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. 2018 Oct 17;5:111. doi: 10.3389/frobt.2018.00111

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Copyright © 2018 Lee and Harris.

This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

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Ground reaction forces of the left limb (gray) and right limb (black) during three steps of human walking (i.e., left-right-left)—showing vertical (solid lines) and fore-aft (dashed lines) components of force. This stride is defined from mid-stance of the left limb to the subsequent mid-stance of the left limb. Vertical ground reaction force (solid lines) is below body weight during mid-stance of single stance (SS) and peaks at values greater than body weight near the beginning and end of double stance (DS). Fore-aft ground reaction force (dashed lines) peaks during double stance (DS) for both positive (propulsive) force from the trailing limb and negative (braking) force from the leading limb.