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(A)Normalized effective leg length at TD, (B) normalized effective leg length at TO, (C) hip position at TD, (D) hip position at TO, (E) knee position at TD, (F) knee position at TO, (G) ankle position at TD and (H) normalized CoM position at TD. (N = 12). RE, regular erect trunk; TF1, ~30° trunk flexion; TF2, ~50° trunk flexion; L, unperturbed level step; U-1, pre-perturbation step; U0, step-down; U+1, step-up.
