Predicting the kinematics and kinetics of gait based on the optimum trajectory of the swing limb.

An algorithm was developed to predict the minimum energy consumption trajectory of the swing limb. The method of dynamic programming, a multistage optimization method, was applied to generate the optimum trajectory of the swing ankle which minimized the mechanical energy required to generate the moments of the joints of the lower extremities during the single support phase of gait. Predictions and measurements of gait were compared for six healthy subjects. The predicted hip and knee flexion angles of the swing limb were not significantly different from those experimentally measured except for hip flexion at times greater than 75% of the swing period. The predicted ground reaction forces were not significantly different from the measured ground reaction forces. Furthermore, the moments about the joints were not significantly different from those computed using the measured ground reaction forces and kinematics of the limbs. The results of this study support the hypothesis that human gait is energy efficient.