Here is some interesting computer simulation research done recently by Joe Hamill and colleagues at the University of Massuchusetts Department of Kinesiology that shows that heel-striking running is 6.2% more efficient than midfoot-striking running at 4.0 m/sec (6:42 mile pace). Heel-striking running required 15.9 W/kg of energy and midfoot-striking running required 16.9 W/kg of energy to run at the same velocity (Miller RH, Russell, EM, Gruber AH, Hamill J. Foot-strike pattern selection to minimize muscle energy expenditure during running: a computer simulation study.
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Heel-Striking Running is More Energy Efficient Than Midfoot-Striking Running