Figure 4
Comparison of forward simulations using ground reaction forces or the foot-ground contact model. A. Joint kinematics generated by forward simulations using measured ground reaction forces (GRF) (black) compared with the experimentally measured joint kinematics (grey) as function of the gait cycle. B. Joint kinematics generated by forward simulations using the foot-ground contact model (black) compared with the experimentally measured joint kinematics (grey) as function of the gait cycle. Only minor differences in joint kinematics were found between forward simulations using the ground reaction forces and the foot-ground contact model.