[Moments in human leg joints during walking]

An automated method is developed to obtain the moments of internal forces in the leg joints during walking. A considerable variability of joints moments is observed, which sufficiently exceeds that of the kinematic parameters of walking. For normal walking three different types of joints moments can be distinguished. The formal foundation for the variability of the moments is given, and a hypothesis is proposed, according to which the variability is associated with the keeping of equilibrium.