Figure S5. Metabolic minimization: hGRF vs limb angle

Figure S5. Peak horizontal ground reaction force during both heel-strike and push-off vs. the corresponding limb angle relative to vertical (A) on the fast belt and (B) on the slow belt. Total positive and negative contributions to horizontal impulse vs. limb angle at heel-strike and push-off (C) on the fast belt and (D) on the slow belt.