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. 2018 Oct 2;8:14621. doi: 10.1038/s41598-018-32839-8

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© The Author(s) 2018

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, 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 license, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons license, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons license 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 license, visit http://creativecommons.org/licenses/by/4.0/.

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Experimental setup. Subjects walked on an instrumented treadmill, while receiving pelvis perturbations using a motor at either the right side or the rear of the treadmill. The motor was attached to the subject through a lever arm, a horizontal rod, and a brace that the subject could wear around the pelvis. The interaction force between subject and motor was kept to a minimum while no perturbation was being applied.