Stepping in the direction of the fall: the next foot placement can be predicted from current upper body state in steady-state walking.

@article{Wang2014SteppingIT,
  title={Stepping in the direction of the fall: the next foot placement can be predicted from current upper body state in steady-state walking.},
  author={Yang Wang and Manoj Srinivasan},
  journal={Biology letters},
  year={2014},
  volume={10 9}
}
During human walking, perturbations to the upper body can be partly corrected by placing the foot appropriately on the next step. Here, we infer aspects of such foot placement dynamics using step-to-step variability over hundreds of steps of steady-state walking data. In particular, we infer dependence of the 'next' foot position on upper body state at different phases during the 'current' step. We show that a linear function of the hip position and velocity state (approximating the body center… CONTINUE READING
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