Table 2. Pelvis push perturbations walking (data from [9]).

RMSE and R² of the linear regression between delayed COM kinematics and reactive ankle muscle activity in perturbed walking. Joint moments are reported pooled over all subjects (Pooled) and for individual subjects (Subj.) with the standard deviation over subjects (std). P-values are reported of the paired ttest that compares the model with COM feedback and the model with ankle joint kinematics feedback. The results of muscle activity are only reported for individuals and not pooled over all subjects due to the limitations related to normalizing electromyography data.

	COM-feedback		Joint-feedback		p-R2	p-RMS
	R2 ± std	RMS ± std	R2 ± std	RMS ± std
walking 0.62 m/s
Ankle moment (Pooled)	0.87	0.02	0.01	0.05
Ankle moment (Subj.)	0.88 (0.03)	0.02 (0.003)	0.23 (0.21)	0.05 (0.008)	< 0.001	< 0.001
Gastrocnemius	0.61 (0.21)	0.07 (0.04)	0.58 (0.18)	0.07 (0.04)	0.61	0.83
Tibialis anterior	0.73 (0.11)	0.02 (0.01)	0.50 (0.09)	0.03 (0.01)	0.004	0.004
walking 1.25 m/s
Ankle moment (Pooled)	0.84	0.02	0.33	0.04
Ankle moment (Subj.)	0.85 (0.08)	0.02 (0.01)	0.50 (0.29)	0.03 (0.012)	0.003	0.006
Gastrocnemius	0.65 (0.21)	0.05 (0.02)	0.56 (0.18)	0.06 (0.02)	0.17	0.19
Tibialis anterior	0.68 (0.14)	0.02 (0.01)	0.45 (0.20)	0.03 (0.02)	0.002	0.05