Single Support Phase Research Articles

Analysis of Biomechanical Gait Parameters in Patients after Total Hip Replacement in the Early Recovery Period

INTRODUCTION. The widespread use of total hip arthroplasty (THA) places high demands on the restoration of a normal gait pattern and is one of the key goals of rehabilitation. AIM. Determination of key parameters of walking in patients after THA to assess the effectiveness of restoration of the physiological gait pattern. MATERIALS AND METHODS. In a control prospective study, the main group consisted of 23 patients (11 men, 12 women, aged from 41 to 75 years, mean age 63.9 ± 9.4 years), who in the first 8 weeks after planned THA, moved with the help of assistive devices. supports (two crutches or walkers) who underwent stage II of medical rehabilitation; control group — 27 healthy people (12 men and 15 women, aged from 42 to 73 years, average age 60.9 ± 9.9 years). Spatiotemporal and kinematic gait parameters were recorded before and after the rehabilitation course using a gait simulator with biofeedback equipped with three sensors. For each leg, spatiotemporal and kinematic biomechanical parameters were separately recorded. RESULTS. All spatiotemporal gait parameters on both limbs and pelvic mobility in the sagittal plane in patients in the early recovery period after THA before the start of the rehabilitation course are significantly different from healthy people. After a course of rehabilitation, the studied gait parameters approach physiological values. The main asymmetry is observed in the single support phase from 16 % at the beginning of the course, to 10 % at the end; sagittal pelvic mobility are 2 times higher than the physiological normal meaning at the beginning of the course, without significant changes in dynamics. DISCUSSION. Disturbances in the gait pattern are observed in the majority of patients undergoing THA. Step symmetry is one of the significant parameters of walking, according to which the primary global assessment of its quality is carried out. Asymmetry of the single support phase of the limbs is a natural development of compensatory motor reactions after endoprosthetics. CONCLUSION. The gait parameters “step frequency” and “step cycle” quickly change after a course of rehabilitation and can be used to assess the locomotor activity of patients during short courses of medical rehabilitation in the early recovery period. Indicators of stance and swing phases, their symmetry changes much more slowly, can serve as criteria for assessing the effectiveness of measures taken at the stages of rehabilitation in the dynamics of gait restoration.

Gait coordination control of bipedal modular reconfigurable robot based on adaptive neural network

This paper proposed an adaptive neural network (NN) control method to track the desired trajectory of a bipedal modular reconfigurable robot (MRR), which can solve the gait coordination problem of bipedal MRR. The leg dynamic model and the body dynamic model of bipedal MRR are established based on the Newton–Euler iterative method, and the global dynamic model is subsequently established. Aiming at the gait coordination problem between double support phase (DSP) and single support phase (SSP), the desired trajectory is generated based on the zero-moment point (ZMP) method. The adaptive NN controller is designed to track the generated desired trajectory, which also compensates interconnected dynamic coupling (IDC) effects of the bipedal MRR. The stability of bipedal MRR system is proved by Lyapunov theory. In the end, the effectiveness of the control method is verified by comparative simulation. The simulation results show that the proposed adaptive NN method reduces the position tracking error by [Formula: see text] and the control torque by [Formula: see text] compared with the existing control methods.

A novel rigid Foot-Ground contact model for Predicting ground reaction forces and center of pressure during normal gait

Ground reaction forces (GRFs) and center of pressure (COP) are essential for understanding human motion and evaluating biomechanical parameters, but measuring them with force plates is often limited in many scenarios. In this study, we propose a novel methodology for estimating GRFs and COP during normal gait based on a rigid foot–ground contact model, referred to as the COP phase transition continuity model (COP-PTCM). The GRFs and COP are calculated based on the Newton-Euler Equations during the single support phase (SSP). Considering the spatiotemporal continuity of the COP trajectory during normal gait, the COP data for the double support phase (DSP) is obtained by an improved logistic function fitted using the COP data from the SSP. GRFs during the DSP are optimized using the minimum energy hypothesis. The COP-PTCM method is used to estimate the GRFs and COP of ten participants during normal gait, and the results are compared with simultaneously measured force plate data, yielding the relative root mean square error (rRMSE) between measured and estimated GRFs in the anterior-posterior, vertical, and medial–lateral directions are 10.90 ± 2.09 %, 4.73 ± 1.44 %, and 15.17 ± 1.69 %, respectively. Additionally, the rRMSE between measured and estimated COP in the anterior-posterior direction is 11.23 ± 0.03 %. The above comparison validates the effectiveness and accuracy of the proposed method.

Gait Generation of a 10-DOF Humanoid Robot on Deformable Terrain Based on Spherical Inverted Pendulum Model

Abstract Gait generation of a humanoid robot on deformable terrain is a complex problem as the foot and terrain interaction and terrain deformation has to be included in the dynamics. In order to simplify the dynamics of walk on deformable terrain, we used a spherical inverted pendulum (SIP) to represent the single support phase, in which the effect of terrain deformation is represented by a spring and damper contact model. The impact model for leg transition is derived from angular momentum conservation. In order to minimize the energy loss due to impact, the double support phase is modeled as a suspended pendulum. Based on the motion of the SIP model, the hip and leg trajectories of a 10 DOF humanoid robot are generated. The joint angles of the humanoid are obtained from inverse kinematics. The motion of the center of mass is analyzed by inverse dynamics of a floating-base robot. The proposed gait generation method has been experimentally validated using a Kondo KHR-3HV humanoid robot on deformable terrain. The results show that the humanoid can effectively track the trajectories of the SIP model.

Mediolateral margin of stability is larger in older than younger adults during the single-support phase

Mediolateral margin of stability is larger in older than younger adults during the single-support phase

Altered muscle synergy structure in patients with poststroke stiff knee gait

Stiff knee gait (SKG) occurrence after a stroke is associated with various abnormal muscle activities; however, the interactions among these muscles are unclear. This study aimed to elucidate the muscle synergy characteristics during walking in patients with SKG after a stroke. This cross-sectional study included 20 patients with poststroke SKG (SKG group), 16 patients without poststroke SKG (non-SKG group), and 15 healthy adults (control group). Participants walked a 10-m distance at a comfortable speed, and electromyographic data were recorded from six lower-limb muscles. Non-negative matrix factorization was employed to derive time-varying activity (C), muscle weights (W), and the percentage of total variance accounted for (tVAF) for muscle synergies. The SKG group showed a higher tVAF than the control group. The initial stance module (including knee extensors) showed increased activity during the swing phase. The initial swing module (including hip flexors and ankle dorsiflexors) exhibited a higher activity during the single-support phase but a lower activity during the swing phase. The synergy structure in patients with SKG after stroke was simplified, with specific abnormalities in synergy activities. SKG may arise from several synergy alterations involving multiple muscles, indicating that approaches focused on controlling individual muscle activities are unsuitable.

Rotation of the hammer and performance in hammer throwing.

The purpose of this study was to determine the effects of hammer rotation on performance in hammer throwing. The hammer's velocity increment at different stages, the duration of rotations at different phases, and the horizontal azimuth angle and rotation radius at critical instants were calculated and compared between the long and short trials for 26 female athletes in actual competitions. Compared to short trials, female throwers' long trials exhibited significantly larger release velocity (p < 0.001, ES = 1.42), greater velocity increment during the double support phase (p = 0.006, ES = 0.59), shorter duration during the single support phase (p ≤ 0.043, ES = 0.42-0.83), lower horizontal azimuth angle (p ≤ 0.027, ES = 0.46-0.57), and longer rotational radius at critical instants (p ≤ 0.021, ES = 0.48-0.73). During the process from the hammer head's low point to high point, athletes should focus on increasing the rotation radius of the hammer head and accelerating the right foot's landing speed during the single support phase. This approach aims to reduce the hammer's horizontal azimuth angle at the right foot touchdown, enhance the acceleration performance during the double support phase, and increase the release speed.

Comparison of knee biomechanical characteristics during gait between patients with knee osteoarthritis and healthy individuals

ObjectiveThis study aim to quantify the differences in knee biomechanics during gait between knee osteoarthritis (KOA) patients and healthy individuals. MethodsTwenty KOA patients (4 males and 16 females, 66.2 ± 7.7 years) and twenty controls (16 males and 4 females, 64.8 ± 5.4 years) were recruited for gait test using the motion capture system and force-platform system. The spatiotemporal parameters, knee kinematics and kinetics, and tibiofemoral contact force (TFCF) were calculated using an improved musculoskeletal model. ResultsKOA patients walked with reduced speed (48.6 %), stride length (32.9 %), stride height (33.0 %), time proportions of single-support phases (19.2 %), increased gait cycle time (31.0 %), time proportions of stance (8.5 %) and double-support phases (57.7–75.9 %). KOA patients had significant smaller peak flexion angle (29.1 %), flexion ROM (50.6 %) and peak flexion moment (90.2 %), greater peak adduction moment (KAM) (40.7 %), peak rotation moments (KRM) (50.0 %), KAM impulse (106.2 %) and KRM impulse (126.0 %). In proximodistal direction, greater medial TFCF impulse (238 %), total and medial first-peak TFCF (9.6 % and 15.2 %), and smaller lateral peak TFCF (33.3 %) and TFCF impulse (38.4 %) were found in KOA patients. Besides, significant differences were found in the total, medial and lateral peak TFCFs and TFCF impulses in mediolateral direction, and the medial and lateral TFCFs and TFCF impulses in anteroposterior direction. ConclusionsSignificant differences were found in the spatiotemporal parameters, knee kinematics and kinetics, and TFCF between the two groups. The results of this study have important implication for clinicians and rehabilitation physicians. These quantified biomechanical differences can provide data support for the personalized and quantified rehabilitation strategies, give suggestions for the exercises of KOA patients, help monitor disease, evaluate surgical treatment, and develop more effective preoperative planning and postoperative rehabilitation strategies.

Influence of regularly repeated asymmetric load on the locomotor system in sweep rowers

ABSTRACT This study aims to objectively evaluate the trunk posture of sweep rowers (bow-side rowers/stroke-side rowers) and compare the results with scull rowers and non-rowing controls. Sixty-four healthy individuals divided into four groups were assessed using a DIERS formetric III 4D device that is based on a method of moiré topography. There were seven parameters observed in an assessment of standing posture, and eight parameters were studied for an evaluation of posture during the gait cycle. In comparison with non-rowing controls and scull rowers, stroke-side rowers showed significantly greater rotational deviation of the trunk at the L3 vertebra level and a greater magnitude of scoliosis angle during walking throughout the single support phase on the left leg (p < 0.05). Stroke-side rowers also demonstrated greater magnitude of scoliosis angle than non-rowing controls in double support phase in the transition from the left to the right leg (p < 0.05). Moreover, as opposed to non-rowing controls, stroke-side rowers and scull rowers showed significantly greater values of coronal imbalance (p < 0.05). Bow-side rowers differed from non-rowing controls and scull rowers in a significantly greater magnitude of scoliosis angle throughout the single support phase on the left leg (p < 0.05). Trial registration number: clinicaltrials.gov (identifier: NCT05685563).

Feedback equivalence of the chained mechanical system to the almost linear form and its use for the sustainable multi-step walking design

The main theoretical novelty of this paper is the state and feedback equivalence of the underactuated 4-degrees of freedom planar walking-like mechanical chain system with 3 actuators to its 8-dimensional almost linear form with 3 virtual inputs. Moreover, the only residual nonlinearity vanishes on the 4-dimensional linear subspace being forward invariant when 2 of 3 virtual inputs are set to be zero. Dynamics inside that subsystem is actually the chain of 4 integrators fed by the remaining single virtual input and it can be interpreted as a rich variety of synchronous movements of torsos and legs. In such a way, the seemingly abstract and purely theoretical result can be used to design the walking-like movement during the single-support phase. The impact effect during the impulsive-like double-support phase is then attenuated by further special trajectories tuning and finite-time stabilization technique which provides the sustainable multi-step walking design. Moreover, the target walking-like trajectory is attracted by nearby trajectories. This further justify the importance and usefulness of the mentioned state and feedback equivalence. Its viability is further demonstrated by the simulations of various scenarios of the walking-like movement and the respective torsos behaviors.

THE STUDY OF THE WORK OF THE MUSCLES RESPONSIBLE FOR THE FUNCTIONALITY OF THE HIP JOINT AFTER TOTAL HIP ARTHROPLASTY USING DIFFERENT SURGICAL APPROACHES

Muscles that can be damaged during endoprosthesis are indicated. Objective. To study the features of muscle work to ensure walking function after hip arthroplasty depending on the surgical approach. Methods. The basis of the simulation is the basic OpenSim Gate2392 model. Six models were created that predicted the condition of the muscles of the lower limb in normal conditions, during coxarthrosis and after 6 and 12 months. after surgery with lateral and anterior approaches. The results. For lateral access in 6 months. after the operation, the adductor muscles responsible for stabilizing the pelvis in the single-support phase of the step and during the transfer of the foot do not work enough, while the hip flexor muscles (in the model, the rectus femoris muscle) take over the responsibility for the step, but with overvoltage. On the contrary, with the front approach, we observe a weakening of the flexor muscles, which leads to overstrain of the gluteal muscles and hip stabilizer muscles. After 12 months, the muscle strength normalizes for most of them to 90–95 % of the norm, a 2–3 times increase in the torque of the hip flexor muscles and hip stabilizer muscles is observed. Taking a normal step causes muscle strain. During the anterior approach, the foot is transferred during the phase, that is, when most of the muscles are involved. The rectus femoris muscle, which is the strongest of the muscles discussed in the paper, does the main work of moving the foot. In the case of possible damage to the rectus muscle during anterior access, even after a year there is a violation of its work — excessive overexertion and involvement of the reserves of other muscles. Conclusions. Mathematical modeling of the work of muscles that may be damaged during hip arthroplasty surgery, conditional muscle strength for 6 months. after the operation, they are not able to develop the necessary torque to take a normal step. For muscle strength, which in the model corresponded to 12 months,the muscles are able to perform a normal function regardless of surgical access, but their overstrain is observed.

Cautious Gait during Navigational Tasks in People with Hemiparesis: An Observational Study.

Locomotor and balance disorders are major limitations for subjects with hemiparesis. The Timed Up and Go (TUG) test is a complex navigational task involving oriented walking and obstacle circumvention. We hypothesized that subjects with hemiparesis adopt a cautious gait during complex locomotor tasks. The primary aim was to compare spatio-temporal gait parameters, indicators of cautious gait, between the locomotor subtasks of the TUG (Go, Turn, Return) and a Straight-line walk in people with hemiparesis. Our secondary aim was to analyze the relationships between TUG performance and balance measures, compare spatio-temporal gait parameters between fallers and non-fallers, and identify the biomechanical determinants of TUG performance. Biomechanical parameters during the TUG and Straight-line walk were analyzed using a motion capture system. A repeated measures ANOVA and two stepwise ascending multiple regressions (with performance variables and biomechanical variables) were conducted. Gait speed, step length, and % single support phase (SSP) of the 29 participants were reduced during Turn compared to Go and Return and the Straight-line walk, and step width and % double support phase were increased. TUG performance was related to several balance measures. Turn performance (R2 = 63%) and Turn trajectory deviation followed by % SSP on the paretic side and the vertical center of mass velocity during Go (R2 = 71%) determined TUG performance time. People with hemiparesis adopt a cautious gait during complex navigation at the expense of performance.

Impact of foot progression angle on spatiotemporal and plantar loading pattern in intoeing children during gait

Intoeing in children is a common parental concern, but our understanding of the impact of foot progression angle (FPA) in these children leaves remains limited. This study examines the relationship between FPA and plantar loading pattern, as well as gait symmetry in children with intoeing. The sample included 30 children with intoeing caused by internal tibial torsion, uniformly divided into three groups: unilateral intoeing, bilateral mild intoeing, and bilateral mild-moderate intoeing. The relationship between FPA and plantar loading pattern, and gait symmetry within and among groups were assessed using dynamic pedobarographic and spatiotemporal data. Results indicated a significant correlation between FPA and peak pressure, maximum force, and plantar impulse in the medial and central forefoot, and also the medial and lateral heel zones for both bilateral intoeing groups. Significant differences were observed only in subdivided stance phase, including loading response, single support, and pre-swing phases, between the unilateral intoeing and bilateral mild intoeing groups. These findings suggest that FPA significantly affects the forefoot and heel zones, potentially increasing the load on the support structures and leading to transverse arch deformation. While children with intoeing demonstrate a dynamic self-adjustment capability to maintain gait symmetry, this ability begins to falter as intoeing becomes more pronounced.

Relationship between sensation and balance and gait in multiple sclerosis patients with mild disability

BackgroundPatients with Multiple Sclerosis (PwMS) often experience sensory, balance, and gait problems. Impairment in any sensation may increase imbalance and gait disorder in PwMS. This study aimed to (1) compare foot plantar sensations, knee position sense, balance, and gait in PwMS compared to Healthy Individuals (HI) and (2) examine the relationship between plantar sensations, knee position sense, balance, and gait in PwMS. MethodsThirty PwMS with mild disability and 10 HI participated in this study. Light touch threshold, two-point discrimination, vibration duration, and knee position sense were examined on the Dominant Side (DS) and Non-Dominant Side (NDS). Balance and spatio-temporal gait analysis were evaluated in all participants. ResultsPwMS had higher postural sway with eyes closed on the foam surface, longer swing phase of DS, longer single support phase of NDS, and shorter double support phase of DS compared to HI (p < 0.05). The results of regression analysis showed that the light touch thresholds of the 1st and 5th toes of the DS were associated with postural sway in different sensory conditions (p < 0.05). In contrast, the light touch thresholds of the 1st and 5th toes, two-point discrimination of the heel, vibration duration of the 1st metatarsal head and knee position sense of the NDS, and light touch threshold in the medial arch of both sides were associated with the gait parameters (p < 0.05). ConclusionPwMS, even with mild disabilities needs neurorehabilitation to improve plantar sensation and knee position sense.

Gait analysis characteristic features in children with spastic hemiplegia

Introduction There are not enough published studies on the impact of early isolated triceps lengthening operations in hemiparesis on the state of motor characteristics and on the development of orthopedic complications in children with GMFCS II.Purpose Analyze motor locomotion in children with spastic hemiplegia who had not previously been operated on and those who had undergone isolated surgical lengthening of the triceps at an early age.Material and methods Four groups of children with spastic hemiplegia according to Rodda et Graham types: I) type 2a gait (4 children), II) type 3 (3 children), III) type 4 (7 children), IV) type 4 with previous triceps lengthening (9 children).Results The features revealed in gait types 2a, 3 and 4 in the sagittal plane correspond to the characteristic and previously described features. In all groups, asymmetric rotational movements of the pelvis and tilt asymmetry in the frontal plane were observed. In the group of early isolated tricep lengthening, a decrease in the moment of force by pushing with the foot at the end of the single-support phase was revealed, in combination with an increase in the moment of forces of knee joint extension in the single-support phase.Discussion Early isolated triceps lengthening that weakens its function leads to a compensatory increase in the work of the knee extensors which is similar to the mechanism to of iatrogenic crouch gait, but does not result in a complete loss of walking function in the conditions of a contralateral healthy limb.Conclusions Movement pathology is present in all three measurement planes in gait types 2a, 3, 4 according to the Rodda et Graham classification. The most pronounced deviations were found in gait type 3. The rotational turn of the pelvis is an initially compensatory mechanism due to intratorsion femur deformity. Isolated triceps lengthening surgeries performed at an early age lead to reduced plantar push strength, increased compensatory work of the knee extensors, and probably do not prevent the orthopedic pathology found in Rodda et Graham's gait type 4.

Forces required to dynamize sliding screws in gamma nail and selfdynamizable internal fixator.

Single limb support phase of the gait-cycle in patients who are treated for a pertrochanteric fracture is characterized by transversal loads acting on the lag screw, tending to block its dynamization. If the simultaneous axial force overcomes transversal loads of the sliding screw, the dynamization can still occur. Biomechanical investigation was performed for three types of dynamic implants: Gamma Nail, and two types of Selfdynamizable Internal Fixators (SIF) - SIF-7 (containing two 7mm non-cannulated sliding screws), and SIF-10 (containing one 10mm cannulated sliding screw). Contact surface between the stem and the sliding screws is larger in SIF implants than in Gamma Nail, as the stem of Gamma Nail is hollow. A special testing device was designed for this study to provide simultaneous application of a controlled sliding screws bending moment and a controlled transversal load on sliding screws (Qt) without using of weights. Using each of the implants, axial forces required to initiate sliding screws dynamization (Qa) were applied and measured using a tensile testing machine, for several values of sliding screws bending moment. Standard least-squares method was used to present the results through the linear regression model. Positive correlation between Qt and Qa was confirmed (p < 0.05). While performing higher bending moments in all the tested implants, Qa was higher than it could be provided by the body weight. It was the highest in Gamma Nail, and the lowest in SIF-10. A larger contact surface between a sliding screw and stem results in lower forces required to initiate dynamization of a sliding screw. Patients treated for a pertrochanteric fracture by a sliding screw internal fixation who have longer femoral neck or higher body weight could have different programme of early postoperative rehabilitation than lighter patients or patients with shorter femoral neck.

Biomechanical gait analysis and rehabilitation in a traumatic hallux deficit patient: a case report

BackgroundThe hallux plays a crucial role in maintaining standing balance and facilitating forward and backward movements during gait.Case presentationA 21-year-old Japanese patient, suffering from a traumatic hallux deficit with only a portion of the basal phalanx intact, underwent rehabilitation treatment. The thenar area exhibited instability, leading to impaired balance and walking difficulties. Biomechanical assessment revealed the need for a rehabilitation strategy for the foot, as well as the knee, hip, and trunk. A rehabilitation protocol was designed to enhance medial foot loading during walking and standing, including balance and trunk strength training. After a 12-week rehabilitation period, the patient’s gait showed significant improvement. Specifically, the load response and single-support phases of the gait cycle on the affected side increased from 46.9% to 49.3%, while the pre-swing phase decreased from 14.6% to 11.6%. The vertical component of the ground reaction force rose from 599.8 to 647.5 N. The enhanced stability from balance training and increased muscle strength contributed to the patient’s improved walking and balance.ConclusionA patient with a traumatic hallux deficit underwent conservative treatment through strategic rehabilitation according to biomechanical assessment. This case report underscores the value of biomechanical gait analysis in the conservative management of similar conditions.

Planar Walking of a Five-Link Biped Robot over a Stepped Surface with Obstacles of Different Heights and Lengths

A problem of modeling biped locomotion is an actual and complex problem of modern control theory. In the present paper, we deal with a special case when a five-link biped robot with knees moves along a given stepped surface. We describe the robot motion by a hybrid system which consists of a system of ordinary differential equations at the single support phase and an algebraic relation at the double support phase. The main contribution of this paper is the construction of a periodic motion that satisfies a set of conditions inherent in human walking. The results of the paper will be useful to those who are interested in control theory applications.

Dynamics of Center of Pressure Trajectory in Gait: Unilateral Transfemoral Amputees Versus Non-Disabled Individuals.

The primary goal of rehabilitation for individuals with lower limb amputation, particularly those with unilateral transfemoral amputation (uTFA), is to restore their ability to walk independently. Effective control of the center of pressure (COP) during gait is vital for maintaining balance and stability, yet it poses a significant challenge for individuals with uTFA. This study aims to study the COP during gait in individuals with uTFA and elucidate their unique compensatory strategies. This study involved 12 uTFA participants and age-matched non-disabled controls, with gait and COP trajectory data collected using an instrumented treadmill. Gait and COP parameters between the control limb (CL), prosthetic limb (PL), and intact limb (IL) were compared. Notably, the mediolateral displacement of COP in PL exhibited significant lateral displacement compared to the CL from 30% to 60% of the stance. In 20% to 45% of the stance, the COP forward speed of PL was significantly higher than that of the IL. Furthermore, during the initial 20% of the stance, the vertical ground reaction force of PL was significantly lower than that of IL. Additionally, individuals with uTFA exhibited a distinct gait pattern with altered duration of loading response, single limb support, pre-swing and swing phases, and step time. These findings indicate the adaptability of individuals with uTFA in weight transfer, balance control, and pressure distribution on gait stability. In conclusion, this study provides valuable insights into the unique gait dynamics and balance strategies of uTFA patients, highlighting the importance of optimizing prosthetic design, alignment procedures, and rehabilitation programs to enhance gait patterns and reduce the risk of injuries due to compensatory movements.

Simulation of movement of an active exoskeleton with five electric controlled links

The article simulates the movements of an anthropoid model of a mechatronic mechanism such as an exoskeleton containing five rods interconnected by cylindrical hinges. The exoskeleton is a system of links that undergo relative rotations around the coordinate axes under the influence of the corresponding links of the user's musculoskeletal system, on which the exoskeleton is put on, gravity, support reactions and internal control forces implemented by electric drives. To describe the movement of each link, the angles between the links are used and local coordinate systems are introduced, which allow determining their position in space. The control of the change in the angles between the links is carried out using electric drives. Modeling is carried out for a gait close to human race walking, in which there is an instantaneous alternation of single-support phases. Biomechanical modeling of an exoskeleton with five movable controlled links allows us to identify the tasks that need to be solved: the synthesis of the motion trajectory, the determination of control moments, the selection of electric drives, and the development of a system for impulse motion control. To set the anthropomorphic movement of the exoskeleton, periodic functions are introduced that specify changes in the angles between the links. Compiled a system of differential equations. The Cauchy problem is solved numerically. The results of the numerical solution are compared with the initial motion, a conclusion is made that the system is unstable, and possible ways of stabilizing the unstable motion are discussed. The impact of the presence of electric drives on the dynamics of the entire exoskeleton has been estimated.