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Postural stability is one of the most crucial elements in bipedal locomotion.Bipeds are dynamically unstable and need to maintain their trunk uprightagainst the rotations induced by the ground reaction forces (GRFs), especiallywhen running. Gait studies report that the GRF vectors focus around a virtualpoint above the center of mass (VPA), while the trunk moves forward in pitchaxis during the stance phase of human running. However, a recent simulationstudy suggests that a virtual point below the center of mass (VPB) might bepresent in human running, since a VPA yields backward trunk rotation during thestance phase. In this work, we perform a gait analysis to investigate theexistence and location of the VP in human running at 5 ms-1, and support ourfindings numerically using the spring-loaded inverted pendulum model with atrunk (TSLIP). We extend our analysis to include perturbations in terrainheight (visible and camouflaged), and investigate the response of the VPmechanism to step-down perturbations both experimentally and numerically. Ourexperimental results show that the human running gait displays a VPB of ~-30cmand a forward trunk motion during the stance phase. The camouflaged step-downperturbations affect the location of the VPB. Our simulation results suggestthat the VPB is able to encounter the step-down perturbations and bring thesystem back to its initial equilibrium state.

Postural Stability in Human Running with Step-down Perturbations: An Experimental and Numerical Study