I have mild ataxic cerebral palsy. Most of my body is hypotonic (loose), except for my hamstrings and heel cords, which are spastic. I managed to learn to walk at 15 months without physical therapy, anyway. Don't ask me how, but it's the last mobility milestone I attained on time. I can't really run, and I had to go to physical therapy to learn to do steps.
I had a clumsy childhood--my speech therapist jokingly called me a "dalmatian" a couple times because I always had bruises on my legs. I also scrapped myself up on the blacktop playground a lot. When I was finally diagnosed with cerebral palsy at the age of nine or ten, my neurologist suggested martial arts, and my parents started me in Tae Kwon Do. I learned to control my body. The last time I had a CP-related fall was when I rolled and sprained my foot in the seventh grade. I haven't fell over for no reason since I grew into my feet.
The ironic thing about this is, when I started falling over less, my gait got more awkward due to puberty and the fact that my bones were growing faster than my muscles. My hamstrings and heel cords got tighter, and I started to limp. I still do, but to a lesser extent. I also have a very wide gait, because of muscle memory and also to compensate for my still-existing-but-significantly-milder balance issues.
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Living with one neurodevelopmental disability which has earned me a few diagnosis'