Balasana
hold 60 s · beginner · move in slowly, hold, come out the same way
Take care: Put a folded blanket under the knees or between the calves and thighs if the knees complain; skip it with a knee that will not bend this far.
Balasana. Kneeling with the knees a little apart and the tops of the feet on the mat, the hips sink back toward the heels while the trunk folds forward over the thighs until the forehead rests on the mat; the arms reach forward, palms down. The knee bends about 155°, as far as a real knee folds.
Bodyweight: no weights. Joint demand below is your own body's weight in this position.
Faults grow with knee bend and apply to lifts standing on the floor. The fault check flags a knee caving more than 10° inside the line of the toes and a load split beyond 60/40. Knee cave shows best in the front camera.
Femur changes keep standing height fixed by shortening or lengthening the torso. Longer femurs force more forward lean in any squat.
Hold for 60 seconds: move into the pose slowly, breathe steadily, and come out the way you went in. Yoga is practised for control, balance and mobility, never to failure, so this does not change with your limits.
Level: beginner. One round counts like light conditioning work: 12 legs points, 9 pull points, 11 core points.
Spinal erectors (stretched), latissimus dorsi (stretched), gluteus maximus (stretched), quadriceps (stretched).
One 3D skeleton drives both views. Segment lengths and widths are Winter's anthropometric ratios of height; segment masses and centre-of-mass positions follow Dempster's data. For free-standing lifts the whole-body angle is found numerically so the combined centre of mass of lifter and load sits over the middle of the foot. Arms and legs use two-link inverse kinematics with a pole direction. Rep timing follows a minimum-jerk profile.
Balance is quasi-static, so ballistic lifts are shown slowed down. Cable pull and pad support forces are not modelled. The spine is one rigid segment and joints have no range-of-motion limits or muscle forces.