Biomechanical criterion of dynamic stability based on ZMP formula and Flash-Hogan principle of minimum jerk

The main aim of the article is to define a criterion of dynamic stability based on the Flash- Hogan principle and the ZMP method. The gait researches were focused on analysis and observation of the human biomechanism with the optical system Optitrack. The smooth reference trajectory is defined forming a stability pattern. The optimal, due to the minimum jerk criterion, ZMP trajectory is illustrated in the results Section in order to demonstrate the dynamic stability pattern for the needs of rehabilitation in cases of neuromuscular damage or injuries affecting gait stability.