Predicting the dynamics of the human gait single support phase Manuel Lucas Sampaio de Oliveira and Paulo Batista Gonçalves Eur. Phys. J. Spec. Top., 230 18-20 (2021) 3501-3508 Published online: 23 July 2021 DOI: 10.1140/epjs/s11734-021-00230-w