Fig 10. Position and velocity gains computed in the dataset with perturbed standing (green [26]), walking with discrete (blue [10]) and continuous(red [27]) surface perturbations and discrete pelvis push perturbations (purple [9]).

The feedback gains for walking are presented as a function of the percentage of the stance phase. Note that the percentage in the stance phase represents the phase at which the feedback model was evaluated (i.e. 250 ms after perturbation onset).