Force direction pattern stabilizes sagittal plane mechanics of human walking.

The neural control and mechanics of human bipedalism are inadequately understood. The variable at the interface of neural control and body mechanics that is key to upright posture during human walking is the force of the ground on the foot (ground reaction force, F). We present a model that predicts sagittal plane F direction as passing through a divergent point (DP) fixed in a reference frame attached to the person. Four reference frames were tested to identify which provided the simplest and most accurate description of F direction. For all reference frames, the DP model predicted nearly all the observed variation in F direction and whole body angular momentum during single leg stance. The reference frame with vertical orientation and with origin on the pelvis provided the best combination of accuracy and simplicity. The DP was located higher than the CM and the predicted F produced a pattern of torque about the CM that caused body pitch oscillations that disrupted upright posture. Despite those oscillations, that torque was evidence of a stability mechanism that may be a critical component enabling humans to remain upright while walking and performing other tasks.