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14 - Modeling human walking as an inverted pendulum of varying length
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- By Jack T. Stern, Department of Anatomical Sciences, School of Medicine, Health Sciences Center, Stony Brook University, Stony Brook, NY 11794-8081, USA, Brigitte Demes, Department of Anatomical Sciences, School of Medicine, Health Sciences Center, Stony Brook University, Stony Brook, NY 11794-8081, USA, D. Casey Kerrigan, Department of Physical Medicine and Rehabilitation, School of Medicine, University of Virginia, Charlottesville, VA 22908-1007 USA
- Edited by Fred Anapol, University of Wisconsin, Milwaukee, Rebecca Z. German, University of Cincinnati, Nina G. Jablonski, California Academy of Sciences, San Francisco
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- Book:
- Shaping Primate Evolution
- Published online:
- 10 August 2009
- Print publication:
- 20 May 2004, pp 297-333
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- Chapter
- Export citation
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Summary
Symbols and abbreviations
Ac axial (centripetal or centrifugal) acceleration of the mass
ΔC forward translation of the substrate contact point
COM center of mass
D instantaneous horizontal distance traveled by the mass since t = 0
Dh the total horizontal distance traveled by the mass during one swing of the inverted pendulum, i.e., the step length
f stride frequency
Fc centripetal force required to keep the mass on a circular path
GRFv vertical component of the ground reaction force
H instantaneous value of the height of the point mass (or COM)
H height of the point mass (or COM) at the middle of the first double-support phase
H height of the point mass (or COM) at the middle of the second double-support phase
H height of the point mass (or COM) at the middle of the single-support phase
ΔH maximum vertical excursion of the point mass (or COM) from MDS to MSS
I moment of inertia of the mass about the pivot point of the inverted pendulum
Lc the axially directed force exerted on the virtual stance limb (VSL) by the mass
-Lc the axially directed force exerted on the mass by the virtual stance limb (VSL)
M mass
MDS middle of double-support phase
MSS middle of single-support phase
R the length of the virtual stance limb (from substrate contact-point to the point mass or its surrogate) at any moment in time
R length of the virtual stance limb at MDS
R length of the virtual stance limb at MSS
S stature
t time
t half the duration of the swing of the inverted pendulum
V velocity of the mass
Vc axial (centripetal or centrifugal) velocity of the mass
Vo orbital (tangential) velocity of the mass
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