Fig. 3

Weight compensation provided by upper module spring settings A-I across the operating range for upper (U) and lower (L) module lengths U1L1 (top) and U10L12 (bottom). Note the decrease in average slope and distribution of unloading (positive) and loading (negative) regions across different spring settings as a result of increasing module length. Additional file 1: Table S1 available online contains individual data for all examined spring and length settings and corresponding figure (Additional file 1: Figure S1) for module lengths U4L5 and U7L8