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Keywords: Poincaré sections
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Journal Articles
Article Type: Research Papers
J Biomech Eng. October 2008, 130(5): 051017.
Published Online: September 19, 2008
... gait modeling forward dynamic model hybrid systems Poincaré sections In SS, human walking is inherently underactuated because if too much torque is applied about the ankle joint of the supporting leg, the foot rolls over ( 32 33 ). To capture this underactuation, the foot-ankle complex...