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Template models, such as the Bipedal Spring-Loaded Inverted Pendulum and the Virtual Pivot Point, have been widely used as low-dimensional representations of the complex dynamics in legged locomotion. Despite their ability to qualitatively match human walking characteristics like M-shaped ground reaction force (GRF) profiles, they often exhibit discrepancies when compared to experimental data, notably in overestimating vertical center of mass (CoM) displacement and underestimating gait event timings (touchdown/ liftoff). This paper hypothesizes that the constant leg stiffness of these models explains the majority of these discrepancies. The study systematically investigates the impact of stiffness variations on the fidelity of model fittings to human data, where an optimization framework is employed to identify optimal leg stiffness trajectories. The study also quantifies the effects of stiffness variations on salient characteristics of human walking (GRF profiles and gait event timing). The optimization framework was applied to 24 subjects walking at 40% to 145% preferred walking speed (PWS). The findings reveal that despite only modifying ground forces in one direction, variable leg stiffness models exhibited a >80% reduction in CoM error across both the B-SLIP and VPP models, while also improving prediction of human GRF profiles. However, the accuracy of gait event timing did not consistently show improvement across all conditions. The resulting stiffness profiles mimic walking characteristics of ankle push-off during double support and reduced CoM vaulting during single support. 

Mantis shrimp (Stomatopoda) are extant, marine, predatory arthropods, but these malacostracan pancrustaceans are also occasionally preserved in fossil assemblages, particularly in Carboniferous and Cretaceous deposits. Carboniferous species fall into two suborders—Palaeostomatopodea and Archaeostomatopodea—and represent the ancestral forms that gave rise to modern lineages. Herein, we describe hitherto unknown specimens belonging to the archaeostomatopod genus Tyrannophontes from the Pennsylvanian-aged Wea Shale Member, eastern Nebraska. We explore the preservation of these fossils using scanning electron microscopy and energy dispersive X-ray spectroscopy. These approaches reveal additional morphological characteristics, including unique appendicular data, such as the earliest occurrence of biramous gilled appendages in Stomatopoda. We suggest that further examination of black shales will likely uncover novel records of these rare pancrustaceans.