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Subjects wore synchronized, miniature inertial measurement units (IMUs) on both feet, and walked over-ground and on a treadmill. (A) Over-ground walking had three speed conditions: self-selected (SS), randomly self-varied (SV), and following a pace car with pseudo-random variation (externally-varied, EV). (B) Treadmill walking (TM) was at a single, constant speed. (Inset) Sample data for walking speed.
