Figure 2.

The spring-mass model utilized to determine the stiffness of the leg during the gait cycle. L₀ is resting leg length. ΔL depicts the maximal compression of leg during stance phase of the gait cycle. Δy depicts the vertical displacement of center of mass during the gait cycle. θ depicts half the angle traversed by the leg during the stance phase of the gait cycle. Adapted from Figure 2, Li et al., 2019. 13