800

600

heelstrike foot flat midstance heeloff toe-off acceleration deceleration heelstrike

GAS (13-50)
RF (47-70) RF (92-11)
HAM (85-10)
400
loading terminal pre initial terminal
mid stance mid swing
response stance swing swing swing
10-30% 73-87%
0-10% 30-50% 50-60% 60-73% 87-100%
200
GMAX (95-15)
IL ( 57-80)
VAS (88-25)
BFsh (80-05)
stance swing
SOL (11-47)
TA (56-15)
0 mm

Maximum joint moments during walking, running, and concentric isokinetic testing
-200 0 200 400 600 800 1000 1200 1400
______________________________________________________________________________
Joint Muscle Group Walking Running Isokinetic
______________________________________________________________________________
Hip Extensors
Flexors
15-140 [100]
40-120 [70]
40-80 300
170
Summary of Walking Metabolic Studies
Knee Extensors 5-140 [80] 125-273 235 (50 °/s), 166 (60 °/s), hip flexor
154 (180 °/s), 120 (400 °/s)
Flexors 15-50 [30] 93 (60 °/s), 70 (180 °/s) hip flex/medial rot
Ankle Plantarflexors 85-165 [130] 180-240 89 (30 °/s), 50 (90 °/s), 21 (180 °/s)
unweighting force hip flex/abd/ext rot knee flex
______________________________________________________________________________ VO2
50% antigravity hip add/med rot knee flex
Note: Moments given in Nm; average peak values in brackets; angular velocities in parentheses. For walking, knee monitor
angular velocity is ~100 °/s, and ankle angular velocity is ~50 °/s at the time when peak moment occurs. 25% reduction hip flex knee ext
Farley & McMahon, 1992 hip add
Maximum joint powers generated during walking, running, and concentric isokinetic testing
______________________________________________________________________________ hip add
Joint Muscle Group Walking Running Isokinetic hip add
______________________________________________________________________________
drag force forward assist force knee ext
Hip Extensors 0-175 160-660 200 (100 °/s)
10% BW impeding 10% BW assist knee ext
Knee Extensors
Flexors
10-235
10-50
210-1050 205 (50 °/s), 840 (400 °/s)
97 (60 °/s), 220 (180 °/s) 150% increase 47% reduction knee ext
Gottschall & Kram, 2003 Gottschall & Kram, 2003
Ankle Plantarflexors 180-790 550-1580 47 (30 °/s), 79 (90 °/s), 66 (180 °/s) hip flex/abd/int rot
______________________________________________________________________________
Note: Powers given in watts; angular velocities in parentheses. For walking, ankle angular velocity is 200 deg/s @ peak.
hip ext/ext rot
peak power occurs.
additional mass hip ext knee flex
10% BM addition hip ext knee flex
15% increase hip add/med rot
body interface
Griffin et al, 2003 hip add/med rot
joints/structure
passives/actives hip ext knee flex
knee flex

major muscle groups ankle dorsi

toes
toes

treadmill ankle plantar/knee flex

GMAX ankle plantar
IL clutch / brake / return spring
unlocks knee/rotates
GMAX - hip extensor toes
toes
IL - hip flexor actuator
VAS - knee extensor RF inversion/add
foot eversion/abd
BFSH - knee flexor HA BF positive and negative work metabolic cost
[Abbott et al 1952] negative 1/3 to 1/7 as costly
foot eversion/abd
SOL - ankle plantarflexor M SH [DeLooze et al 1994] neg work 0.3 to 0.5 as costly
TA - ankle dorsiflexor
RF - hip flex/knee ext VAS
Peak kinetic values during one cycle of normal walking
______________________________________________________________________________
HAM - hip ext/knee flex Variable Plane Action Hip Knee Ankle
______________________________________________________________________________
GAS - knee flex/ankle plantarflex Moment Extensor 1.15 0.46 1.73
cam return spring elastic tension only? (Nm/kg) Sagittal (0.30) (0.35) (0.22)
ACH - ankle plantarflex tendon lever
Flexor 1.10 0.43 0.20

GAS transmission push-pull? Frontal

Abductor
(0.30)
1.20
(0.25)
(0.18)
1.10
(0.20)
(0.10)
0.13
(0.10)
linkage clutch Adductor 0.10
(0.10)
* 0.04
(0.04)
Inversion 0.20 0.11 *
brake Transverse (0.04) (0.03)
SOL brake? Eversion 0.20
(0.06)
0.09
(0.05)
0.10
(0.04)
Power Generation 1.80 0.60 4.40

ACH biarticular cam

cam (W/kg) Sagittal
Absorption 1.0
(0.50)
(0.55)
(0.50)
1.50
(0.50)
(1.10)
0.50
(0.30)

TA lever lever Frontal

Generation 0.55
(0.15)
0.18
(0.13)
0.07
(0.06)

monoarticular dorsi stop

brake
transmission
Transverse
Absorption 0.90

Generation 0.02
(0.60)

(0.06)
0.18
(0.12)
0.04
(0.02)
0.12
(0.08)
0.01
(0.03)
linkage Absorption 0.17
(0.16)
0.15
(0.10)
0.02
(0.02)
tendon brake
______________________________________________________________________________
Note: Values in parentheses are +/- one standard deviation
*Indicates value ~ 0.