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Fig. 7. Large perturbation mis-steps. A small number of rough terrain steps
included a leg that failed to contact the substrate during stance. Here, the
hind left leg (three pink points in image 1) swings through a trough formed by
several particularly high obstacles (A). Normal activation of muscle 179
occurs even though contact is absent (B); however, there is a subsequent
increase in stride period in the following step (B,C), indicating a
stride-to-stride change in the clock-like activation of 179. This change
requires neural feedback. Stride period returns to the original time within
two strides of the mis-step following kinematic recovery from the
perturbation. Histograms in C are normalized with respect to the baseline
stride period taken 2 steps before the perturbation.
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