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Upright human gait did not provide a major mechanical challenge for our ancestors
2010
Nature Communications
During human and animal locomotion, leg function can be described with simplified leg models, such a the bipedal spring-mass model. Here, it is assumed that the force produced by the leg during stance phase resembles that of a linear prismatic spring. This is a reasonable assumption for bouncing gaits like running and hopping and holds with some limitations also for human walking (at moderate speeds).
doi:10.1038/ncomms1073
pmid:20842191
fatcat:fcoknj4tr5eujdimosszrfoffm