Motor patterns in human walking and running.

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The neural origin of muscle synergies (2013, background): “On the other hand, the number of leg muscle synergies for human locomotion, including running and walking at different speeds, was estimated to be between four and five (Ivanenko et al., 2004; Cappellini et al., 2006; Dominici et al., 2011).”
Patterned control of human locomotion (2012, background): “Several studies showed systematic correlations between the timing of the activation patterns and the occurrence of specific biomechanical events of the gait cycle (Ivanenko et al. 2003, 2004; Cappellini et al. 2006; Dominici et al. 2011).”
Common muscle synergies for balance and walking (2013, background): “, 2005) or shift from walking to running (Cappellini et al., 2006).”
Muscle contributions to propulsion and support during running (2010, methodology): “Comparison of simulated muscle activations from computed muscle control (solid line), experimental EMG collected from the subject (dashed line), and speed-matched experimental EMG data (Cappellini et al., 2006) (gray area).”