Comparison of the analytical approximation (red line) to McMahon and Cheng's outcome for a man running at 18.0 km h–1 (black line; McMahon and Cheng, 1990) for (A) Ay/g against vertical displacement (cm). The dotted line shows the experimental results from Cavagna et al. (1988). (B) Dimensionless horizontal force (Fx/mg) and (C) dimensionless vertical force (Fy/mg) against dimensionless time ({omega}0t) where {omega}0=(vertical leg stiffness/m)0.5.





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