2016
DOI: 10.1098/rsos.160602
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Stability in skipping gaits

Abstract: As an alternative to walking and running, humans are able to skip. However, adult humans avoid it. This fact seems to be related to the higher energetic costs associated with skipping. Still, children, some birds, lemurs and lizards use skipping gaits during daily locomotion. We combined experimental data on humans with numerical simulations to test whether stability and robustness motivate this choice. Parameters for modelling were obtained from 10 male subjects. They locomoted using unilateral skipping along… Show more

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Cited by 14 publications
(24 citation statements)
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“…Stiffness of the leg was calculated as the ratio between the maximum GRF and the maximum leg compression. As leg length is normally non-symmetric relative to touchdown and toe-off events, we used the average leg length at touchdown and toe-off and the minimal leg length during ground contact to calculate the maximum leg compression [ 8 ]. Furthermore, we calculated the aperture angle (angle between legs) as well as the inner angles at the knee and ankle joint ( figure 1 ) and estimated the vertical motion of the centre of mass (CoM) by the body segmental analysis method ([ 28 ]; not including arm movements).…”
Section: Methodsmentioning
confidence: 99%
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“…Stiffness of the leg was calculated as the ratio between the maximum GRF and the maximum leg compression. As leg length is normally non-symmetric relative to touchdown and toe-off events, we used the average leg length at touchdown and toe-off and the minimal leg length during ground contact to calculate the maximum leg compression [ 8 ]. Furthermore, we calculated the aperture angle (angle between legs) as well as the inner angles at the knee and ankle joint ( figure 1 ) and estimated the vertical motion of the centre of mass (CoM) by the body segmental analysis method ([ 28 ]; not including arm movements).…”
Section: Methodsmentioning
confidence: 99%
“…Below, only the differences with Andrada et al . [ 8 ] are discussed in detail. The equations of motion of the BSLIP restricted to the sagittal plane are: where ; are the accelerations of the CoM, m is the body mass, g is the gravitational acceleration, l T and l L are the instantaneous leg lengths during stance, and α T and α L are the corresponding orientations of the trailing leg (with subscript T) and of the leading leg (with subscript L).…”
Section: Methodsmentioning
confidence: 99%
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