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. Author manuscript; available in PMC: 2016 Apr 13.
Published in final edited form as: J Biomech. 2015 Feb 13;48(6):963–968. doi: 10.1016/j.jbiomech.2015.02.012

Figure 1.

Figure 1

A single-link-plus-foot inverted pendulum model in the frontal plane and lateral stability boundaries. X indicates the COM position in the medio-lateral direction. m, l and M are whole body mass, pendulum length (distance from the ankle to the COM), and ankle joint moment. The lateral stability boundaries were defined in two ways: one with the BOS width (BOS stability boundary), and the other adjusted with the COP position at FSLO, considering it as a functional limit for COP movement (functional stability boundary). Stability margins were calculated as the shortest distances from the experimental data to those stability boundaries.