>>>>so taken that unbroken contact with the ground is maintained and during the weight bearing phase of each stride the leg is straightened for at least a moment. Or something like that. When did the rules changes so that continuous contact with the ground is no longer required? Thank you.
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Rule says "visible loss of contact" and to be judged with the naked eye. The theory behind that is that anything not detected, and it is only mere 15-20 msec flight phase that's not (looks worse on a pic or video), is not considered to be gaining a great enough advantage to incur a red card. Modern walkers are fitter, faster with better training methods and science so like anything the rules are slightly adjusted to fall into line with modern times, which is fair enough. The rules of racewalking are 100 years old and been in the Olympics that long. Let's face it, if you didn't look at a video you wouldn't know the difference in most cases. Like anything, some like it, alot don't, each to their own, and is actually popular in European countries and China. Depends where you live I suppose.
Cheers