PURPOSE: In this study we investigated the effects of self-reinnervation of feline medial gastrocnemius (MG) and lateral gastrocnemius (LG) muscles on joint kinematics of the whole hindlimb during overground walking on surfaces of varying slope (−50%, 0%, +50%). METHODS: Hindlimb kinematics during stance were assessed (1) with little or no activity in MG and LG (short-term effects of self-reinnervation), and (2) after motor function of these muscles was presumably recovered but their proprioceptive feedback permanently disrupted (long-term effects of self-reinnervation). Measurements were performed prior to and at consecutive time points after transecting and immediately suturing MG and LG nerves. RESULTS: Substantial short-term effects were observed in the ankle joint (e.g., increased flexion in early stance) as well as in metatarsophalangeal and knee joints, leading to altered interjoint coordination. Hindlimb kinematics in level and upslope walking progressed back towards baseline within 14-19 weeks, despite the absence of length feedback from gastrocnemius, suggesting that the proprioceptive loss is compensated by other sensory sources or altered central drive. In contrast, ankle joint kinematics as well as interjoint coordination in downslope walking gradually progressed towards, but never reached their baseline patterns (>32 weeks post self-reinnervation). CONCLUSIONS: The muscle contractile conditions and the corresponding potential importance of length and force feedback for the different slope conditions are discussed. It is concluded that proprioceptive feedback from MG and LG muscles is important for regulating locomotor activity of ankle extensors. Supported by NIH Grants HD032571 and NS048844.