Abstract
The main goal was to evaluate the relative roles of the ankle and hip muscles in human postural control in the frontal plane during normal upright standing. Experiments were designed to compare upright standing with and without the involvement of the ankle joint. The results demonstrated that standing balance in the frontal plane depended largely on the hip muscles and just slightly on the ankle muscles, which performed only small adjusting movements in the frontal plane. During quiet standing, the human body swayed in the frontal plane as a two-component inverted pendulum or, when no ankle joint torque was permitted, as an inverted pendulum consisting of only one component.
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