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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 group mean data. (A) Peak soleus activation increased with walking speed (p < 0.001) but did not change with added stiffness (p = 0.060). (B) Fascicle length at time of peak force generation exhibited a small increase with added foot stiffness (p = 0.034) but did not change with faster walk speeds (p = 0.190). (C) Fascicle shortening velocity at time of peak force increased with walking speed (p = 0.038) and decreased with added foot stiffness (p = 0.014). (D) Peak fascicle force significantly increased with walking speed (p < 0.001) and stiffness (p < 0.001). Error bars signify s.d. between subjects.