Fig. 3From: On the effect of walking surface stiffness on inter-limb coordination in human walking: toward bilaterally informed robotic gait rehabilitationTiming and magnitude of unilateral stiffness perturbations. A diagram indicating the timing and magnitude of unilateral stiffness perturbations for the three experiments presented in this work: a Altered Stiffness Magnitude, b Altered BWS and c Altered Perturbation Timing. Heel strike, loading response and toe-off are represented by HS, LR and TO, respectivelyBack to article page