The onset time of balance control during walking is phase-independent, but the magnitude of the response is not

The human body is mechanically unstable during walking. Maintaining upright stability requires constant regulation of muscle force by the central nervous system to push against the ground and move the body mass in the desired way. Activation of muscles in the lower body in response to sensory or mechanical perturbations during walking is usually highly phase-dependent, because the effect any specific muscle force has on the body movement depends upon the body configuration. Yet the resulting movement patterns of the upper body after the same perturbations are largely phase-independent. This is puzzling, because any change of upper-body movement must be generated by parts of the lower body pushing against the ground. How do phase-dependent muscle activation patterns along the lower body generate phase-independent movement patterns of the upper body? We hypothesize that in response to a perceived threat to balance, the nervous system generates a functional response by pushing against the ground in any way possible with the current body configuration. This predicts that the changes in the ground reaction force patterns following a balance perturbation should be phase-independent. Here we test this hypothesis by disturbing upright balance using Galvanic vestibular stimulation at three different points in the gait cycle. We measure the resulting changes in whole-body center of mass movement and the location of the center of pressure of the ground reaction force. We find that the whole-body balance response is not phase-independent as expected: balance responses are initiated faster and are smaller following a disturbance late in the gait cycle. Somewhat paradoxically, the initial center of pressure changes are larger for perturbations late in the gait cycle. The onset of the center of pressure changes however, does not depend on the phase of the perturbation. The results partially support our hypothesis of a phase-independent functional balance response underlying the phase-dependent recruitment of different balance mechanisms at different points of the gait cycle. We conclude that the central nervous system recruits any available mechanism to push against the ground to maintain balance as fast as possible in response to a perturbation, but the different mechanisms do not have equal strength.