Derivation process of the equation of walking; Simplest walking model

Abstract

The article describes about "Simplest Walking Model" proposed by Garcia and colleagues expected for physical and occupational therapists interested in physics and mathematics. The authors intend to explain in detail of the equation transformations and other aspects of the mathematical model; therefore, it could help to understand outline of the derivation deeply. If readers are motivated, please follow the derivation of the equations by hand with a pen and papers. The article would establish the basic knowledge of physics and mathematics to understand mathematical model of walking in the shortest way and could have you to develop your interest further. The authors hope you refer to technical books and other sources as appropriate, based on the mathematical terms and solutions given in the explanations. If readers are a teacher or high school student who is interested in college physics, we hope you will use this paper as a simple example of analytical mechanics.