...Tim J. van der Zee; Arthur D. Kuo ABSTRACT Humans perform mechanical work during walking, some by leg joints actuated by muscles, and some by passive, dissipative soft tissues. Dissipative losses must be restored by active muscle work, potentially in amounts sufficient to cost substantial metabolic...

... displacement of the granular surface. However, a sprawled foot posture did not affect the condition of vertical force balance and thus did not change our estimate of energy dissipation in the sagittal plane. Therefore this estimate provides a lower bound. For a given animal (constant weight mg ), F z...