Estimated metabolic rate (% mean ± s.e.m.) of different phases of the gait cycle during level walking from the current work and other studies.

We segmented the strides into double support phases, single support phase, and swing phase based on our ground reaction force data from both legs. Strides are segmented from the ipsilateral heel strike to the next ipsilateral heel strike such that the first double support phase starts with an ipsilateral heel strike and ends with contralateral toe-off, and the second double support phase starts with contralateral heel strike and ends with ipsilateral toe-off. The metabolic rate time profile in the normal walking condition from the Jackson et al., [18] study was obtained by applying the modified Umberger [20] estimation code from [68]. The data from Roberts et al., [23] were obtained from their supplementary data file for walking at 70% of the preferred walking speed. We selected this trial from their supplementary data because the walking speed is most similar to the walking speed from our study (1 m∙s-1). We obtained the unilateral metabolic rate from the right ankle knee and hip joints by entering the data from the right ankle knee and hip as inputs to their MATLAB code and entering signals with zeros for all non-lower limb joints and all joints on the left side of the body.