This study presents a 2D gait model that uses global parameterization within an optimal control approach and a hyper-volumetric foot contact model. The model is simulated for an entire gait stride, i.e., two full steps. Fourier series are utilized to represent muscle forces to provide a periodic gait with bilateral symmetry. The objectives of this study were to develop a predictive gait simulation and to validate the predictions. The comparison of simulation results of optimal muscle activations, joint angles, and ground reaction forces against experimental data showed a reasonable agreement.

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