2 things:
1: Terminal velocity(aka the maxspeed at which you can fall outside of a vaccum), is based on your overall weight vs your overall surface area: for a human sized creature this is a known value while for an ant sized creature this is much lower.
2: Exoskeletons are neat at resisting impacts compared ot endoskeletons that have ot face the stresses of supporting themselves aswell as the impact.
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