(A) Polar plot representing the step cycle modulation for each of the forelimb. Each of these plots is a representation of the step cycle for one recording (respectively an MFT, EPSC and GC spike recording), 0° being the start of the swing phase, the green line is end of the swing phase. Each trace (blue: left forelimb, red: right forelimb) represents as the radius in the plot the modulation of activity (see ‘Materials and methods’) for that phase of the step cycle (for the MFT plot, the scale corresponds to 2.4 Hz for the blue trace and 2.7 Hz for the red trace, for the EPSC plot the scale is 120 Hz for the blue trace and 65 Hz for the red trace, and for the GC spike trace, the scale is 13.6 Hz for the blue trace and 9.4 Hz for the red trace). The arrows show the phase of maximal modulation. Note that for these recordings, the maximal modulations are at roughly 90°. (B) The phases at which maximal modulation occurs can vary widely across cells for both the left and right forelimb (left and middle trace). The phase difference between these modulations for each cell is shown in the right panel. (C) The magnitude of modulation is highly correlated for the right and left limb across recording modalities (green: MFTS, red: EPSCs, blue: GC spikes). (D) The direction of maximum modulation is plotted here for all cells as a z-value (i.e., negative values indicate a decrease in activity and positive values an increase) for both the left and right forelimb.