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Walking with a springy telescoping model, with a relatively soft spring: a non-dimensional stiffness of 16, at V = 0.39 and D = 1.38, minimizing Cw with enforced left–right symmetry. The leg force rate is bounded: −20 ≤ Ḟ ≤ 20, but the bound is never used. Essentially, zero mechanical work is performed by the muscles and all the mechanical work is performed by the springs in series. The leg force versus leg compression behaves, not surprisingly, in a linear manner.
