  This paper analyses joint-space walking mechanisms and redundancies in
delivering functional gait outcomes. Multiple biomechanical measures are
analysed for two healthy male adults who participated in a multi-factorial
study and walked during three sessions. Both participants employed varying
intra- and inter-personal compensatory strategies (e.g., vaulting, hip hiking)
across walking conditions and exhibited notable gait pattern alterations while
keeping task-space (functional) gait parameters invariant. They also preferred
various levels of asymmetric step length but kept their symmetric step time
consistent and cadence-invariant during free walking. The results demonstrate
the importance of an individualised approach and the need for a paradigm shift
from functional (task-space) to joint-space gait analysis in attending to
(a)typical gaits and delivering human-centred human-robot interaction.
