“…As a consequence, the contraction of the ankle flexors must overcome the inertia forces generated by deceleration during the transition from extension to flexion and, most important, by acceleration during the protraction of the hindlimb. More specifically, during the swing phase, the flexors develop a force counteracting the torque generated at the ankle joint by the limb speed changes (Grillner, 1975). In addition, ankle flexors are again shortly activated, simultaneously with the extensors, as the limb is extended toward the ground.…”