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Fig. 4. Whole body peak GRF magnitudes and phases. Values are means ± 1 s.e.m. One phase is equal to one complete stride or two steps. (A) Normal force showed two maxima, but was highly variable, representing the cancellation of individual leg forces. (B) Fore–aft force peaked once per step with magnitudes of approximately twice body weight (broken line). (C) Lateral force accelerated the COM to the left followed by an acceleration to the right. Two maxima per step were observed.





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