Multiple walking speed-frequency relations are predicted by constrained optimization.

@article{Bertram2001MultipleWS,
  title={Multiple walking speed-frequency relations are predicted by constrained optimization.},
  author={John E. A. Bertram and Andy Ruina},
  journal={Journal of theoretical biology},
  year={2001},
  volume={209 4},
  pages={445-53}
}
A person constrained to walk at a given speed v on a treadmill, chooses a particular step frequency f and step length d=v/f. Testing over a range of speeds generates a speed-frequency (v-f) relationship. This relationship is commonly posited as a basic feature of human gait. It is often further posited that this curve follows from minimum energy cost strategy. We observed that individuals walking under different constraint circumstances--walking to a range of fixed metronome frequencies (fixed… CONTINUE READING
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