Figure 1

Overview measurement of the protocol and simulation method. Walking was perturbed by means of a platform translation to the left with onset at four different phases of the gait cycle (pane b) and three different amplitudes (pane c). The motion capture, ground reaction force and EMG data of unperturbed walking was used to generate a forward simulation of unperturbed walking (pane e). The platform translation was added as an external force to the forward simulation of the passive response. The platform translation and measured GM response (EMG) was added to the forward simulation of the active response.