Necessary condition for forward progression in ballistic walking.

Ballistic walking requires an appropriate configuration of posture and velocity at toe-off to avoid backward falling. In this study, we investigated a determinant of the state of the body center of mass (COM) at the toe-off with regard to ballistic walking. We used an inverted pendulum model to represent ballistic trajectories and the necessary condition for forward progression by a simple relationship between the COM states (position and velocity) at toe-off. This condition was validated through a computer simulation of a 7-link musculoskeletal model and measurement experiments of human movements involving stepping and walking. The results of the model simulation were in good agreement with some of the results predicted by the inverted pendulum model. The measurement experiments of walking and stepping movements showed that most COM states at toe-off satisfied the condition for forward progression and the measured trajectories during single support phase were similar to the ballistic trajectories although humans are capable of walking in non-ballistic ways. These results suggested that the necessary condition for forward progression can predict the COM states at toe-off for efficient movement and for avoiding backward falling during single support phase.