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

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Gait Cycle - an overview

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 - an overview

Gait Cycle

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

Walking modulates visual detection performance according to stride cycle phase

Gait Cycle

Jaynie YANG, University of Alberta, Edmonton, UAlberta, Department of Physical Therapy

Periodic Walking Motion of a Humanoid Robot Based on Human Data

Biomechanical effects of typical lower limb movements of Chen-style Tai Chi on knee joint