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. 2012 Jun 1;45(9):1656–1660. doi: 10.1016/j.jbiomech.2012.03.020

Fig. 1.

Fig. 1

Schematic overview of telescopic inverted pendulum (TIP) model for forward running (FR) on the left and backward running (BR) on the right, with the approach angle (θL), knee angle (θK), and length (L) of the contact leg.