Determining the control goal for treadmill walking when belt speed varies

Since treadmill walking is a redundant task, there is an underlying control goal such as matching treadmill speed or maintaining constant position. For unperturbed walking and running, the goal is matching average treadmill speed. It is unknown how robust this goal is. This abstract shows that the goal remains constant even when treadmill speed varies within a step. This is done by examining how deviations from potential goals are corrected.