A comparison between human walking and passive dynamic walking

Root mean square error is presented as a quantitative measure for the similarity between human walking and passive dynamic walking. Normalized root mean square error of the hip angle and angular velocity between both walkers in a walking cycle is 6.9% and 12.2% on average, respectively. It shows a strong similarity between human walking and passive dynamic walking. A comparison is made between human walking and passive dynamic walking in four phases divided from a gait cycle. The reasons for resulting in the differences are studied.