Table 1.

Parameters of global leg behaviour

	i Contact	0 0/0 cm	1 0/+5 cm	2 0/+10 cm	3 0/+15 cm
k̃_leg (bw/l₀)	1	34.3±6.8	36.7±6.6	36.9±4.9	36.0±6.2
	2	32.5±4.8	32.9±6.7	26.7±4.0	23.7±4.4
F̃_max (bw)	1	2.8±0.2	2.9±0.2	3.0±0.2	3.1±0.2
	2	2.9±0.2	2.6±0.2	2.4±0.2	2.2±0.2
Δl̃_leg,max (l₀)	1	0.085±0.014	0.082±0.014	0.083±0.012	0.087±0.014
	2	0.091±0.011	0.083±0.015	0.091±0.012	0.095±0.014
t_F̃_max (t_c)	1	0.446±0.024	0.424±0.034	0.431±0.033	0.441±0.032
	2	0.423±0.028	0.402±0.075	0.457±0.034	0.478±0.041
t_Δ_l̃_leg,max (t_c)	1	0.475±0.038	0.492±0.034	0.505±0.032	0.510±0.030
	2	0.461±0.031	0.478±0.035	0.496±0.039	0.492±0.035
t_c (s)	1	0.194±0.022	0.192±0.024	0.196±0.026	0.198±0.024
	2	0.189±0.024	0.198±0.027	0.213±0.033	0.222±0.034
l̃_leg,TD (l₀)	1	0.930±0.017	0.922±0.018	0.917±0.022	0.924±0.017
	2	0.939±0.013	0.916±0.017	0.910±0.013	0.901±0.016
l̃_leg,TO (l₀)	1	0.963±0.015	0.956±0.011	0.953±0.013	0.958±0.013
	2	0.962±0.012	0.954±0.015	0.949±0.014	0.946±0.018
l̃_leg,shift (l₀)	1	0.033±0.013	0.034±0.020	0.036±0.021	0.034±0.021
	2	0.023±0.015	0.038±0.020	0.040±0.019	0.045±0.019
α_TD(deg.)	1	68±2.6	69±2.5	68±2.6	67±2.5
	2	68±2.2	66±2.8	64±2.6	62±2.9
α_TO(deg.)	1	118±2.5	117±3.3	117±3.7	116±3.4
	2	117±2.2	118±2.3	119±3.0	121±3.0
α_shift (deg.)	1	50±3.1	49±3.7	49±3.7	49±3.3
	2	49±2.8	52±3.6	56±3.8	59±4.0
N		99	106	108	110

For descriptions of i, the different track types (0–3), see main text. For definitions see Table of abbreviations. Mean ± s.d. for all measured subjects separated for the two consecutive contacts. N: number of trials