1. S3 vary load

2. Max joint velocities seen so far
STANCE SWING
H -450 deg/s
K -400 to to 850
A -700 to
Swing velocities are much larger for the hip and knee.
Gravitational torques at the hip, knee, and ankle do not vary much with speed, because the path in joint angle space during stance is basically invariant with speed. If we can handle them at low speed, we can handle them at any speed.
Inertial, Coriolis, and centripetal forces go up by at least a factor of 4 due to scaling of velocities and accelerations, and more due to the increased range of motion during swing.