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382 P. A. WILLEMS, G. A. CAVAGNA AND N. C. HEGLUND
JEB9434 fig1
Walk Run
Upper arm
Lower arm
Thigh
Shank
Foot
Centre of mass
20J
100J
Upper arm
Lower arm
Thigh
Shank
Centre of mass
Mechanicale
nergy
0 20 40 60 80 100 0 20 40 60 80 100
Time (% of stride period)
Foot
Fig. 1
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