A Forward Dynamic Modelling Investigation of Cause-and-Effect Relationships in Single Support Phase of Human Walking

Figure 1

Free body diagrams of the five different walking models: (a) Model 1 advances an IP model by incorporating a HAT segment; (b) Model 2 adds a knee joint; (c) Model 3 adds a static foot and an ankle moment; (d) Model 4 allows the foot segment to move; (e) Model 5 adds a swing leg.

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