Figure 6.

Dynamic stability within four groups. Proactive control (at the instant of slipping limb touch down) (a-c): (a) Proactive stability; (b) COM position relative to the base of support (BOS) (relative P_COM); (c) COM velocity relative to the BOS (relative V_COM). Reactive control (at the instant of trailing limb lift-off) (d-f): (d) reactive stability; (e) relative P_COM; and (f) relative V_COM. Both the relative P_COM and relative V_COM were relative to the rear edge of the base of support (BOS) and normalized by foot length (1_BOS) and $\sqrt{g\times bh}$ respectively (gravitational acceleration is represented by g and body height is represented by bh). *p<0.05, **p><0.01, ***p><0.001.