Fic. 1. A schematic representation of a human frame. Fic. 2. Spatial mechanism representing the human frame Fic. 3. Lower extremity: Cartesian formulation. Fic. 4. Gait parameters: geometric relationships. Fic. 6. Lower extremity: initial boundary condition. Fic. 10. Coordinate of upper extremity (intersection of two circles). Fic. 11. Inclination of moving leg to the horizontal. Fic. 12. Graph of horizontal inclination of stationary leg. Fic. 15. Angle of extension of stationary leg. Fic. 16. Horizontal displacement of upper extremity. Fic. 17. Horizontal velocity of upper extremity. TABLE 1
