Abstract
Over time, many researchers have focused on creating models to mathematically represent movements performed by human lower limbs, such as walking, running, and jumping. These models provide a non-invasive method to estimate kinematic and kinetic parameters under different conditions. This article reviews the main lower limb models used to study human walking and compares their performance with a 3D model consisting of seven links created using the simulation environment Simscape Multibody. A description of each model is presented, highlighting its main characteristics and the assumptions that led to its formulation. We execute numerical simulations based on the first-order Euler method to solve the differential equations resulting from the models’ implementation.