Modelling and analysis of orthoses generated whole-body vertical vibrations impact on limb stability and compliant dynamics in a ramp gait

•This study evaluates vertical limb dynamics on an inclined surface.•A model identification approach is proposed to quantify limb compliant dynamics.•Linear control theory is applied to analyse the effect of vertical loading impacts on stability.•Proposed methods are applied to investigate normal limits of impact forces.•Our methods show that an orthosis has a significant effect on the limbs’ vertical dynamics.