AbstractHuman locomotion is such a complex process consisting of multiple simultaneous individual three dimensional motions that its analysis is diffi cult without a unifying principle. Such a unifying principle is the concept that locomotion is essentially the travel of the centre of gravity through space along a pathway that requires the least energy expenditure. This allows qualitative analysis of gait in terms of the essential determinants of gait. The six major determinants are pelvic rotation, pelvic ti…
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