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Fig. 3. Leg force and leg length during stance phase of the two subsequent
contacts. The solid black lines represent level to level running (track type
0, N=99) and the grey shaded area is ±1 s.d. of this reference
run on the undisturbed track, the dotted line from level to 5 cm up (track
type 1, N=106), the dashed line from level to 10 cm up (track type 2,
N=108) and the dashed-dotted line from level to 15 cm up (track type
3, N=110). (A,B) A quasi-elastic leg operation is observed in both
contacts. However, the net energy balances are not zero (see
Table 4). (C) The peak leg
force is slightly increased in preparation for the consecutive step. (D)
However, in the case of a perturbation the maximum leg force decreases in
proportion to vertical step height. (E) The leg compression in the first
contact is not affected in preparation for the vertical step. (F) Here, the
leg length at initial contact (touch-down, TD) is shortened as well as the
minimum leg length during contact in proportion to the vertical step height.
Thus, leg compression remains almost constant.
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