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. 2021 Nov 2;11:21481. doi: 10.1038/s41598-021-00463-8

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© The Author(s) 2021

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 licence, and indicate if changes were made. The images or other third party material in this article are included in the article's Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article's Creative Commons licence 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 licence, visit http://creativecommons.org/licenses/by/4.0/.

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Relationship between foot placement error and subsequent CoP shift. Example of one participant, demonstrating a negative relationship between CoP modulation (ankle moment control) and foot placement error. The blue line represents the fitted model (2) and the data points represent individual (right and left) steps. The foot print represents the steady-state walking condition (see Table 1). Compared to the other participants, this participant demonstrated a relatively high relative explained variance (R² = 0.1). This figure was created using Matlab 2021a (https://www.mathworks.com/products/matlab.html) and Adobe Illustrator CC 2018 (https://www.adobe.com/nl/products/illustrator.html).