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The initiation of gait was studied utilizing electromyography, force-plate data, measurements of walking velocities, and ranges of motion of joints, all of which demonstrated that gait is initiated by the body becoming unbalanced in such a way as to permit a subject to pick one foot the ground in order to take the first step. The subsequent transition of the body to the steady gait pattern occurs rapidly over a period of appproximately three steps. This transition involves rapid changes in the measured forces and activities of the muscles of the lower extremity and the motion of the joints reflects these changes.
Mann et al. (Thu,) studied this question.