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. 2026 Apr 27;16:19396. doi: 10.1038/s41598-026-49056-3

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© The Author(s) 2026

Open Access This article is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License, which permits any non-commercial use, sharing, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if you modified the licensed material. You do not have permission under this licence to share adapted material derived from this article or parts of it. The images or other third party material in this article are included in the article’s Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by-nc-nd/4.0/.

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Fig. 1 — (a) Experimental system for measuring the kinematics of split-belt walking in rats using their hind limbs. To enable walking on the two hind limbs, the upper body was gently supported by a harness and both forepaws were rested on to the handrail. Gray circles indicate measurement markers, which were attached to both sides. (b) Experimental paradigm for split-belt walking (consisting of tied, split-belt and wash-out blocks), with red lines indicating fast belt speeds and blue lines indicating slow belt speeds. (c) The elevation angle on the sagittal plane was calculated from the location information obtained from the markers. (d) Kinematic synergy analysis decomposed the joint angles of each gait cycle into temporal and spatial components. Φ is phase of locomotor cycle. Abbreviations: iliac crest (IC), greater trochanter (GT), knee (KN), external ankle (EA), fourth metatarsal head (MH), pelvis (PE), thigh (TH), shank (SH), and foot (FO).