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Related Concept Videos

Angular Momentum01:21

Angular Momentum

Angular momentum characterizes an object's rotational motion and is defined as the moment of its linear momentum about a specified point O. When a particle moves along a curved path in the x-y plane, the scalar formulation calculates the magnitude of its angular momentum, utilizing the moment arm (d), representing the perpendicular distance from point O to the line of action of the linear momentum. Despite being scalar in formulation, angular momentum is inherently a vector quantity. Its...
Angular Momentum and Principle Axes of Inertia01:09

Angular Momentum and Principle Axes of Inertia

The concept of angular momentum for a solid structure is illustrated as the cumulative result of the cross-product of the position vector of the mass element and the cross-product of the body's angular velocity with the position vector.
To put this equation into simpler terms, it can be reconfigured using rectangular coordinates. This involves choosing an alternative set of XYZ axes that are arbitrarily inclined with respect to the reference frame. The process of deriving the rectangular...
Angular Momentum about an Arbitrary Axis01:11

Angular Momentum about an Arbitrary Axis

Imagine a rigid body with a mass denoted as 'm', which has its center of mass at point G and is rotating around an inertial reference frame. The angular momentum at an arbitrary point P can be calculated by taking the cross product of the position vector and linear momentum vector for each individual mass element.
The velocity of a mass element comprises its translational velocity and the relative velocity instigated by the body's rotation. Substituting the velocity equation into the angular...
Principle of Angular Impulse and Momentum01:23

Principle of Angular Impulse and Momentum

The angular impulse and momentum principle provides insights into how forces applied at a distance from an object's rotational axis influence its angular velocity. It builds upon the crucial relationship between the moment of force and angular momentum. By integrating this equation, substituting the limits for the initial and final times, a comprehensive expression representing the angular impulse and momentum principle is derived.
Angular Momentum: Single Particle01:10

Angular Momentum: Single Particle

Angular momentum is directed perpendicular to the plane of the rotation, and its magnitude depends on the choice of the origin. The perpendicular vector joining the linear momentum vector of an object to the origin is called the “lever arm.” If the lever arm and linear momentum are collinear, then the magnitude of the angular momentum is zero. Therefore, in this case, the object rotates about the origin such that it lies on the rim of the circumference defined by the lever arm magnitude.
The...
Principle of Angular Impulse and Momentum: Problem Solving01:19

Principle of Angular Impulse and Momentum: Problem Solving

Consider a ball of mass m, attached to a massless rod of known length, subjected to a time-dependent torque. If the initial velocity of the mass is known, then the final velocity of the mass for time t can be determined using the principle of angular impulse and momentum.
Initially, a free-body diagram of the system is drawn to illustrate all the forces acting upon the system, providing a crucial understanding of the dynamics at play. Then, the principle of angular impulse and momentum is...

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Updated: Jun 21, 2026

Oscillation and Reaction Board Techniques for Estimating Inertial Properties of a Below-knee Prosthesis
08:08

Oscillation and Reaction Board Techniques for Estimating Inertial Properties of a Below-knee Prosthesis

Published on: May 8, 2014

Angular momentum synergies during walking.

Thomas Robert1, Bradford C Bennett, Shawn D Russell

  • 1Université de Lyon, 69622, Lyon; INRETS, UMR_T9406, Laboratoire de Biomécanique et Mécanique des Chocs, Bron; Université Lyon 1, Villeurbanne, France. thomas.robert@inrets.fr

Experimental Brain Research
|July 7, 2009
PubMed
Summary
This summary is machine-generated.

This study reveals how body segment coordination stabilizes whole body angular momentum during walking. Different coordination strategies are used during swing and double support phases to regulate this momentum.

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Last Updated: Jun 21, 2026

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08:19

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Area of Science:

  • Biomechanics
  • Neuroscience
  • Robotics

Background:

  • Human walking involves complex coordination of multiple body segments.
  • Understanding the control of whole body angular momentum (WBAM) is crucial for gait stability.
  • The uncontrolled manifold hypothesis provides a framework for analyzing motor synergies.

Purpose of the Study:

  • To quantify segmental angular momenta (SAM) synergies stabilizing WBAM during treadmill walking.
  • To investigate how these synergies change across different phases of the gait cycle.
  • To explore the implications for central nervous system (CNS) control and robotic gait.

Main Methods:

  • Utilized the uncontrolled manifold hypothesis framework.
  • Employed a 17-segment kinematic model for 3D motion analysis.
  • Computed SAM and WBAM, then used principal component analysis and a synergy index (DeltaV).

Main Results:

  • Identified synergies in the sagittal plane during the swing phase that stabilized WBAM.
  • Observed 'anti-synergies' in frontal and sagittal planes during double support, adjusting WBAM.
  • Demonstrated that WBAM regulation by the CNS differs between swing and double support phases.

Conclusions:

  • Whole body angular momentum is a regulated variable during walking.
  • The CNS employs distinct control strategies for WBAM during different gait phases.
  • Findings offer insights for developing advanced humanoid robotic gait controls.