Margin of stability of slow and fast legs in split-belt treadmill walking converge to speed-matched margin of stability in normal treadmill walking

We show that, following adaptation to split-belt walking, margin of stability of the slow and fast legs separately converge to their respective speed-matched margin of stability values in normal treadmill walking. The predicable steady-state margin of stability values in split-belt treadmill walking may represent a desired condition for dynamic stability at the critical step-to-step transitions of walking.