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. 2021 Feb 12;11:3742. doi: 10.1038/s41598-021-83233-w

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© The Author(s) 2021

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article's Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article's Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/.

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(a) Stick figure of the typical subject during level walking showing three-dimensional trajectories of the COM and COP, and the COM–COP vector forming sagittal inclination angles (α) and frontal inclination angles (β) with the vertical. The COM–COP vector and the inclination angles in the sagittal (b) and frontal (c) planes during initial and terminal double-limb support (DLS), and single-limb support (SLS) are also shown. The reference limb is shown in darker grey.