Fig. 4From: A novel system for introducing precisely-controlled, unanticipated gait perturbations for the study of stumble recoverySchematic depicting variables used in the predictive targeting algorithm. The algorithm calculates the release time (trelease) such that the obstacle contacts the subject’s foot at the desired time in swing phase. The time domain variables (top) and position domain variables (bottom) depicted here are used in Eqs. (1) – (10)Back to article page