Fig. 1

Photo of an individual post-stroke walking on an instrumented treadmill while being embraced by the BAR-TM perturbing device; computer screen shows the middle of the BAR-TM working space as well as the current position and orientation of the pelvis in transverse plane (left). Top view illustration of both outward perturbation directions: RR-P/R – perturbation to the right triggered at right-foot contact; LL-NP/L – perturbation to the left triggered at left-foot contact (right)