Fig. 1

Experimental Paradigm and Kinetic and Kinematic Analysis. a Paradigm used for both the flat and incline sessions to assess locomotor adaptation during and after split-belt walking. Subjects walked flat for the entire flat session, and incline (either 5° or 8.5°) for the entire incline session. The walking speeds, duration of epochs, resting breaks and inclination were based on each subject’s ability. b The decomposition of step length into leading (α) and trailing (X) leg positions with respect to the body is illustrated for each sloped condition. The body position, which is computed as the average of the greater trochanters, is illustrate with a white dot, and the perpendicular projection of the body onto the surface of the treadmill is illustrated as the black line coming from intersection of the legs. The position of the ankles is illustrated with white dots at the intersection of the foot and shank. This decomposition was done because it is known that inclination affects these aspects of step length differently [15, 16, 46]. Also note that when taking a step, the step length will depend on the position of the leading and trailing leg, which are generating a braking and propulsion force, respectively