locity of the pelvis</span>
0017 <span class="comment">%   - dv0: linear acceleration of the pelvis</span>
0018 <span class="comment">%   - dw: rotational acceleration of the pelvis</span>
0019 <span class="comment">%   - BW: body weight of the subject</span>
0020 <span class="comment">%   - H: height of the subject</span>
0021 <span class="comment">%   - external_forces: external forces applied on the subject</span>
0022 <span class="comment">%   - g: vector of gravity</span>
0023 <span class="comment">%  