A Forward Dynamic Modelling Investigation of Cause-and-Effect Relationships in Single Support Phase of Human Walking

Table 1

The RMS errors from the experimental mean values for all models.

	Model 1	Model 2	Model 3	Model 4	Model 5
					Stance	Swing
Segment angles (°)
Foot	N/A	N/A	N/A	5.62	4.65	0.40
Tibia	N/A	6.67	2.36	1.84	1.00	0.93
Femur/total leg	0.27	4.18	0.93	1.64	2.14	0.63
HAT	0.49	0.31	0.06	0.02	0.02
Joint moments (Nm)
Ankle	N/A	N/A	23.63	21.41	10.06	1.07
Knee	N/A	48.11	26.52	23.50	5.63	8.07
Hip	0.00	34.8	24.24	24.84	31.16	15.63
GRF (%BW)
	31.94	71.91	20.32	8.91	9.45
	10.33	22.89	6.38	1.28	0.64