Fig. 1

Experimental setup and protocol. a Schematic of the Active Tethered Pelvic Assist Device (A-TPAD). Antero-Posterior perturbations were applied using Motors 1 and 3 or Motors 2 and 4, Medio-Lateral perturbations were applied using Motors 1 and 2 or Motors 3 and 4. b Participant walks on the treadmill wearing the brace attached to the cables and the safety harness. Few reflective markers are highlighted in yellow dots. Full marker-set involves: C7 vertebrae, T10 vertebrae, clavicle, sternum and acromions, for the upper trunk; lateral and medial epicondyle of the humerus, radial and ulnar styloids, third metacarpal bones and additional markers rigidly attached to wands over the midhumerus, for both arms; anterior superior iliac spines and sacrum, for the pelvis; greater trochanters external surface, lateral and medial epicondyle of the femurs, heads of the fibula, lateral and medial malleolus, calcaneus, first and fifth metatarsal heads, toe, and additional markers rigidly attached to a wand over the midfemurs and midshaft of the tibia, for both legs; 4 markers attached to the brace. c Experiment protocol