Fig. 2

Intervention environment and methods. a Synchronous and asynchronous low-floor dual treadmill. The height and width of the handrails can be adjusted to appropriate positions, and the speed can be adjusted from 0.1 km at low-speed drive using an operating PC. The disturbance stimulus of the split-belt treadmill intervention modulates the belt speed on one side during walking and provides an unexpectedly disturbing stimulus to the posture. b Practice settings for tied-belt treadmill intervention and split-belt treadmill intervention. No disturbance stimuli were provided in the tied-belt treadmill intervention. In the split-belt treadmill intervention, the disturbance stimulus was given to one side at a speed within the range of 50–150% of the flatland walking speed. Upper extremity function training involved task-oriented exercises that combined joint movements such as shoulder flexion, elbow extension, and forearm rotation