The calculation of human joint forces and moments during locomotion is usually based on the solution of the “inverse dynamics problem.” A new approach, called the Integrated Kinematic Sensor (IKS) approach, is proposed. It combines measurements of position, linear acceleration and angular velocity, coupled with six degrees of freedom analysis of rigid body motion, for the purpose of deriving high quality link kinematics and joint loads (force and moment) estimates. The IKS approach is tested on an instrumented compound pendulum to simulate the swing of a lower limb segment. The results show a high degree of correlation between the loads estimated by the IKS and those directly measured by the instrumented joint. The approach is illustrated by studying the kinematic and dynamic variables of the human shank segment during normal walking. The results agree with the basic patterns reported in the literature, while adding new information on transients during heel strike and toe off.

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