Abstract:During steady-state gait, the instantaneous passive dynamics, quantified using the margin of stability in the anterior-posterior (AP) direction (MOSAP), are unstable. Although the instability indicates that substantial control will be required to reject a perturbation, the instability also allows for forward progression with low energy expenditure when the gait is unperturbed. Here, we examined whether humans control MOSAP to exploit the passive dynamics, and whether they adjust MOSAP when the threat to AP bal… Show more
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