This paper focuses on the analysis of human gait cycle dynamics and presents a mathematical model to determine the torque exerted on the lower limb joints throughout the complete gait cycle, including its various phases. The study involved a healthy subject who participated in a series of initial walking experiments. The development of a mathematical model that accurately represents the natural motion of the human lower limb has garnered significant attention in the field of lower limb prosthetics design. In this study, the researchers incorporated the functional relationship between the limb joints and the endeffector of the lower extremity. This knowledge is crucial for rehabilitation purposes as it helps in understanding the connectivity of joints, links, and the overall body orientation required to effectively control the motion of the actuators. When analysing physical activities, measurements of human strength play a crucial role. Traditionally, these measurements have focused on determining the maximum voluntary torque at a single joint angle and angular velocity. However, it is important to consider that the available strength varies significantly with joint position and velocity. Therefore, when examining dynamic activities, strength measurements should account for these variations. To address this, the researchers present a model that represents the maximum voluntary joint torque as a function of joint angle and angular velocity. This model offers an efficient method to incorporate variations in strength with joint angle and angular velocity, allowing for more accurate comparisons between joint torques calculated using inverse dynamics and the maximum available joint torques. Based on this model, the researchers estimate various gait parameters, including the medio-lateral rotation of the lower limbs during stance and swing, stride length, and velocity. These estimations are achieved through the integration of angular velocity data.