- Draw a free body diagram for the foot, shank, thigh, and HAT (head, arms, torso) segments. You may ignore the mass and moment of inertia of the foot, as it is sometimes assumed that the mass of the foot is negligible when compared to the mass of the shank.
- Using your free body diagrams in part a, derive the equations necessary to solve for the torques about the hip, knee, and ankle joints during the stance phase of gait for this model. Again, for simplicity, you may ignore the mass of the foot.
- For the given data, use the equations you just derived to calculate the torques for the hip, knee, and ankle joints during the stance phase of gait. (Note: when solving the equations, remember that all angular velocities and accelerations need to be in radians). Plot your results and normalize them with respect to body mass (i.e., units are Nm/kg).
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