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Interface."],"published-print":{"date-parts":[[2023,3]]},"abstract":"<jats:p>Human walking appears complicated, with many muscles and joints performing rapidly varying roles over the stride. However, the function of walking is simple: to support body weight as it translates economically. Here, a scenario is proposed for the sequence of joint and muscle actions that achieves this function, with the timing of muscle loading and unloading driven by simple changes in geometry over stance. In the scenario, joints of the legs and feet are sequentially locked, resulting in a vaulting stance phase and three or five rapid \u2018mini-vaults\u2019 over a series of \u2018virtual legs\u2019 during the step-to-step transition. Collision mechanics indicate that the mechanical work demand is minimized if the changes in the centre-of-mass trajectory over the step-to-step transition are evenly spaced, predicting an even spacing of the virtual legs. The scenario provides a simple account for the work-minimizing mechanisms of joints and muscles in walking, and collision geometry allows leg and foot proportions to be predicted, accounting for the location of the knee halfway down the leg, and the relatively stiff, plantigrade, asymmetric, short-toed human foot.<\/jats:p>","DOI":"10.1098\/rsif.2022.0800","type":"journal-article","created":{"date-parts":[[2023,3,22]],"date-time":"2023-03-22T08:05:25Z","timestamp":1679472325000},"update-policy":"https:\/\/doi.org\/10.1098\/crossmark-policy","source":"Crossref","is-referenced-by-count":3,"title":["The collisional geometry of economical walking predicts human leg and foot segment proportions"],"prefix":"10.1098","volume":"20","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8794-4677","authenticated-orcid":true,"given":"James R.","family":"Usherwood","sequence":"first","affiliation":[{"name":"Structure and Motion Lab., The Royal Veterinary College, North Mymms, Hatfield, Herts AL9 7TA UK"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"175","published-online":{"date-parts":[[2023,3,22]]},"reference":[{"key":"e_1_3_7_2_2","doi-asserted-by":"publisher","DOI":"10.1177\/107110078300300605"},{"key":"e_1_3_7_3_2","doi-asserted-by":"publisher","DOI":"10.1038\/nature03052"},{"key":"e_1_3_7_4_2","first-page":"493","volume-title":"Perspectives in experimental biology","author":"Alexander RM","year":"1976","unstructured":"Alexander RM. 1976 Mechanics of bipedal locomotion. 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