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Fig. 9. Comparison of net metabolic rate 
met with
expected cost based on step-to-step transition work. Assuming a peak
efficiency of 25%, the observed work performed on the COM
(Fig. 7) would be expected to
yield a strictly decreasing metabolic rate with increasing 
. Subtracting
the expected cost from observed yields a residual cost not explained by the
Simplest Model. The residual cost is substantial for arcs of smallest and
largest radii. (Region a) The high cost for small radii may be caused by the
effort of balancing on a small contact patch through large collisions in the
step-to-step transition. (Region b) The cost for large radii may be associated
with stabilizing the knee joint against a hyperextension moment caused by the
ground reaction force late in single support.
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