(A) Mean CoP and maximum XcoM during the stride as a function of push magnitude. (A) Mean CoP and maximum XcoM during the stride as a function of push.

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(A) Mean CoP and maximum XcoM during the stride as a function of push magnitude. (A) Mean CoP and maximum XcoM during the stride as a function of push magnitude. Inward pushes were given to the left at 90% of the previous stride or to the right at 40% of the previous stride. Push magnitude, horizontal scale, is expressed as the change in XcoM immediately after the push (Δζ). This initial change in XcoM is amplified during stance, so the recorded changes in XcoM can be larger than Δζ (see text). The value of Δζ in measurements with variable gait phase (Figs 3, 4, 5, 6) was –0.04 m for left and 0.03 m for right pushes (vertical dotted lines). (B) Lateral margin between CoP and XcoM. In all cases, the foot repositioning, CoP placement in reaction to XcoM shift, occurs one step after the push. Asterisks indicate a significant difference from the unperturbed values, shown by horizontal dotted lines (Wilcoxon, P=0.01). A. L. Hof et al. J Exp Biol 2010;213:2655-2664 © 2010.