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The whole-duty-cycle simulation of the stance phase of level walking gait involved solving a sequence of 13 successive loading increments (axial loads from 10 to 2800 N, applied tibial flexions from 5° plantar- to 9° dorsi-flexion). Each solution is labeled as a percentage of the stance phase progression. NOTE: since the talus is free to rotate, except about the flexion-extension axis, ankle rotation is not about a fixed axis.
