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Figure 1


Fig. 1. In an inverted pendulum (IP) gait, the potential (PE; red line) and kinetic energy (KE; blue line) fluctuate out-of-phase, and energy exchange between PE and KE is possible. If the amplitudes of the PE (FPE) and KE fluctuations (FKE) are similar, there will be an optimal energy recovery via the IP mechanism. In a spring-mass gait, PE and KE fluctuate in-phase and there is no energy transfer between PE and KE. Instead, energy can be stored in elastic tissues during initial stance and released at push-off. This mechanism is active during human running and effectuates an energy recovery of ca. 35%.





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