BALLISTIC WALKING - AN IMPROVED MODEL

A mathematical model of the swing phase of walking is presented. The lower extremities are represented by links, and the rest of the body bY a point mass at the hip joint. It is assumed that no muscular moments are provided to any of the joints of the extremities during the swing phase. The body then moves under the action of gravity alone. The range of possible times of swing for each step length is computed for the model, and the results are compared with published experimental data. Typical histograms of forces applied to the ground and angles of the limbs against time are also given. The computed forces and angles have the same general time course as those found experimentally in normal walking, with the exception of the vertical force. The reasons responsible for this are discussed.