Acute experiments on decerebrate and spinal cats were performed to study the role of the peripheral afferent input from hindlimb receptors in forming the locomotor pattern during epidural stimulation of the spinal cord. Evoked electromyographic activity in the muscles of the hindlimbs was analyzed, along with the kinematic parameters of stepping movements. Epidural stimulation (20-100 microA, 5 Hz) of segments L4-5 of the spinal cord was found to elicit well coordinated walking in the hindlimbs on a moving treadmill band. When the support conditions were changed (non-moving treadmill, unsupported position), epidural stimulation initiated walking with an unstable rhythm. This was associated with a change in the overall nature of the locomotor pattern and the internal structure of the stepping cycle. Alteration of the direction of movement of the treadmill band led to the appearance of backward walking. An increase in the speed of movement of the treadmill band increased the stepping frequency, mainly due to decreases in the extensor phase. Epidural stimulation applied 2-4 h after complete transection of the spinal cord at the T8-T9 level could elicit stepping movements, but only when the treadmill was moving. The role of peripheral feedback in generating the locomotor pattern in conditions of complete disconnection from supraspinal control increased significantly. These data show that peripheral feedback during epidural stimulation of the spinal cord can define the properties of the motor output.