Balance control during gait initiation: State-of-the-art and research perspectives

Figure 4 Mechanical model of the body during the execution phase of gait initiation. A: The mechanical model is represented as conic inverted pendulum which pivots around fixed point 0. Body displacement presents five degrees of freedom. The center of mass M falls under the influence of the gravity force “P” and the elastic restoring force “T”; B: Anteroposterior vs mediolateral path of the center of gravity. Dash line represents experimental data during the whole trial and full line represents theoretical data during the execution phase of gait initiation. Note the excellent fitting between these two traces.