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. 2019 Dec 2;9:18079. doi: 10.1038/s41598-019-54271-2

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© The Author(s) 2019

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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Mean step parameters over a range of speeds. As speed decreased, (A) step length decreased with no significant changes in step width, (B) step period and double support period increased, (C) no significant change was found for step length variability, and (D) step width variability decreased. Variability is defined as root-mean-square (RMS) deviations from mean steps. Trend significance indicated by solid lines ( $P < 0.05$ ) and non-significance by dashed lines. Data at self-selected speeds not included in fit (shaded region). Vertical axes are shown in both dimensionless (left axes) and SI form (right axes); speed in horizontal axes are also shown in both dimensionless (lower axes) and SI form (upper axes).