“…Disturbances of the vertical displacement of the COM b in normal conditions (e.g., walking on sand or carrying loads as an African woman) [6,18] or conditions of pathologic gait (e.g., stiffknee gait after a stroke or walking with a prosthesis) [10,12,27,28] affect the mechanical work and metabolic cost of the gait [10-13, 18, 22, 27, 29, 30, 33]. More precisely, any handicap increases these two parameters [10,27,29,30,33,34]. Both muscular mechanical work, which is assessed by the production of mechanical energy due to the energy changes of the COM b relative to the ground and of the body segments relative to the COM b [4,5], and the energy expenditure due to the oxygen consumption [32,34] allow assessment of the efficiency of locomotion.…”