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. 2019 May 16;8(6):bio043695. doi: 10.1242/bio.043695

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© 2019. Published by The Company of Biologists Ltd

This is an Open Access article distributed under the terms of the Creative Commons Attribution License (https://creativecommons.org/licenses/by/4.0), which permits unrestricted use, distribution and reproduction in any medium provided that the original work is properly attributed.

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Fig. 6. — The angular spring improves the fit in the horizontal direction. (A–C) Three example fits showing (A) SLIP greatly overestimating the horizontal GRF while ARSLIP makes good predictions, (B) both models capable of fitting more complex HGRFs and (C) SLIP overestimating and ARSLIP underestimating the HGRF. (D) The error in amplitude of the horizontal ground reaction force of the two models. ARSLIP tends to underpredict the amplitude while SLIP tends to overpredict. The magnitude of ARSLIP amplitude error is less than the magntiude of SLIP amplitude error (Mann–Whitney U test, p≪0.0001). (E) The ratio of RMSE SLIP to RMSE ARSLIP. ARSLIP performs much better than SLIP in the horizontal direction (sign test, p≪0.0001).