Coupling strengths of the three major coordination rules
| . | . | Rule 1 . | . | . | Rule 2 . | . | . | Rule 3 . | . | . | ||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| . | . | Min . | Δt . | Zero . | Max . | Δt . | Zero . | Max . | Δt . | Zero . | ||||||
| Ipsilateral pairs | ||||||||||||||||
| I3–I2 | S | 0.035 | -0.08 | 0.255 | 0.646 | 0.28 | 0.255 | – | – | – | ||||||
| C | 0.041 | -0.08 | 0.255 | 0.487 | 0.24 | 0.255 | – | – | – | |||||||
| I2–I3 | S | – | – | – | – | – | – | 0.582 | -0.20 | 0.240 | ||||||
| C | – | – | – | – | – | – | 0.341 | -0.24 | 0.180 | |||||||
| I2–I1 | S | 0.028 | -0.04 | 0.174 | 0.482 | 0.36 | 0.174 | – | – | – | ||||||
| C | 0.037 | -0.12 | 0.290 | 0.569 | 0.28 | 0.290 | – | – | – | |||||||
| I1–I2 | S | – | – | – | – | – | – | 0.580 | -0.36 | 0.254 | ||||||
| C | – | – | – | – | – | – | 0.504 | -0.28 | 0.257 | |||||||
| O3–O2 | S | 0.012 | -0.08 | 0.243 | 0.667 | 0.28 | 0.243 | – | – | – | ||||||
| C | 0.020 | -0.16 | 0.295 | 0.813 | 0.20 | 0.295 | – | – | – | |||||||
| O2–O3 | S | – | – | – | – | – | – | 0.594 | -0.24 | 0.267 | ||||||
| C | – | – | – | – | – | – | 0.688 | -0.16 | 0.258 | |||||||
| O2–O1 | S | 0.029 | -0.24 | 0.202 | 0.482 | 0.32 | 0.202 | – | – | – | ||||||
| C | 0.021 | -0.12 | 0.291 | 0.735 | 0.20 | 0.291 | – | – | – | |||||||
| O1–O2 | S | – | – | – | – | – | – | 0.514 | -0.36 | 0.250 | ||||||
| C | – | – | – | – | – | – | 0.729 | -0.20 | 0.299 | |||||||
| Contralateral pairs | ||||||||||||||||
| I3–O3 | S | 0.152 | -0.08 | 0.262 | 0.420 | 0.28 | 0.262 | 0.406 | -0.44 | 0.265 | ||||||
| C | 0.122 | -0.04 | 0.259 | 0.413 | 0.20 | 0.259 | 0.414 | -0.24 | 0.262 | |||||||
| O3–I3 | S | 0.121 | -0.12 | 0.239 | 0.392 | 0.44 | 0.239 | 0.381 | -0.48 | 0.239 | ||||||
| C | 0.077 | -0.08 | 0.178 | 0.247 | 0.36 | 0.178 | 0.269 | -0.20 | 0.181 | |||||||
| I2–O2 | S | 0.175 | -0.04 | 0.245 | 0.324 | 0.52 | 0.245 | 0.328 | -0.40 | 0.247 | ||||||
| C | 0.262 | -0.08 | 0.296 | 0.336 | 0.48 | 0.296 | 0.358 | -0.48 | 0.298 | |||||||
| O2–I2 | S | 0.170 | -0.20 | 0.253 | 0.368 | 0.44 | 0.253 | 0.317 | -0.20 | 0.259 | ||||||
| C | 0.222 | -0.20 | 0.256 | 0.305 | 0.48 | 0.256 | 0.266 | -0.32 | 0.258 | |||||||
| I1–O1 | S | 0.072 | -0.12 | 0.199 | 0.363 | 0.40 | 0.199 | 0.364 | -0.40 | 0.203 | ||||||
| C | 0.135 | -0.08 | 0.291 | 0.408 | 0.44 | 0.291 | 0.492 | -0.24 | 0.289 | |||||||
| O1–I1 | S | 0.060 | -0.16 | 0.175 | 0.319 | 0.40 | 0.175 | 0.336 | -0.40 | 0.180 | ||||||
| C | 0.134 | -0.08 | 0.290 | 0.452 | 0.24 | 0.290 | 0.374 | -0.24 | 0.288 | |||||||
| . | . | Rule 1 . | . | . | Rule 2 . | . | . | Rule 3 . | . | . | ||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| . | . | Min . | Δt . | Zero . | Max . | Δt . | Zero . | Max . | Δt . | Zero . | ||||||
| Ipsilateral pairs | ||||||||||||||||
| I3–I2 | S | 0.035 | -0.08 | 0.255 | 0.646 | 0.28 | 0.255 | – | – | – | ||||||
| C | 0.041 | -0.08 | 0.255 | 0.487 | 0.24 | 0.255 | – | – | – | |||||||
| I2–I3 | S | – | – | – | – | – | – | 0.582 | -0.20 | 0.240 | ||||||
| C | – | – | – | – | – | – | 0.341 | -0.24 | 0.180 | |||||||
| I2–I1 | S | 0.028 | -0.04 | 0.174 | 0.482 | 0.36 | 0.174 | – | – | – | ||||||
| C | 0.037 | -0.12 | 0.290 | 0.569 | 0.28 | 0.290 | – | – | – | |||||||
| I1–I2 | S | – | – | – | – | – | – | 0.580 | -0.36 | 0.254 | ||||||
| C | – | – | – | – | – | – | 0.504 | -0.28 | 0.257 | |||||||
| O3–O2 | S | 0.012 | -0.08 | 0.243 | 0.667 | 0.28 | 0.243 | – | – | – | ||||||
| C | 0.020 | -0.16 | 0.295 | 0.813 | 0.20 | 0.295 | – | – | – | |||||||
| O2–O3 | S | – | – | – | – | – | – | 0.594 | -0.24 | 0.267 | ||||||
| C | – | – | – | – | – | – | 0.688 | -0.16 | 0.258 | |||||||
| O2–O1 | S | 0.029 | -0.24 | 0.202 | 0.482 | 0.32 | 0.202 | – | – | – | ||||||
| C | 0.021 | -0.12 | 0.291 | 0.735 | 0.20 | 0.291 | – | – | – | |||||||
| O1–O2 | S | – | – | – | – | – | – | 0.514 | -0.36 | 0.250 | ||||||
| C | – | – | – | – | – | – | 0.729 | -0.20 | 0.299 | |||||||
| Contralateral pairs | ||||||||||||||||
| I3–O3 | S | 0.152 | -0.08 | 0.262 | 0.420 | 0.28 | 0.262 | 0.406 | -0.44 | 0.265 | ||||||
| C | 0.122 | -0.04 | 0.259 | 0.413 | 0.20 | 0.259 | 0.414 | -0.24 | 0.262 | |||||||
| O3–I3 | S | 0.121 | -0.12 | 0.239 | 0.392 | 0.44 | 0.239 | 0.381 | -0.48 | 0.239 | ||||||
| C | 0.077 | -0.08 | 0.178 | 0.247 | 0.36 | 0.178 | 0.269 | -0.20 | 0.181 | |||||||
| I2–O2 | S | 0.175 | -0.04 | 0.245 | 0.324 | 0.52 | 0.245 | 0.328 | -0.40 | 0.247 | ||||||
| C | 0.262 | -0.08 | 0.296 | 0.336 | 0.48 | 0.296 | 0.358 | -0.48 | 0.298 | |||||||
| O2–I2 | S | 0.170 | -0.20 | 0.253 | 0.368 | 0.44 | 0.253 | 0.317 | -0.20 | 0.259 | ||||||
| C | 0.222 | -0.20 | 0.256 | 0.305 | 0.48 | 0.256 | 0.266 | -0.32 | 0.258 | |||||||
| I1–O1 | S | 0.072 | -0.12 | 0.199 | 0.363 | 0.40 | 0.199 | 0.364 | -0.40 | 0.203 | ||||||
| C | 0.135 | -0.08 | 0.291 | 0.408 | 0.44 | 0.291 | 0.492 | -0.24 | 0.289 | |||||||
| O1–I1 | S | 0.060 | -0.16 | 0.175 | 0.319 | 0.40 | 0.175 | 0.336 | -0.40 | 0.180 | ||||||
| C | 0.134 | -0.08 | 0.290 | 0.452 | 0.24 | 0.290 | 0.374 | -0.24 | 0.288 | |||||||
For a given leg pair (sender leg–receiver leg), each row lists the minimum and/or maximum of the corresponding likelihood functions shown in Figs 3, 4, 6 and 7 (min/max), the time delay relative to the transition of the sender leg (Δt in s), and the baseline level (zero) in either the straight walking context (S) or the curve walking context (C). The difference between max/min and zero is defined as the coupling strength. The efficacy of a coupling rule is defined as(max–zero)/(1–zero) for rules 2, 3 and (zero–min)/zero for rule 1 (see Fig. 8).