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Especially the cranial cruciate ligament loads up to 102 N (34% body weight). Cranial cruciate ligament forces increase with stifle extension and decrease with stifle flexion. On the contrary, the caudal cruciate ligament loads up to 27 N (9% body weight) during the swing phase with a flexed stifle joint. The model was validated with electromyogram data. The model's predictions are plausible because joint torques and forces match the applied ground reaction forces in curve progression and in timing. This model forms a basis for further

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