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Variations in limb stiffness and impact angle altered the ground reactions that were induced when walking with a 0.3 m radius roller at an average velocity of 1.35 m/s. An increase in impact angle resulted in larger peak ground reaction forces in both the anterior (Fx) and vertical (Fy) directions, and also substantially prolonged the stance period. Increasing limb stiffness tended to induce slightly larger vertical ground reactions.
