This contribution presents and establishes the biomechanical principles that underlie human walking. This is done by using a range of simplified biomechanical models of bipedal walking to explain the laws of movement and associated energetic requirements. Based on these simplified models, the measurements of normal walking are described. Selected pathological cases are used to illustrate the changes that occur in abnormal walking patterns. Finally, the basic design principles used when applying orthotics and prosthetics to enhance or restore impaired or missing function in walking are described for these case studies.
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