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(A) COM height change in two consecutive flight phases (hk+1– hk; Fig. 1A). Changes to leg stiffness(B) and force(C) during the compression and thrust phases of stance for CSR, SU and SD. The relationship between leg force and virtual leg length during stance in CSR (D), SU (E) and SD (F). Interaction effect pAB was obtained by factorial repeated ANOVA (task and phase). * means p<0.05, ** means p<0.01, and *** means p<0.001.
