Winter (1987) – “The sole purpose of walking or running is to transport the body safely and efficiently across the ground, on the level, uphill and downhill with a minimal expenditure of energy”.

Napier (1964) – “Human walking is like teetering on the brink of catastrophe because only the rhythmic forward movement of one leg and then the other keeps man from falling flat on his face”

Steindler (1955) – “Human gait is a constant play between loss and recovery of the equilibrium and therefore a series of narrowly escaped catastrophes”

Perry (1992) – a smooth forward progression requires (1) shock absorption, (2) momentum control, (3) forward propulsion, and (4) controlled balance.

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