Table 1. Braking, total propelling and wasted impulses, step frequencies and contact times (mean ± SD) for the different test conditions.

		Level	9°
Braking Impulse (10−3)	2.0 m/s	−63.9 ± 11.9	−1.7 ± 1.7
	2.5 m/s	−58.3 ± 10.8	−3.4 ± 2.6
	3.0 m/s	−55.1 ± 8.8	−3.5 ± 2.2
Total Propelling Impulse (10−3)	2.0 m/s	64.3 ± 12.2	0.9 ± 1.3
	2.5 m/s	58.5 ± 10.7	2.0 ± 2.5
	3.0 m/s	55.3 ± 8.7	2.3 ± 2.1
I_GRFwasted (10−3)	2.0 m/s	128.2 ± 24.0	2.6 ± 2.9
	2.5 m/s	116.8 ± 21.5	5.4 ± 5.0
	3.0 m/s	110.3 ± 17.4	5.7 ± 4.2
Step freqency (steps/second)	2.0 m/s	2.68 ± 0.15	2.72 ± 0.18
	2.5 m/s	2.78 ± 0.20	2.84 ± 0.16
	3.0 m/s	2.84 ± 0.19	2.94 ± 0.16
Contact times (s)	2.0 m/s	0.31 ± 0.03	0.32 ± 0.03
	2.5 m/s	0.28 ± 0.03	0.28 ± 0.03
	3.0 m/s	0.25 ± 0.02	0.25 ± 0.02