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Human leg design: optimal axial alignment under constraints.
Günther M, Keppler V, Seyfarth A, Blickhan R. Günther M, et al. Among authors: keppler v. J Math Biol. 2004 Jun;48(6):623-46. doi: 10.1007/s00285-004-0269-3. Epub 2004 Mar 3. J Math Biol. 2004. PMID: 15164226