{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,16]],"date-time":"2026-07-16T18:44:47Z","timestamp":1784227487016,"version":"3.55.0"},"reference-count":49,"publisher":"Elsevier BV","license":[{"start":{"date-parts":[[2020,10,1]],"date-time":"2020-10-01T00:00:00Z","timestamp":1601510400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/tdm\/userlicense\/1.0\/"},{"start":{"date-parts":[[2020,10,1]],"date-time":"2020-10-01T00:00:00Z","timestamp":1601510400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/legal\/tdmrep-license"}],"funder":[{"DOI":"10.13039\/501100010790","name":"Erasmus+","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100010790","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004819","name":"Cultural Affairs and Missions Sector, Ministry of Higher Education","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100004819","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["clinicalkey.com","clinicalkey.com.au","clinicalkey.es","clinicalkey.fr","clinicalkey.jp","elsevier.com","sciencedirect.com"],"crossmark-restriction":true},"short-container-title":["Gait & Posture"],"published-print":{"date-parts":[[2020,10]]},"DOI":"10.1016\/j.gaitpost.2020.09.023","type":"journal-article","created":{"date-parts":[[2020,9,28]],"date-time":"2020-09-28T12:02:53Z","timestamp":1601294573000},"page":"294-300","update-policy":"https:\/\/doi.org\/10.1016\/elsevier_cm_policy","source":"Crossref","is-referenced-by-count":26,"special_numbering":"C","title":["Leg and lower limb dynamic joint stiffness during different walking speeds in healthy adults"],"prefix":"10.1016","volume":"82","author":[{"given":"Abdel-Rahman","family":"Akl","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Arnold","family":"Baca","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jim","family":"Richards","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Filipe","family":"Concei\u00e7\u00e3o","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"78","reference":[{"issue":"11","key":"10.1016\/j.gaitpost.2020.09.023_bib0005","doi-asserted-by":"crossref","first-page":"1459","DOI":"10.1016\/S0021-9290(02)00183-5","article-title":"Joint stiffness of the ankle and the knee in running","volume":"35","author":"G\u00fcnther","year":"2002","journal-title":"J. Biomech."},{"key":"10.1016\/j.gaitpost.2020.09.023_bib0010","first-page":"1","article-title":"Determination of ankle and metatarsophalangeal stiffness during walking and jogging","author":"Mager","year":"2018","journal-title":"J. Appl. Biomech."},{"issue":"3","key":"10.1016\/j.gaitpost.2020.09.023_bib0015","doi-asserted-by":"crossref","first-page":"249","DOI":"10.5103\/KJSB.2016.26.3.249","article-title":"Relationship between dimensionless leg stiffness and kinetic variables during gait performance, and its modulation with body weight","volume":"26","author":"Hyun","year":"2016","journal-title":"Korean J. Sport. Biomech."},{"issue":"3","key":"10.1016\/j.gaitpost.2020.09.023_bib0020","doi-asserted-by":"crossref","first-page":"506","DOI":"10.1016\/j.jbiomech.2009.09.040","article-title":"Leg stiffness adjustment for a range of hopping frequencies in humans","volume":"43","author":"Hobara","year":"2010","journal-title":"J. Biomech."},{"key":"10.1016\/j.gaitpost.2020.09.023_bib0025","doi-asserted-by":"crossref","first-page":"65","DOI":"10.1016\/0021-9290(90)90042-2","article-title":"The mechanics of running: how does stiffness couple with speed?","volume":"23","author":"McMahon","year":"1990","journal-title":"J. Biomech."},{"key":"10.1016\/j.gaitpost.2020.09.023_bib0030","doi-asserted-by":"crossref","first-page":"437","DOI":"10.1016\/j.jsv.2015.07.017","article-title":"A three-dimensional human walking model","volume":"357","author":"Yang","year":"2015","journal-title":"J. Sound Vib."},{"issue":"12","key":"10.1016\/j.gaitpost.2020.09.023_bib0035","article-title":"Leg and joint stiffness in children with spastic diplegic cerebral palsy during level walking","volume":"10","author":"Wang","year":"2015","journal-title":"PLoS One"},{"issue":"102","key":"10.1016\/j.gaitpost.2020.09.023_bib0040","doi-asserted-by":"crossref","DOI":"10.1098\/rsif.2014.1076","article-title":"Active regulation of longitudinal arch compression and recoil during walking and running","volume":"12","author":"Kelly","year":"2015","journal-title":"J. R. Soc. Interface"},{"issue":"2","key":"10.1016\/j.gaitpost.2020.09.023_bib0045","doi-asserted-by":"crossref","first-page":"562","DOI":"10.1109\/TBME.2012.2230261","article-title":"The difference between stiffness and quasi-stiffness in the context of biomechanical modeling","volume":"60","author":"Rouse","year":"2013","journal-title":"IEEE Trans. Biomed. Eng."},{"issue":"7","key":"10.1016\/j.gaitpost.2020.09.023_bib0050","doi-asserted-by":"crossref","first-page":"1520","DOI":"10.1016\/j.jbiomech.2008.02.016","article-title":"Active and passive contributions to joint kinetics during walking in older adults","volume":"41","author":"Silder","year":"2008","journal-title":"J. Biomech."},{"issue":"12","key":"10.1016\/j.gaitpost.2020.09.023_bib0055","doi-asserted-by":"crossref","first-page":"2628","DOI":"10.1016\/j.jbiomech.2006.12.017","article-title":"Identification of passive elastic joint moment-angle relationships in the lower extremity","volume":"40","author":"Silder","year":"2007","journal-title":"J. Biomech."},{"key":"10.1016\/j.gaitpost.2020.09.023_bib0060","doi-asserted-by":"crossref","first-page":"93","DOI":"10.1016\/j.clinbiomech.2016.03.012","article-title":"Estimation of tissue stiffness, reflex activity, optimal muscle length and slack length in stroke patients using an electromyography driven antagonistic wrist model","volume":"35","author":"de Gooijer-van de Groep","year":"2016","journal-title":"Clin. Biomech."},{"issue":"5","key":"10.1016\/j.gaitpost.2020.09.023_bib0065","doi-asserted-by":"crossref","first-page":"479","DOI":"10.1080\/02640414.2012.736632","article-title":"The effects of dynamic stretching on the passive properties of the muscle-tendon unit","volume":"31","author":"Herda","year":"2013","journal-title":"J. Sports Sci."},{"key":"10.1016\/j.gaitpost.2020.09.023_bib0070","doi-asserted-by":"crossref","DOI":"10.3389\/fnbot.2017.00068","article-title":"The passive series stiffness that optimizes torque tracking for a lower-limb exoskeleton in human walking","volume":"11","author":"Zhang","year":"2017","journal-title":"Front. Neurorobot."},{"key":"10.1016\/j.gaitpost.2020.09.023_bib0075","doi-asserted-by":"crossref","first-page":"225","DOI":"10.1016\/j.gaitpost.2017.12.008","article-title":"Dynamic joint stiffness of the ankle in healthy and rheumatoid arthritis post-menopausal women","volume":"60","author":"Aleixo","year":"2018","journal-title":"Gait Posture"},{"issue":"5","key":"10.1016\/j.gaitpost.2020.09.023_bib0080","doi-asserted-by":"crossref","first-page":"495","DOI":"10.1016\/j.clinbiomech.2011.12.005","article-title":"The contribution of quasi-joint stiffness of the ankle joint to gait in patients with hemiparesis","volume":"27","author":"Sekiguchi","year":"2012","journal-title":"Clin. Biomech."},{"issue":"3","key":"10.1016\/j.gaitpost.2020.09.023_bib0085","article-title":"Estimation of quasi-stiffness and propulsive work of the human ankle in the stance phase of walking","volume":"8","author":"Shamaei","year":"2013","journal-title":"PLoS One"},{"issue":"9","key":"10.1016\/j.gaitpost.2020.09.023_bib0090","doi-asserted-by":"crossref","first-page":"848","DOI":"10.1016\/S0268-0033(03)00150-5","article-title":"Joint torques and dynamic joint stiffness in elderly and young men during stepping down","volume":"18","author":"Lark","year":"2003","journal-title":"Clin. Biomech."},{"issue":"1","key":"10.1016\/j.gaitpost.2020.09.023_bib0095","doi-asserted-by":"crossref","first-page":"59","DOI":"10.1007\/s10846-017-0491-z","article-title":"On-line walking speed control in human-powered exoskeleton systems based on dual reaction force sensors","volume":"87","author":"Ahmed","year":"2017","journal-title":"J. Intell. Robot. Syst."},{"issue":"4","key":"10.1016\/j.gaitpost.2020.09.023_bib0100","doi-asserted-by":"crossref","first-page":"441","DOI":"10.1016\/j.clinbiomech.2013.02.010","article-title":"Biomechanical changes at the knee after lower limb fatigue in healthy young women","volume":"28","author":"Longpre","year":"2013","journal-title":"Clin. Biomech."},{"issue":"1","key":"10.1016\/j.gaitpost.2020.09.023_bib0105","doi-asserted-by":"crossref","first-page":"37","DOI":"10.7547\/14-141","article-title":"Dynamic flexion stiffness of foot joints during walking","volume":"106","author":"Sanchis-Sales","year":"2016","journal-title":"J. Am. Podiatr. Med. Assoc."},{"issue":"1","key":"10.1016\/j.gaitpost.2020.09.023_bib0110","doi-asserted-by":"crossref","first-page":"115","DOI":"10.1016\/j.gaitpost.2007.03.005","article-title":"Joint stiffness of the ankle during walking after successful mobile-bearing total ankle replacement","volume":"27","author":"Houdijk","year":"2008","journal-title":"Gait Posture"},{"issue":"1","key":"10.1016\/j.gaitpost.2020.09.023_bib0115","doi-asserted-by":"crossref","first-page":"16","DOI":"10.1016\/j.ptsp.2007.08.002","article-title":"Dynamic joint stiffness of the ankle during walking: gender-related differences","volume":"9","author":"Gabriel","year":"2008","journal-title":"Phys. Ther. Sport"},{"issue":"3","key":"10.1016\/j.gaitpost.2020.09.023_bib0120","doi-asserted-by":"crossref","first-page":"360","DOI":"10.1016\/j.gaitpost.2006.04.009","article-title":"Compensatory strategies during normal walking in response to muscle weakness and increased hip joint stiffness","volume":"25","author":"Goldberg","year":"2007","journal-title":"Gait Posture"},{"key":"10.1016\/j.gaitpost.2020.09.023_bib0125","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1016\/j.humov.2018.01.004","article-title":"Modulation of lower extremity joint stiffness, work and power at different walking and running speeds","volume":"58","author":"Jin","year":"2018","journal-title":"Hum. Mov. Sci."},{"issue":"4","key":"10.1016\/j.gaitpost.2020.09.023_bib0130","doi-asserted-by":"crossref","first-page":"465","DOI":"10.1016\/S0021-9290(02)00457-8","article-title":"Increased musculoskeletal stiffness during load carriage at increasing walking speeds maintains constant vertical excursion of the body center of mass","volume":"36","author":"Holt","year":"2003","journal-title":"J. Biomech."},{"issue":"7","key":"10.1016\/j.gaitpost.2020.09.023_bib0135","doi-asserted-by":"crossref","first-page":"1253","DOI":"10.1016\/j.jbiomech.2011.02.072","article-title":"Leg stiffness increases with speed to modulate gait frequency and propulsion energy","volume":"44","author":"Kim","year":"2011","journal-title":"J. Biomech."},{"issue":"20","key":"10.1016\/j.gaitpost.2020.09.023_bib0140","doi-asserted-by":"crossref","first-page":"1924","DOI":"10.1080\/02640414.2014.942681","article-title":"Vertical stiffness and muscle strain in professional Australian football","volume":"32","author":"Serpell","year":"2014","journal-title":"J. Sports Sci."},{"issue":"1","key":"10.1016\/j.gaitpost.2020.09.023_bib0145","doi-asserted-by":"crossref","first-page":"115","DOI":"10.1016\/j.jbiomech.2013.09.027","article-title":"Leg stiffness measures depend on computational method","volume":"47","author":"Hebert-Losier","year":"2014","journal-title":"J. Biomech."},{"key":"10.1016\/j.gaitpost.2020.09.023_bib0150","series-title":"The 35th Annual Meeting of the American Society of Biomechanics","article-title":"Leg stiffness increases with gait speed to maximize propulsion energy during push-off","author":"Kim","year":"2011"},{"issue":"2","key":"10.1016\/j.gaitpost.2020.09.023_bib0155","doi-asserted-by":"crossref","first-page":"167","DOI":"10.1123\/jab.21.2.167","article-title":"A simple method for measuring stiffness during running","volume":"21","author":"Morin","year":"2005","journal-title":"J. Appl. Biomech."},{"issue":"Pt 12","key":"10.1016\/j.gaitpost.2020.09.023_bib0160","article-title":"Effect of an increase in gravity on the power output and the rebound of the body in human running","volume":"208","author":"Cavagna","year":"2005","journal-title":"J. Exp. Biol."},{"issue":"3","key":"10.1016\/j.gaitpost.2020.09.023_bib0165","doi-asserted-by":"crossref","first-page":"863","DOI":"10.1152\/jappl.1991.71.3.863","article-title":"Mechanics of running under simulated low gravity","volume":"71","author":"He","year":"1991","journal-title":"J. Appl. Physiol."},{"issue":"8","key":"10.1016\/j.gaitpost.2020.09.023_bib0170","doi-asserted-by":"crossref","first-page":"647","DOI":"10.2165\/00007256-200838080-00003","article-title":"Influence of running velocity on vertical, leg and joint stiffness : modelling and recommendations for future research","volume":"38","author":"Brughelli","year":"2008","journal-title":"Sport. Med."},{"issue":"1","key":"10.1016\/j.gaitpost.2020.09.023_bib0175","doi-asserted-by":"crossref","first-page":"166","DOI":"10.1097\/00005768-200201000-00025","article-title":"Knee and ankle joint stiffness in sprint running","volume":"34","author":"Kuitunen","year":"2002","journal-title":"Med. Sci. Sports Exerc."},{"issue":"6","key":"10.1016\/j.gaitpost.2020.09.023_bib0180","doi-asserted-by":"crossref","DOI":"10.1371\/journal.pone.0179738","article-title":"Intra-individual gait patterns across different time-scales as revealed by means of a supervised learning model using kernel-based discriminant regression","volume":"12","author":"Horst","year":"2017","journal-title":"PLoS One"},{"issue":"3","key":"10.1016\/j.gaitpost.2020.09.023_bib0185","doi-asserted-by":"crossref","first-page":"267","DOI":"10.1016\/S0021-9290(98)00170-5","article-title":"Leg stiffness primarily depends on ankle stiffness during human hopping","volume":"32","author":"Farley","year":"1999","journal-title":"J. Biomech."},{"issue":"2","key":"10.1016\/j.gaitpost.2020.09.023_bib0190","doi-asserted-by":"crossref","first-page":"181","DOI":"10.1016\/0021-9290(95)00029-1","article-title":"Leg stiffness and stride frequency in human running","volume":"29","author":"Farley","year":"1996","journal-title":"J. Biomech."},{"key":"10.1016\/j.gaitpost.2020.09.023_bib0195","doi-asserted-by":"crossref","first-page":"44","DOI":"10.1016\/j.gaitpost.2018.10.032","article-title":"Dynamic knee joint stiffness and contralateral knee joint loading during prolonged walking in patients with unilateral knee osteoarthritis","volume":"68","author":"Gustafson","year":"2019","journal-title":"Gait Posture"},{"issue":"3","key":"10.1016\/j.gaitpost.2020.09.023_bib0200","doi-asserted-by":"crossref","first-page":"502","DOI":"10.1016\/j.gaitpost.2008.03.001","article-title":"Joint stiffness and gait pattern evaluation in children with Down syndrome","volume":"28","author":"Galli","year":"2008","journal-title":"Gait Posture"},{"key":"10.1016\/j.gaitpost.2020.09.023_bib0205","article-title":"Alterations in walking knee joint stiffness in individuals with knee osteoarthritis and self-reported knee instability","author":"Gustafson","year":"2015","journal-title":"Gait Posture"},{"issue":"1","key":"10.1016\/j.gaitpost.2020.09.023_bib0210","doi-asserted-by":"crossref","first-page":"38","DOI":"10.1002\/acr.20012","article-title":"Knee joint stiffness during walking in knee osteoarthritis","volume":"62","author":"Dixon","year":"2010","journal-title":"Arthritis Care Res."},{"issue":"3","key":"10.1016\/j.gaitpost.2020.09.023_bib0215","doi-asserted-by":"crossref","first-page":"177","DOI":"10.1016\/1050-6411(96)00030-2","article-title":"Moment-angle relationship at lower limb joints during human walking at different velocities","volume":"6","author":"Frigo","year":"1996","journal-title":"J. Electromyogr. Kinesiol."},{"issue":"8","key":"10.1016\/j.gaitpost.2020.09.023_bib0220","doi-asserted-by":"crossref","first-page":"1450","DOI":"10.1016\/j.jbiomech.2010.02.009","article-title":"Contributions of muscles and passive dynamics to swing initiation over a range of walking speeds","volume":"43","author":"Fox","year":"2010","journal-title":"J. Biomech."},{"key":"10.1016\/j.gaitpost.2020.09.023_bib0225","doi-asserted-by":"crossref","first-page":"185","DOI":"10.1016\/j.gaitpost.2017.01.022","article-title":"Effects of toe-out and toe-in gait with varying walking speeds on knee joint mechanics and lower limb energetics","volume":"53","author":"Khan","year":"2017","journal-title":"Gait Posture"},{"issue":"3","key":"10.1016\/j.gaitpost.2020.09.023_bib0230","doi-asserted-by":"crossref","first-page":"e59993","DOI":"10.1371\/journal.pone.0059993","article-title":"Estimation of quasi-stiffness of the human knee in the stance phase of walking","volume":"8","author":"Shamaei","year":"2013","journal-title":"PLoS One"},{"issue":"1","key":"10.1016\/j.gaitpost.2020.09.023_bib0235","doi-asserted-by":"crossref","first-page":"71","DOI":"10.1109\/MRA.2015.2510753","article-title":"Torque-stiffness-Controlled dynamic walking: analysis of the behaviors of bipeds with both adaptable joint torque and joint stiffness","volume":"23","author":"Huang","year":"2016","journal-title":"IEEE Robot. Autom. Mag."},{"key":"10.1016\/j.gaitpost.2020.09.023_bib0240","doi-asserted-by":"crossref","first-page":"1387","DOI":"10.1016\/S0021-9290(01)00105-1","article-title":"Contributions of the individual ankle plantar flexors to support, forward progression and swing initiation during walking","volume":"34","author":"Neptune","year":"2011","journal-title":"J. Biomech."},{"issue":"35","key":"10.1016\/j.gaitpost.2020.09.023_bib0245","doi-asserted-by":"crossref","first-page":"561","DOI":"10.1098\/rsif.2008.0415","article-title":"Elastic coupling of limb joints enables faster bipedal walking","volume":"6","author":"Dean","year":"2009","journal-title":"J. R. Soc. Interface"}],"container-title":["Gait & Posture"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0966636220305725?httpAccept=text\/xml","content-type":"text\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0966636220305725?httpAccept=text\/plain","content-type":"text\/plain","content-version":"vor","intended-application":"text-mining"}],"deposited":{"date-parts":[[2025,10,18]],"date-time":"2025-10-18T18:13:39Z","timestamp":1760811219000},"score":1,"resource":{"primary":{"URL":"https:\/\/linkinghub.elsevier.com\/retrieve\/pii\/S0966636220305725"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,10]]},"references-count":49,"alternative-id":["S0966636220305725"],"URL":"https:\/\/doi.org\/10.1016\/j.gaitpost.2020.09.023","relation":{},"ISSN":["0966-6362"],"issn-type":[{"value":"0966-6362","type":"print"}],"subject":[],"published":{"date-parts":[[2020,10]]},"assertion":[{"value":"Elsevier","name":"publisher","label":"This article is maintained by"},{"value":"Leg and lower limb dynamic joint stiffness during different walking speeds in healthy adults","name":"articletitle","label":"Article Title"},{"value":"Gait & Posture","name":"journaltitle","label":"Journal Title"},{"value":"https:\/\/doi.org\/10.1016\/j.gaitpost.2020.09.023","name":"articlelink","label":"CrossRef DOI link to publisher maintained version"},{"value":"article","name":"content_type","label":"Content Type"},{"value":"\u00a9 2020 Elsevier B.V. All rights reserved.","name":"copyright","label":"Copyright"}]}}