“…19,20,26,83 As shown in Fig. 3c, it incorporated three lumped masses (head, arms and trunk (HAT); pelvis and legs (PL); and feet (F)), a spring and damper between the HAT mass and the PL mass to represent the stiffness and damping characteristics of the lumbar spine, 30,56,104,105 a spring between the PL mass and the F mass to represent the stiffness characteristics of the legs, [4][5][6][7]19,39,40,42,49,64,100 and a spring and damper between the F mass and ground to represent the stiffness and damping characteristics at the ground. 4,7,19,40,41,85 The loading model for the wrist when it is used to break a fall was based on Chiu and Robinovitch.…”