Walking is one of the most relevant tasks that a person performs in their daily routine. Despite its mechanical complexities, any change in the external conditions that applies some external perturbation, or in the human musculoskeletal system that limits an individual's movement, entails a motor response that can either be compensatory or adaptive in nature. Incidentally, with aging or due to the occurrence of a neuro-musculoskeletal disorder, a combination of such changes including reduced sensory perception, muscle weakness, spasticity, etc. has been reported, and this can significantly degrade the human walking performance. Various studies in gait rehabilitation literature have identified a need for the development of better rehabilitation paradigms and have implied that an efficient human robot interaction is critical. Understanding how humans respond to a particular gait alteration can be beneficial in designing an effective rehabilitation paradigm. In this context, the current work investigates human locomotor adaptation to resistive alteration to the hip and ankle strategies of walking. A cable-driven robotic system, which does not add mobility constraints, was used to implement resistive force interventions within the hip and ankle joints separately through two experiments with eight healthy adult participants in each. In both cases, the intervention was applied during the push-off phase of walking, i.e., from pre-swing to terminal swing. The results showed that subjects in both groups adopted a compensatory response to the applied intervention and demonstrated intralimb and interlimb adaptation. Overall, the participants demonstrated a deviant gait implying lower limb musculoskeletal adjustments as if to compensate for a hip or ankle abnormality.

步行是一个人在日常工作中执行的最重要的任务之一。尽管其机械复杂性，但在施加某些外部干扰的外部条件或限制个体运动的人类肌肉骨骼系统中的任何变化都将导致运动反应，该运动反应本质上可以是补偿性或适应性的。顺便提及，随着年龄的增长或由于神经肌肉骨骼疾病的发生，已经报道了包括感官知觉降低，肌肉无力，痉挛等减少的这些变化的组合，并且这可以显着降低人的步行性能。步态康复文献中的各种研究已经确定了开发更好的康复范例的必要性，并暗示有效的人机交互至关重要。了解人类如何应对特定的步态改变可能对设计有效的康复范例很有帮助。在这种情况下，当前的工作研究了人类运动对抵抗髋部和踝部行走策略的抵抗性改变的适应性。通过不带移动限制的电缆驱动机器人系统，通过两个实验（每个实验有八个健康的成年人）分别在髋和踝关节内实施阻力干预。在这两种情况下，干预都是在步行的下推阶段进行的，即从前摇摆到终极摇摆。结果表明，两组受试者均对所应用的干预采取了补偿性反应，并证明了肢内和肢间适应性。总体，