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Fig. 6. Impact of perturbation on extreme positions of swing movements. Top view of
posterior extreme position (PEP) and anterior extreme positions (AEP) in
unperturbed and perturbed straight walking of the right front leg (rFL), the
contralateral left front leg (lFL), and the ipsilateral right middle leg
(rML). (A) PEPs and (B) AEPs of unperturbed swing movements (black crosses)
and their subsequent perturbed swing movements (red circles). Red, blue and
black bars indicate mean values. Both in perturbed and unperturbed steps, PEPs
dispersed more widely than AEPs. Perturbation caused a posterior-lateral shift
of PEPs of the right middle leg and a posterior shift of AEPs of the right
front leg. (C) PEPs and (D) AEPs of unperturbed reference (black crosses) and
the subsequent unperturbed swing movements after the perturbed step (blue
triangles) of the same walking sequence as in A and B. Most effects of
perturbation vanished in the subsequent step (for statistics, see
Fig. 7 and text).
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