Before initiating a walking movement, the central nervous system forms a motor plan, a set of motor commands predicted to accomplish task-specific goals. To be effective, motor plans must be continually updated to consider an ever-changing external environment. Despite being an inherent part of walking, how the nervous system adapts...
Humans have a remarkable ability to create stable walking patterns that can resist and recover from perturbations. Unfortunately, this ability is substantially impaired after a stroke, limiting mobility and contributing to a high fall rate. To facilitate gait training during post-stroke rehabilitation, clinicians often incorporate body-weight support (BWS) systems that...