Passive Dynamic Stability in Human Walking
نویسنده
چکیده
INTRODUCTION As shown by McGeer (1990), the passive dynamics of the legs are sufficient to walk down a gentle slope with no external control, and no external energy input save from gravity. Here we consider different models based on passive dynamics, including actively powered models that still make use of passive dynamic principles. We consider the stability of these models, and the implications on human central nervous system control.
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