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Figure 108 - Speed calculation
Acceleration: is calculated as the relation between speed delta of the two steps and the sum of the
contact and flight time.
Figure 109 - Acceleration calculation
𝑎 =
𝑉
2
− 𝑉
1
𝑇
𝑐1
+ 𝑇
𝑣1
+ 𝑇
𝑐2
+ 𝑇
𝑣2
Stride Angle: This is the angle of the parable tangent deriving from the movement of a stride
(L=stride length, h=height to which the foot is risen).
Figure 110 - Stride angle
T
f1
T
c1
L
1
T
c2
T
f2
L
2
Left
h
L
Right
a