The purpose of this thesis was to investigate the prospects of predictive modeling of hum an motion. Using measured motions with measured ground reaction forces and moments, an inverse dynamic model can determine time histories of the internal (joint) forces and moments. These forces and moments can be used to drive a dynamic synthesis of motion. If the original measured motions are obtained, the model can be used in a predictive manner to study parametric changes.

Initial investigations found full-body three-dimensional models too complex and problematic. Therefore, two simple models were developed in two-dimensions, the first a single rigid body, and the second a three segment model of the leg. It was found that stabilizing elements, such as joint torsional springs and torsional dampers, were necessary in order to achieve stable gait simulations. In order to obtain motions closer to measured, control strategies may be required.