Fig. 3

Three typical gait patterns under abnormal conditions. a \({s}^{\text{PPN}}\) = 0.84, \({s}^{\text{CnF}}\) = 1.56. b \({s}^{{\text{PP}}{\text{N}}}\) = 1.52, \({s}^{\text{CnF}}\) = 0.56. c \({s}^{\text{PPN}}\) = 1.14, \({s}^{\text{CnF}}\) = 0.00. Columns from left to right show a stick diagram of the model, midbrain locomotor stimulation (MLR) activation, central pattern generator (CPG) activation, and leg acceleration. Red and blue in column 2 indicate pedunculopontine nucleus (PPN) and cuneiform nucleus (CnF) activities, respectively