During inverse dynamic simulations of human movement, inaccuracies and noise in experimental data result in residual forces and torques acting on the pelvis [1]. These quantities are physically unrealistic but are necessary to balance the equations of motion. To circumvent this problem, Remy and Thelen developed a residual elimination algorithm (REA) that employs forward dynamic simulation to produce dynamically consistent accelerations that best agree with experimental marker motion data and satisfy the whole-body equations of motion [2]. While the kinematics are dynamically consistent and the pelvis residuals effectively eliminated, the inability of REA to reproduce foot marker motion accurately is a hindrance for applications requiring precise positioning of the feet (e.g., foot-ground contact models).

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