Fig 1:
Inverted pendulum model. List of terms: LACR left acromion marker, LLMA left lateral malleolus marker, θ forward body lean angle, xB horizontal position of the body center of mass, mB the mass of the body without the feet, LB length of the body, LCOM length of the body up to the center of mass, zB vertical position of the body center of mass, mF mass of the foot, zF height of the ankle joint, xF horizontal position of the center of mass of the foot, COP position of center of pressure, GRF vertical ground reaction force, TAnk applied ankle torque generated by the neuromuscular system, and TG torque due to gravity of body segment. The reaction forces at the ankle joint (Rx and Rz) are not pictured.