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Inertial Stabilization of Upright Posture while walking

The effect of inertial forces is well known in the field of dynamics and control. While such forces are often detrimental to the control of a mechanical system, specific cases can be found where self-excited oscillations will induce inertial, stabilizing effects. A classical example of this phenomenon is a Kapitza's pendulum, which stabilizes an inverted pendulum by means of a vertical oscillation of its base. With this in mind, the effect of inertial forces on the trunk during walking at a self-selected speed is analyzed in this work. These inertial effect are thought to be induced by the oscillation of the pelvis. Comparing a healthy to a parkinsonian gait shows that while the oscillation frequency and amplitude are very different in both cases, they provide similar inertial effects and can compensate for a marked reduction of equivalent hip stiffness.