Fig. 2

Testing paradigm. a-d depict the sessions for participants with chronic stroke. e depicts the session for unimpaired participants. a The first session for individuals with chronic stroke included treadmill familiarization, speed selection based on biological measurements, biofeedback (BF), training, and clinical testing. b Resting metabolic rate was measured in quiet standing (QS). Participants walked with no biofeedback initially to find left and right step lengths. The order of conditions was randomized, and participants were refamiliarized in the experimental order. Participants then walked in each condition for six min, and metabolic rate was measured. The first condition was repeated to reduce the effects of continued learning in the first condition. c and d The same experimental protocol was conducted as b, except the conditions were reordered. e Experimental session for unimpaired participants. Resting metabolic rate was measured in quiet standing. Initial no biofeedback condition was used to find left and right step lengths for biofeedback. Participants were then trained in each condition. The order of conditions was randomized, and the first condition was repeated. Light gray bars represent unenforced gait