Fig. 4

a Anterior-posterior (AP; top), mediolateral (ML; middle), and vertical (bottom) ground reaction force (GRF) profiles for the paretic (light colors) and nonparetic (dark colors) limbs during preferred walking (purple) and symmetric stepping (green). The gait cycle is aligned to paretic heel-strike. Persons post-stroke show decreased peak AP force production and increased peak ML force production in the paretic limb during both conditions. b Summary data for GRF peaks showing mean ± SEM. c AP (top), ML (middle), and vertical (bottom) center of mass (COM) velocity profiles during preferred walking and symmetric stepping. Peaks are labeled ‘paretic’ or ‘nonparetic’ based on the leg that most strongly contributed to the velocity. Persons post-stroke show increased AP and vertical COM velocity during late paretic stance as compared to late nonparetic stance during both conditions. d Summary data for COM velocity peaks showing mean ± SEM. *p < 0.05 between limbs