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. 2019 Dec 2;9:18079. doi: 10.1038/s41598-019-54271-2

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© The Author(s) 2019

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons license, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons license and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/.

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Mean mechanical work rates across walking speeds. Mean COM work rate per stride (C+, $C -$ ) and mean summed joint work rate per stride (J+, $J -$ ) decreased linearly with speed, with a steeper rate of decrease for the summed joint work rates. Different colors denote subjects’ data at each walking speed (squares for joint work rates, circles for COM work rates). Trend significance is indicated by solid lines ( $P < 0.05$ ). Data at self-selected speeds not included in fit (shaded region). Power is shown in both dimensionless (left axis) and SI form (right axis); speed is also shown in both dimensionless (lower axis) and SI form (upper axis).