Walking
VO2 (mL . kg-1 . min-1) = (0.1 . S) + (1.8 . S . G) + 3.5 mL. kg-1.min-1
Running
VO2 (mL . kg-1 . min-1) = (0.2 . S) + (0.9 . S . G) + 3.5 mL. kg-1.min-1
Leg Cycling
VO2 (mL . kg-1 . min-1) = 1.8(work rate) / (BM) + 3.5 mL. kg-1.min-1+ 3.5 mL. kg-1.min-1
Arm Cycling
VO2 (mL . kg-1 . min-1) = 3(work rate) / (BM) + 3.5 mL. kg-1.min-1
Stepping
VO2 (mL . kg-1 . min-1) = (0.2 . f) + (1.33 . 1.8 . H . f) + 3.5 mL. kg-1.min-1
VO2 is gross oxygen consumption in mL.kg-1.min-1
S is speed in m.min-1
BM is body mass (kg)
G is the percent grade expressed as a fraction
Work rate (kg.m.min-1)
f is the stepping frequency in minutes
H is step height in meters