Abstract
Recent researches have indicated that human controls multiple joint simultaneously as a unit for realizing whole body motion. One research that studied step over motion with ankle constraint revealed the intersegmental coordination, called kinematic synergy, was robust against the change in body, whereas the rate of the activation in kinematic synergy was tuned by the constraint. The purpose of the present research is to reveal whether the robustness and the tuning schema of the kinematic synergy can also exist in walking motion. We have examined the walking with ankle constraint, and have analyzed the effect on the kinematic synergies. As a result, The robustness in kinematic synergy can be shown during single support phase, but not in double support phase.
