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Fig. 2. Diagram illustrating the 7-segment model used (Delp et al., 1990). The segments are: 1, head, arms and torso (HAT), origin at the centre of the hip joint; 2, 3 right and left upper leg, extending from the centre of the hip joint to the centre of the knee joint; 4, 5 right and left lower leg, extending from the centre of the knee joint to the centre of the tibio-talar joint; 6, 7 right and left foot, extending from the tibio-talar joint to the head of the 1st metatarsal.