 The study examined the effects of a lower limb perturbator on the walking patterns of 9 healthy adults. The perturbator allowed researchers to measure the impedance of the hip, knee, and ankle joints during walking. The results showed that the perturbator had little effect on the walking pattern and that the impedances of the hip and knee joints could be measured accurately. This study provides valuable insight into how the joint impedance of the legs changes during walking, which can help inform the design of robotic gait trainers, leg prostheses, leg orthotics, and wearable exoskeletons. This article was authored by Herman Van Der Kuage, Simone S. Frick, Ronald C. Van Felt, and others.