Reducing Vertical Oscillation in Human Gait- A Biotensegrity Model of Smooth, Constant-Velocity Locomotion

Human walking is commonly described using the inverted pendulum model, in which the body's center of mass (CoM) rises and falls as it vaults over the stance leg. This paper refers to this classical pattern as Vaulting Gait. While the inverted pendulum framework explains fundamental gait mechanics, it may not fully account for locomotor patterns characterized by reduced vertical oscillation and sustained forward velocity. This conceptual and theoretical paper introduces the distinction between Vaulting Gait and a proposed Gliding Gait. Gliding Gait is characterized by minimized vertical displacement of the center of mass, reduced braking forces, and smoother forward progression. The paper integrates principles from biomechanics, biotensegrity, and neurophysiological regulation to propose a unified framework for understanding locomotor efficiency. The manuscript also introduces the Constant Velocity Index (CVI), a candidate metric for quantifying gait efficiency, and explores the DOVE ACEs framework as a hypothesis-generating model linking perceived instability, fear of falling, and long-term movement behavior. This preprint has not undergone formal peer review and is intended to stimulate scientific discussion and generate testable hypotheses for future empirical investigation.