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Figure 4


Fig. 4. Horizontal ground reaction force and CP predictions. (A,B) The horizontal ground reaction forces in walking are plotted versus percentage gait cycle in the medio-lateral (x) and anterior–posterior (y) directions, respectively. The thick red line is the calculated zero-moment force (see Eqns 9 and 10), and the thin blue line is the force measured experimentally using force platforms. (C) Plotted are the CP (blue dashed line), CMP (red solid line) and CM ground projection (green dash-dotted line) trajectories and corresponding footprints. The two circles on each line denote the transition from single to double support, and vice versa. In all plots, only half the gait cycle is shown. Data span from the middle of a single-support phase (0% gait cycle) to the middle of the next single-support phase of the opposite limb (50% gait cycle). Data shown are for one representative participant and trial (participant no. 1 in Table 1).





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