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(a, b) The model captures a simple representation of the human body as a set of rigid links and hinges. (c) We modeled ankle push-off as an instantaneous impulse and the effect of hip muscles as an inter-leg spring. See Appendix A1 for a detailed representation and parameter values. (d) Stick figures representing different phases during a step for upright and (e) crouch gait (22.5° knee flexion in stance)
