... in the forward progression of the center of mass. To set the horizontal force actuator to aspecific force value, the subject stood at the middle of the length of the treadmill. The length of the ... where φ is the angle of the swing leg, θ is the angle of the stance leg, m is the point mass at the respective foot, M is the mass at the hip, γ is the angle of inclination of the supporting ... where φ is the angle of the swing leg, θ is the angle of the stance leg, m is the point mass at the respective foot, M is the mass at the hip, γ is the angle of inclination of the supporting...