Linear center-of-mass dynamics emerge from non-linear leg-spring properties in human hopping.

Given the almost linear relationship between ground-reaction force and leg length, bouncy gaits are commonly described using spring-mass models with constant leg-spring parameters. In biological systems, however, spring-like properties of limbs may change over time. Therefore, it was investigated how much variation of leg-spring parameters is present during vertical human hopping. In order to do so, rest-length and stiffness profiles were estimated from ground-reaction forces and center-of-mass dynamics measured in human hopping. Trials included five hopping frequencies ranging from 1.2 to 3.6 Hz. Results show that, even though stiffness and rest length vary during stance, for most frequencies the center-of-mass dynamics still resemble those of a linear spring-mass hopper. Rest-length and stiffness profiles differ for slow and fast hopping. Furthermore, at 1.2 Hz two distinct control schemes were observed.