Fig 5. Spatiotemporal and metabolic parameters over a range of speeds.

Simulated (dots) and experimental (lines) data are plotted for percent stance phase (left), step length (middle left), cadence (middle right), and cost of transport (right). Experimental data for the left three panels represent the mean ± 2 standard deviations from Schwartz et al. [58]. In the right panel, the magnitude and characteristic shape of the cost of transport bowl were similar between the simulated data and three experimental data sets from Ralston, Martin et al., and Browning et al. [59–61].