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. 2024 Jan 17;124(6):1733–1745. doi: 10.1007/s00421-023-05397-9

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© The Author(s) 2024

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Fig. 2 — Hip (a), knee (b) and ankle (c) joints’ angle (mean and SD) in the sagittal plane during stride cycle of running at four conditions: free and Nordic running in regular terrain (FR and NR), and free and Nordic running in irregular terrain (FI and NI). The horizontal axis is normalized by the stride time (0–100%). The take-off event is indicated by the vertical dashed line