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For each swim fin, ankle force and hydromechanical efficiency (useful mechanical power output divided by mechanical power input delivered by the motors) were calculated.
In order to prevent the tendon ruptures caused by excessive muscle forces [ 16], we selected a conservative ankle force of 50 Newton to simulate a portion of the body weight, which required the quadriceps-actuators to pull with a linearly rising force and a maximum of approximately 600N at 90 degrees of flexion.
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