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The ankle-foot rollover shapes used by nondisabledambulators wearing shoes of different heel heights weremeasured and characterized in this study. Ankle-foot rollovershapes are the effective rocker (cam) shapes that thefoot/ankle complex conforms to during the period betweenheel contact and opposite heel contact of walking. Duringthis period of gait, the body rotates over, or rolls over, thestance leg (where “leg” refers to the entire lower limb andfoot). When shoes are worn, their effects are also includedin the ankle-foot rollover shapes [11,12].The hypothesis of the study, based on results of preliminaryexperiments [11,12] was that the nondisabledhuman adapts (primarily at the ankle) to maintain a similarrollover shape for a wide range of heel heights. Thissimilar shape would allow the head, arms, and trunk(HAT) unit [13] to roll over the leg in a similar mannerwith shoes of different heel heights, leading to similarmovements of the body’s center of mass. A change wasexpected in the vertical positioning of the rollovershapes—and hence in the effective length of the leg—because the taller shoes would position the ankle higherabove the ground than the lower-heel shoes.A
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