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The central nervous system (CNS) is believed to use the abundant degrees of freedom of muscles and joints to stabilize a particular task variable important for task success, such as footpath during walking. Stroke survivors often demonstrate impaired balance and high incidences of falls due to increased footpath variability during walking. In the current study, we use the uncontrolled manifold (UCM) approach to investigate the role of motor abundance in stabilizing footpath during swing phase in healthy individuals and stroke survivors. Twelve stroke survivors and their age- and gender-matched controls walked over-ground at self-selected speed, while electromyographic and kinematic data were collected. UCM analysis partitioned the variance of muscle groups (modes) across gait cycles into "good variance" (i.e., muscle mode variance leading to a consistent or stable footpath) or "bad variance" (i.e., muscle mode variance resulting in an inconsistent footpath). Both groups had a significantly greater "good" than "bad" variance, suggesting that footpath is an important task variable stabilized by the CNS during walking. The relative variance difference that reflects normalized difference between "good" and "bad" variance was not significantly different between groups. However, significant differences in muscle mode structure and muscle mode activation timing were observed between the two groups. Our results suggest that though the mode structure and activation timing are altered, stroke survivors may retain their ability to explore the redundancy within the neuromotor system and utilize it to stabilize the footpath.

Coordination of muscles to control the footpath during over-ground walking in neurologically intact individuals and stroke survivors