Abstract
Two large force plates were used to measure the ground reaction force components in three directions. They can measure five steps in one trial. The characteristics of forces, velocities and displacements were investigated in relation to the walking speed. Velocities and displacements of CG (Center of Gravity) in three directions were obtained by integrating the reaction force components numerically. The results indicate that most of the driving force in the forward direction, which is closely related to the mean walking velocity in the steady-state phase, is generated during the first double support phase and successive single support phases. It is also found that the transient motion in gait initiation transfers the steady-state motion at the second or third time of heel contact.
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