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The goal of this project was to develop a computer simulation of normal human walking that would use as driving moments resultant joint moments from a gait analysis. The system description, initial conditions and driving moments were taken from an inverse dynamics analysis of a normal walking trial. A nine-segment three-dimensional (3-D) model, including a twopart foot, was used. Torsional, linear springs and dampers were used at the hip joints to keep the trunk vertical and at the knee anddoi:10.1109/86.650281 fatcat:5xpy6oldfrfrxkfhzzqh47wfwq