The knee and leg bones are levers. The muscles (and tendons and stuff) pull on part of the leg bone near the pivot point (knee) while the part of the bone further away the pivot point (foot) needs to support and move the body’s weight. The part near the pivot moves less distance than the foot itself, but the muscle needs to transfer all that energy down to the foot, so you need to apply more force (but with less actual movement) to transfer that amount of energy.
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