Fig. 3

Distance between the COM of the leading foot and the whole body COM against the COM velocity. a For recovery steps made with the paretic leg, at the instant of the first heel strike after the perturbation. b Same as in A, but for steps made with the non-paretic leg. Triangles show subject averages and indicate the perturbation direction. Ellipses represent subject standard deviations. Colors indicate the perturbation magnitudes. The pink dashed line indicates the position of the XCOM relative to the COM. This line has a slope of ω₀ ⁻¹ and no intercept