Table 1.

Experimental setup as described in the human subject studies and as replicated in simulation.

		MMR (%)	TR (%)	SR (%)	TRIP	SLIP
Height (m), weight (kg), walking speed (ms−1)	$\frac{\text{exp}}{\text{sim}}$	1.75, 64, 0.97	$\frac{-,-,0.83}{1.8,80,0.83}$	$\frac{-,-,0.97}{1.8,80,0.97}$	$\frac{-,-,1.11}{1.8,80,1.11}$	$\frac{\text{BMI }=23,1.20}{1.8,75,1.20}$
Disturbance	$\frac{\text{exp}}{\text{sim}}$	$\frac{\begin{array}{c}1\text{ms electrical square pulse}\\ \text{ percutaneously at lumbar spinal cord}\end{array}}{10\text{ms square pulse at afferent signals}}$	$\frac{\text{Tendon tap with }90\text{g},1.5\text{m}{\text{s}}^{-1}\text{ hammer}}{\text{Muscle length change induced by hammer tap}}$	Ankle flexion of 8° with velocity of 250°s−1	2.2 kg obstacle bumped by swing leg	Speed change of split-belt treadmill at 150 ms after heel strike
conditions	$\frac{\text{exp}}{\text{sim}}$	16 equal phases over stride	$\frac{\text{Various phases over stride}}{16\text{ equal phases over stride}}$	8 equal phases over stride	Various phases over 5~75% of swing	Speed changes of 0.1 to 0.5 with increments of 0.1 ms−1

exp: human experiment; sim: simulation replication.