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Related Experiment Video

Updated: Oct 6, 2025

Sit-to-stand-and-walk from 120% Knee Height: A Novel Approach to Assess Dynamic Postural Control Independent of Lead-limb

Sit-to-stand-and-walk from 120% Knee Height: A Novel Approach to Assess Dynamic Postural Control Independent of Lead-limb

Published on: August 30, 2016

Human balance control in 3D running based on virtual pivot point concept.

Vahid Firouzi¹, Fariba Bahrami¹, Maziar A Sharbafi²

¹Electrical and Computer Engineering Department, College of Engineering, University of Tehran, Tehran 1439957131, Iran.

The Journal of Experimental Biology

|January 18, 2022

Summary

Human balance control during running is complex. This study introduces a 3D virtual pivot point (VPP) model to analyze running stability, showing its potential for gait assistance.

Keywords:

Bipedal locomotion Ground reaction force Human running Template modeling VPP

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Sit-to-stand-and-walk from 120% Knee Height: A Novel Approach to Assess Dynamic Postural Control Independent of Lead-limb

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Area of Science:

Biomechanics
Human locomotion
Robotics

Background:

Bipedal locomotion presents significant balance challenges, with the human body acting as an unstable inverted pendulum.
The virtual pivot point (VPP) concept offers a novel approach to understanding human balance control by analyzing ground reaction forces (GRFs) in the body's coordinate frame.

Purpose of the Study:

To present novel 3D virtual pivot point (VPP)-based analyses of postural stability during human running.
To investigate the relationship between VPP position and gait speed.
To introduce a 3D VPP model capable of replicating human running kinematics and kinetics.

Main Methods:

Analysis of ground reaction forces (GRFs) in the body coordinate frame using the virtual pivot point (VPP) concept.
Experimental investigation of human running in 3D space across various gait speeds.
Development and simulation of a 3D VPP-based model to replicate running behavior.

Main Results:

Demonstrated a clear relationship between VPP position and gait speed during running.
Identified distinct postural control strategies in the sagittal (GRFs intersecting below center of mass) and frontal planes (GRFs intersecting above center of mass).
The 3D VPP model successfully replicated experimental kinematic and kinetic data of human running.

Conclusions:

The virtual pivot point (VPP) concept effectively predicts human balance control during running.
VPP-based analysis provides insights into distinct frontal and sagittal plane control strategies.
The developed 3D VPP model shows promise for applications in gait assistance technology.