Here we show that the linear and angular kinematics of the ankle, knee, and hip joints during both normal and precision (attentive) human treadmill walking can be inferred from noninvasive scalp electroencephalography (EEG) with decoding accuracies comparable to those from neural decoders based on multiple single-unit activities (SUAs) recorded in nonhuman primates. Six healthy adults were recorded. Participants were asked to walk on a treadmill at their self-selected comfortable speed while receiving visual feedback of their lower limbs (i.e., precision walking), to repeatedly avoid stepping on a strip drawn on the treadmill belt. Angular and linear kinematics of the left and right hip, knee, and ankle joints and EEG were recorded, and neural decoders were designed and optimized with cross-validation procedures. Of note, the optimal set of electrodes of these decoders were also used to accurately infer gait trajectories in a normal walking task that did not require subjects to control and monitor their foot placement. Our results indicate a high involvement of a fronto-posterior cortical network in the control of both precision and normal walking and suggest that EEG signals can be used to study in real time the cortical dynamics of walking and to develop brain-machine interfaces aimed at restoring human gait function. brain computer interface; brain-machine interface; electroencephalography LITTLE IS KNOWN about the organization, neural network mechanisms, and computations underlying the control of walking in humans (Choi and Bastian 2007). Although central pattern generators for locomotion are important in the control of walking, supraspinal networks, including the brain stem, cerebellum, and cortex, must be critical, as demonstrated by the changing motor and cognitive (i.e., spatial attention) demands imposed by bipedal walking in unknown or cluttered dynamic environments (Choi and Bastian 2007;Grillner et al. 2008;Nielsen 2003;Rossignol et al. 2007). Neuroimaging studies show that rhythmic foot or leg movements recruit primary motor cortex (Christensen et al. 2001;Dobkin et al. 2004;Heuninckx et al. 2005Heuninckx et al. , 2008Luft et al. 2002;Sahyoun et al. 2004), whereas electrophysiological investigations demonstrate electrocortical potentials related to lower limb movements (Wieser et al. 2010), as well as a greater involvement of human cortex during steady-speed locomotion than previously thought (Gwin et al. , 2011. In this regard, studies using functional near-infrared spectroscopy (fNIRS) show involvement of frontal, premotor, and supplementary motor areas during walking (Harada et al. 2009;Miyai et al. 2001;Suzuki et al. 2004Suzuki et al. , 2008. That primary sensorimotor cortices carry information about bipedal locomotion has been directly proven by the work of Nicolelis and colleagues (Fitzsimmons et al. 2009), who demonstrated that chronic recordings from ensembles of cortical neurons in primary motor (M1) and primary somatosensory (S1) cortices can be used to predict the kinematics of bipedal wa...