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Changes in hindlimb joint work with surface grade at trotting and galloping speeds. Negative and positive joint work and net joint work over the stance phase were estimated at non-dimensionalized speeds of 1.2 (trotting) and 1.7 (galloping) from regression equations. Error bars show the 95% confidence intervals. The net work required for inclined running is delivered at the hip, knee and ankle joints, and this work increases with locomotor speed.
