An Exploratory Multimodal Assessment of Anticipatory Gait Adaptations During Obstacle Negotiation

Abstract Anticipatory gait adaptations are essential for safe obstacle negotiation. This exploratory study investigated the feasibility of a multimodal approach combining EEG, EMG, and IMU signals during overground walking, with the aim of identifying initial trends in potential markers of anticipatory gait adaptations. Eight healthy participants walked along a corridor and stepped over an obstacle. All signals were analyzed relative to obstacle onset with a focus on the anticipatory phase preceding obstacle crossing. EEG showed a reduction in oscillatory power, particularly in the alpha band, prior to the obstacle, indicating increased cortical involvement. EMG revealed stable activation timing with amplitude modulations during approach and crossing, while IMU-based measures indicated increased asymmetry and variability. Although these adaptations were detectable within each modality, their combination improved robustness and interpretability. These findings demonstrate the feasibility of multimodal sensing for detecting anticipatory gait adaptations and highlight its potential for early detection and adaptive control in lower-limb assistive systems.