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Fig. 3. Time histories of the measured and calculated total vertical ground reaction force (F_Ry,total), as well as of the measured and calculated vertical ground reaction force on each of the limbs (F_Ry,i), of three horses at walk. Calculated F_Ry,i(t) were obtained from distal limb lengths, using the force–length relationships of the distal limbs determined with the help of calculated values of F_Ry,i and limb lengths at trot. Dotted horizontal lines indicate half the peak value of F_Ry,total. FL, left forelimb; FR, right forelimb; HL, left hindlimb; HR, right hindlimb. Thin dotted curves in diagrams of horse 2 represent F_Ry,i calculated according to the GRF distribution method for the two phases in each half-cycle in which only two limbs were in contact with the ground (insets in lowermost diagram of horse 3; see legend to Fig. 1 for explanation of information provided in insets), one in which the body is supported by a forelimb and the ipsilateral hindlimb (phase I, grey bars below time axes), and the other in which it is supported by this forelimb and the contralateral hindlimb (phase C, open bars below time axes). Floating dots are values for F_Ry,i extracted from these curves at fixed points during these phases (at 50% of phase I and phase C for the forelimb, at 20% of phase C for the hindlimb and at 80% of phase I for the hindlimb).

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