“…Detailed kinematics of the different gaits have been revealed by high speed motion capture (e.g. Clayton, 1994Clayton, , 1995, forces carried by individual limbs have been quantified using force plates and instrumented horseshoes (Kai et al, 2000;Roepstorff and Drevemo, 1993), mechanical output about joints has been calculated using inverse dynamics for the forelimb ) and for the hindlimb (Dutto et al, 2004), tendon forces have been measured in vivo (Platt et al, 1994;Riemersma et al, 1996), and so on. Furthermore, various studies have been conducted on the anatomy of the musculoskeletal system, the physiological and mechanical properties of muscles and tendons (e.g.…”