A Method of Estimating Control Forces to Achieve a Given Swing Phase Trajectory During Normal Gait

A method, which does not require dynamic optimisation, for predicting the control forces required for a given swing phase trajectory is presented. This method is a Predictor-Corrector method, and will be termed the P-C method. The method has the advantage of being less computationally expensive than Dynamic Optimisation (D-O) methods and requires fewer parameters and is less sensitive to the parameters than D-O methods. The P-C method appears to be well suited for non-maximal activities, D-O methods are probably more suitable for maximal activities.