Each walking cycle has two periods of double support (DS), as shown by

Contribution of Lower Limb Joint Movement in Adapting to Re-establish Step Length Symmetry During Split-Belt Treadmill Walking

Centre of pressure modulations in double support effectively counteract anteroposterior perturbations during gait - ScienceDirect

PDF) Prior Experience but Not Size of Error Improves Motor Learning on the Split-Belt Treadmill in Young Children

Model of multi-legged locomotion robot 2 4

Solved During normal walking gait, which phase constitutes

Interpreting Spatiotemporal Parameters, Symmetry, and Variability in Clinical Gait Analysis

PDF) Prior Experience but Not Size of Error Improves Motor Learning on the Split-Belt Treadmill in Young Children

Junichi TAJINO, Kyoto University, Kyoto, Kyodai

Gait Cycle: Phases & Biomechanics