We analysed the co-ordination of the elevation angles of the thigh (a t ), shank (a s ) and foot (a f ) during walking in 19 adults and 21 children (aged 11±144 months), including the very ®rst unsupported steps in four. Cross-correlation functions (CCF) maturation of pairs of elevation angles was quanti®ed by a global error parameter (Et (CCF) ) re¯ecting the difference between particular CCF value of toddlers and mean adult value (Ea (CCF) ). During the very ®rst step, Et (CCF) could be ®ve times higher than Ea (CCF) . With walking experience, Et (CCF) for both a t -a s and a s -a f pairs evolved following a biexponential pro®le, with a fast time constant below 6 months. Adult-like CCF parameters were reached earlier for a s -a f than a t -a s , indicating disto-proximal maturation of the temporal co-ordination of the lower limb segments in human locomotion. q 2001 Elsevier Science Ireland Ltd. All rights reserved.Keywords: Locomotion; Development; Temporal co-ordination; Lower limb Studies in motor control have increasingly concentrated on the emergence of co-ordinative rules and integration of sensorimotor experiences into prewired neural networks [11]. In this context, the role of maturation in such a fundamental behaviour as locomotion appears critical but has received sparse attention until recently. Several parameters of postural and dynamical control have been studied with respect to early gait development, including head, trunk and hip stabilisation, intralimb co-ordination and centre of mass parameters [1,2,4,5,7,8,16].In adults, a series of experimental studies of locomotion have demonstrated that the elevation angles of the lower limb segments provide a kinematic template revealing a motor organisation rule [3], which is related to minimisation of mechanical energy expenditure [14]. When the elevation angles of the thigh, shank and foot are plotted one versus the others, they describe a regular loop which lies close to a plane. Recently, we found that this planar covariation rule emerges early in toddler locomotion [7], suggesting a rapid dynamical integration of forward propulsion and postural control into the motor command. Two important aspects of the co-ordination of angular evolution of the lower limb segments, namely excursion amplitudes and timing, are expected to in¯uence the planar covariation. The temporal relationships between these angles evolution appear particularly crucial for locomotor co-ordination. Statistical approaches such as cross-correlation function (CCF) have proved to be adequate for deciphering consistent temporal relationships between kinematics signals during free-form movements [1,6]. In this study we introduce a global parameter based on CCF of lower limb segments elevation to quantify the gait kinematic maturation of children from the very ®rst step through adolescence.Twenty-one healthy children (13 girls and 8 boys, aged 11±144 months) and 19 healthy adults (9 females and 10 males, aged 25^4 (mean^SD) years) participated in this study. The procedures were...