xnFldls aainntsddmFxrarsasrsreeifstehrient-oletfht eanvderrtiigchatl GRF in vertical, respectively; klh and krh indicate the vertical stiffness of left and right Bioengineering 2023, 10, 187 of the left and right shanks, respectively; Fl and Fr are the left and right GRF in vert respectiv...