Table 1.

Given are the model parameters that produced simulations (sim) that were within one standard deviation of the measured step length and cadence, and best replicated the experimental (exp) ground reactions at each walking speed. Differences between the simulated forces and average measurements were quantified by the root mean squared (rms) error (expressed as % Body Weight) over a gait cycle.

Speed (% preferred)		R (m)	K (N/m)	Θ (°)	Speed (m/s)	Step Length (m)	Cadence (steps/sec)	rms Errors (%BW)
								Fx	Fy
80	sim	0.3	21000	23.5	1.07	0.64	1.66	2.8	6.7
	exp				1.06 (±0.11)	0.66 (±0.05)	1.62 (±0.16)
100	sim	0.3	22000	25.25	1.35	0.70	1.94	4.1	10.8
	exp				1.35 (±0.13)	0.74 (±0.07)	1.83(±0.14)
120	sim	0.3	24000	27.5	1.59	0.77	2.06	5.5	19.3
	exp				1.59 (±0.14)	0.81 (±0.06)	1.96 (±0.16)