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This paper deals with the experimental measurements, data filtering and theoretical representation of the angular position of a human leg in 3-D space during normal and pathological walking. The angular position of a human leg during walking in sagittal plane was measured by a new electrogoniometer made by a UK company named Penny & Giles. This system is a spatial mechanism made of a group oflinks which are coupled by proper angular sensor. This instrument enables an indirect evaluation of the angular position of a human leg in the 3-D space from knowledge ofthe system geometry and from the angular value readings. This instrument is light, small-sized technologically new and is easy to use. However, its dynamics features have not been analyzed in the literature.Therefore we decided to analyze the instrument in order to built a DWT (iscrete avelets Iransform) filter for filtering data recorded by a electrogoniometer Penny & Giles. We built filter corresponding to Daubechies wavelets, DAUB # 20. The DWT filter is sufficient for filtering high frequency noise which exists during experimental measurement ofthe angular position ofa human leg during normal and pathological gait.Filtering using Daubechies wavelets -DAUB # 20 is more efficient than commercial numerical filtering delivered by Penny & Giles company.

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Abstract. The geometric construction of bio-kinetic apparatus of man's locomotion representation in cybernetic form is actual task. It is very important for motion design and locomotion coordination (control) tasks solving. For this aim the hierarchical multilevel systems construction was chosen and applied in this paper for bio-kinetic apparatus of man description. The hierarchical multilevel systems coordination method realisation in geometric design of man's locomotion is also presented in the paper.