Mechanical interaction of center of pressure and force direction in the upright human.

Humans maintain upright bipedal posture by producing appropriate force against the environment through the interaction of neural controlled muscle force with the mechanics of the skeletal system. Characterizing these mechanics facilitates understanding of the neural control. We used a mechanical model of an upright human to analyze how the mechanical linkage aspects of the human body affect the force between the feet and the ground (F). Key parameters of F that directly regulate upright body posture are the direction of F (θ(F)) and its point of application (x(CP), anterior-posterior position of the center of pressure). Instantaneous analysis of the equations of motion demonstrated that θ(F) varied systematically with x(CP) such that the F vectors intersected at a point called the Posture-specific force Intersection point or PI (Π). The Π was located above the center of mass when the hip and knee joints were modeled as rigid and was located near the knee when the hip and knee torques were held constant. Limb posture and the knee torque affected the location of Π. This Π behavior quantifies the purely mechanical effect of anterior-posterior center of pressure shifts on the direction of F, which has consequences for the control of whole body posture.