Estimation of Individual Muscular Forces of the Lower Limb during Walking Using a Wearable Sensor System

Figure 5

Two-dimensional free body diagram of the lower limb (: joint moment (: hip, : knee, and : ankle), : absolute angle of the joints (: thigh, : shank, and : foot), : center of mass position of each segment (: thigh, : shank, and : foot), : ground reaction, and : center of pressure of ).