Influence of “J”-Curve Spring Stiffness on Running Speeds of Segmented Legs during High-Speed Locomotion

Figure 4

Normalized force-compression relationships of the SLIP model and the two-segment leg model. Solid curves are the proposed model and dashed ones denote the two-segment leg model with constant spring stiffness. The same nominal joint angle is adopted to facilitate the comparison of normalized force-length relationships between the two-segment leg model with “J”-curve spring stiffness and with constant spring stiffness, with the fact that red, green, and purple curves represent , , and , respectively.