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Work (J) delivered during the push-off at individual joints (left and right taken together) and summed over all joints as well as the total change in COM energy (J) calculated from the ground reaction force (bracketed).
| ankles | knees | hips | arms (shoulders + elbows) | summed joint work (change in COM energy) | |
|---|---|---|---|---|---|
| bonobo | |||||
| 3j-04 | 42 | 30 | 293 | 50 | 414 (390) |
| 3j-05 | 46 | −25 | 270 | 84 | 377 (381) |
| 3j-15 | 62 | −9 | 341 | 66 | 460 (450) |
| human | 95 | 175 | 194 | 0 | 464 (447) |
