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. 2020 May 29;10:8793. doi: 10.1038/s41598-020-65626-5

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© The Author(s) 2020

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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Soleus muscle time-series data. Stride-normalized data of (A) Soleus activation (N = 14, left limb), (B) Soleus fascicle length (N = 15, right limb), (C) Soleus fascicle velocity, and (D) Soleus fascicle force across different walk speeds. Stance-phase data is highlighted in grey. Soleus fascicle shortening velocity decreased with added stiffness and increased with faster walk speeds, and fascicle force increased with both added stiffness and faster walking speeds. Soleus EMG activation increased with faster walk speeds, but did not change with added foot stiffness.