Kinematic variability, fractal dynamics and local dynamic stability of treadmill walking

Fractal Fluctuations in Human Walking: Comparison Between Auditory and Visually Guided Stepping

In human locomotion, sensorimotor synchronization of gait consists of the coordination of stepping with rhythmic auditory cues (auditory cueing, AC). AC changes the long-range correlations among consecutive strides (fractal dynamics) into anti-correlations. Visual cueing (VC) is the alignment of step lengths with marks on the floor. The effects of VC on the fluctuation structure of walking have not been investigated. Therefore, the objective was to compare the effects of AC and VC on the fluctuation pattern of basic spatiotemporal gait parameters. Thirty-six healthy individuals walked 3 × 500 strides on an instrumented treadmill with augmented reality capabilities. The conditions were no cueing (NC), AC, and VC. AC included an isochronous metronome. For VC, projected stepping stones were synchronized with the treadmill speed. Detrended fluctuation analysis assessed the correlation structure. The coefficient of variation (CV) was also assessed. The results showed that AC and VC similarly induced a strong anti-correlated pattern in the gait parameters. The CVs were similar between the NC and AC conditions but substantially higher in the VC condition. AC and VC probably mobilize similar motor control pathways and can be used alternatively in gait rehabilitation. However, the increased gait variability induced by VC should be considered.

A comparison of variability in spatiotemporal gait parameters between treadmill and overground walking conditions

Motorized treadmills are commonly used in biomechanical and clinical studies of human walking. Whether treadmill walking induces identical motor responses to overground walking, however, is equivocal. The purpose of this study was to examine differences in the spatiotemporal gait parameters of the lower extremities and trunk during treadmill and overground walking using comparison of mean and variability values. Twenty healthy participants (age 23.8±1.2 years) walked for 6min on a treadmill and overground while wearing APDM 6 Opal inertial monitors. Stride length, stride time, stride velocity, cadence, stance phase percentage, and peak sagittal and frontal plane trunk velocities were measured. Mean values were calculated for each parameter as well as estimates of short- (SD1) and long-term variability (SD2) using Poincaré analyses. The mean, SD1, and SD2 values were compared between overground and treadmill walking conditions with paired t-tests (α=0.05) and with effect size estimates using Cohen's d statistic. Mean values for each of the gait parameters were statistically equivalent between treadmill and overground walking (p>0.05). The SD1 and SD2 values representing short- and long-term variability were considerably reduced (p<0.05) on the treadmill as compared to overground walking. This demonstrates the importance of consideration of gait variability when using treadmills for research or clinical purposes. Treadmill training may induce invariant gait patterns, posing difficulty in translating locomotor skills gained on a treadmill to overground walking conditions.

Coordination dynamics of (a)symmetrically loaded gait

Asymmetries in the resonant frequency of limbs/effectors lead to changes in coordination dynamics, including deviations in relative phase at ϕ = 0 or π rad and reduced stability. These effects have been successfully modeled by the extended Haken-Kelso-Bunz (HKB) coupled oscillator model (Kelso et al. in Attention and performance XIII. Erlbaum, Hillsdale, pp 139-169, 1990), and supported in laboratory tasks of rhythmic limb motions. Efforts to apply the HKB model to walking have supported the predicted deviations in phase, but not the expected decreases in coordination stability. The lack of stability effects arising from asymmetries may be due to the stabilizing influence of a treadmill or may be obscured by the balance requirements and ground impacts in gait. This study examined these possibilities by investigating walking overground with ankle weights of 3 or 6 kg to create asymmetries between the legs, as well as symmetrical loads. Participants walked without a metronome and separately with a metronome to control speed and cadence. Coordination dynamics between the legs were quantified through mean and standard deviation (SD) of ϕ, while individual leg local dynamic stability was calculated as maximum Lyapunov exponent (λ (MAX)). Irrespective of the condition, asymmetrical loads led to deviations in phase from antiphase with the loaded leg lagging behind the other, and both SDϕ and λ (MAX) increased (i.e., stability decreased). Symmetrical loads had no effect on phase deviations, but decreased stability. Overall, these findings indicate that the HKB model captures coordination dynamics in walking, but also highlights limitations in modeling the influence of loads on an individual limb.

Reliability and Minimum Detectable Change of Temporal-Spatial, Kinematic, and Dynamic Stability Measures during Perturbed Gait

Temporal-spatial, kinematic variability, and dynamic stability measures collected during perturbation-based assessment paradigms are often used to identify dysfunction associated with gait instability. However, it remains unclear which measures are most reliable for detecting and tracking responses to perturbations. This study systematically determined the between-session reliability and minimum detectable change values of temporal-spatial, kinematic variability, and dynamic stability measures during three types of perturbed gait. Twenty young healthy adults completed two identical testing sessions two weeks apart, comprised of an unperturbed and three perturbed (cognitive, physical, and visual) walking conditions in a virtual reality environment. Within each session, perturbation responses were compared to unperturbed walking using paired t-tests. Between-session reliability and minimum detectable change values were also calculated for each measure and condition. All temporal-spatial, kinematic variability and dynamic stability measures demonstrated fair to excellent between-session reliability. Minimal detectable change values, normalized to mean values ranged from 1–50%. Step width mean and variability measures demonstrated the greatest response to perturbations with excellent between-session reliability and low minimum detectable change values. Orbital stability measures demonstrated specificity to perturbation direction and sensitivity with excellent between-session reliability and low minimum detectable change values. We observed substantially greater between-session reliability and lower minimum detectable change values for local stability measures than previously described which may be the result of averaging across trials within a session and using velocity versus acceleration data for reconstruction of state spaces. Across all perturbation types, temporal-spatial, orbital and local measures were the most reliable measures with the lowest minimum detectable change values, supporting their use for tracking changes over multiple testing sessions. The between-session reliability and minimum detectable change values reported here provide an objective means for interpreting changes in temporal-spatial, kinematic variability, and dynamic stability measures during perturbed walking which may assist in identifying instability.

Assessment of gait stability, harmony, and symmetry in subjects with lower-limb amputation evaluated by trunk accelerations

Analysis of upper-body accelerations is a promising and simple technique for quantitatively assessing some general features of gait such as stability, harmony, and symmetry. Despite the growing literature on elderly healthy populations and neurological patients, few studies have used accelerometry to investigate these features in subjects with lower-limb amputation. We enrolled four groups of subjects: subjects with transfemoral amputation who walked with a locked knee prosthesis, subjects with transfemoral amputation who walked with an unlocked knee prosthesis, subjects with transtibial amputation, and age-matched nondisabled subjects. We found statistically significant differences for stability (p < 0.001), harmony (p < 0.001), and symmetry (p < 0.001) of walking, with general trends following the noted order of subjects, but with the lowest laterolateral harmony in subjects with transtibial amputation. This study is the first to investigate upper-body acceleration of subjects with unilateral lower-limb amputation during walking who were evaluated upon dismissal from a rehabilitation hospital; it is also the first study to differentiate the sample in terms of level of amputation and type of prosthesis used.

Role of visual input in the control of dynamic balance: variability and instability of gait in treadmill walking while blindfolded

While vision obviously plays an essential role in orienting and obstacle avoidance, its role in the regulation of dynamic balance is not yet fully understood. The objective of this study was to assess dynamic stability while blindfolded, under optimal conditions that minimized the fear of falling. The hypothesis was that visual deprivation could be compensated for by using other sensory strategies to stabilize gait. One hundred healthy adults (aged 20-69 years) participated in the study. They were previously accustomed to blindfolded treadmill walking wearing a safety harness. Their preferred walking speeds (PWS) were assessed with eyes open (PWSEO) and with eyes closed (blindfolded, PWSEC). Three five-minute tests were performed: (A) normal walking at PWSEO, (B) blindfolded walking at PWSEC, and (C) normal walking at PWSEC. Trunk acceleration was measured with a lightweight inertial sensor. Dynamic stability was assessed by using (1) acceleration root mean square (RMS), which estimates the variability of the signal, and hence, the smoothness of the trunk movement and (2) local dynamic stability (LDS), which reflects the efficiency of the motor control to stabilize the trunk. Although walking at PWSEC with eyes open (comparing conditions A and C) had a slight impact on gait stability (relative difference: RMS +4 %, LDS -5 %), no destabilizing effect of visual deprivation (B vs. C, RMS -4 %, LDS -1 %) was observed. Therefore, it is concluded that when reassuring conditions are offered to individuals while walking, they are able to adopt alternative sensory strategies to control dynamic equilibrium without the help of vision.

Effect of treadmill versus overground running on the structure of variability of stride timing

Gait timing dynamics of treadmill and overground running were compared. Nine trained runners ran treadmill and track trials at 80, 100, and 120% of preferred pace for 8 min. each. Stride time series were generated for each trial. To each series, detrended fluctuation analysis (DFA), power spectral density (PSD), and multiscale entropy (MSE) analysis were applied to infer the regime of control along the randomness-regularity axis. Compared to overground running, treadmill running exhibited a higher DFA and PSD scaling exponent, as well as lower entropy at non-preferred speeds. This indicates a more ordered control for treadmill running, especially at non-preferred speeds. The results suggest that the treadmill itself brings about greater constraints and requires increased voluntary control. Thus, the quantification of treadmill running gait dynamics does not necessarily reflect movement in overground settings.

Could local dynamic stability serve as an early predictor of falls in patients with moderate neurological gait disorders? A reliability and comparison study in healthy individuals and in patients with paresis of the lower extremities

Falls while walking are frequent in patients with muscular dysfunction resulting from neurological disorders. Falls induce injuries that may lead to deconditioning and disabilities, which further increase the risk of falling. Therefore, an early gait stability index would be useful to evaluate patients in order to prevent the occurrence of future falls. Derived from chaos theory, local dynamic stability (LDS), defined by the maximal Lyapunov exponent, assesses the sensitivity of a dynamic system to small perturbations. LDS has already been used for fall risk prediction in elderly people. The aim of the present study was to provide information to facilitate future researches regarding gait stability in patients with neurological gait disorders. The main objectives were 1) to evaluate the intra-session repeatability of LDS in patients and 2) to assess the discriminative power of LDS to differentiate between healthy individuals and neurological patients. Eighty-three patients with mild to moderate neurological disorders associated with paresis of the lower extremities and 40 healthy controls participated in the study. The participants performed 2×30 s walking wearing a 3D accelerometer attached to the lower back, from which 2×35 steps were extracted. LDS was defined as the average exponential rate of divergence among trajectories in a reconstructed state-space that reflected the gait dynamics. LDS assessed along the medio-lateral axis offered the highest repeatability and discriminative power. Intra-session repeatability (intraclass correlation coefficient between the two repetitions) in the patients was 0.89 and the smallest detectable difference was 16%. LDS was substantially lower in the patients than in the controls (33% relative difference, standardized effect size 2.3). LDS measured in short over-ground walking tests seems sufficiently reliable. LDS exhibits good discriminative power to differentiate fall-prone individuals and opens up the possibility of future clinical applications for better prediction of fall risk in neurological patients.

To What Extent Does Not Wearing Shoes Affect the Local Dynamic Stability of Walking?: Effect Size and Intrasession Repeatability

Local dynamic stability (stability) quantifies how a system responds to small perturbations. Several experimental and clinical findings have highlighted the association between gait stability and fall risk. Walking without shoes is known to slightly modify gait parameters. Barefoot walking may cause unusual sensory feedback to individuals accustomed to shod walking, and this may affect stability. The objective was therefore to compare the stability of shod and barefoot walking in healthy individuals and to analyze the intrasession repeatability. Forty participants traversed a 70 m indoor corridor wearing normal shoes in one trial and walking barefoot in a second trial. Trunk accelerations were recorded with a 3D-accelerometer attached to the lower back. The stability was computed using the finite-time maximal Lyapunov exponent method. Absolute agreement between the forward and backward paths was estimated with the intraclass correlation coefficient (ICC). Barefoot walking did not significantly modify the stability as compared with shod walking (average standardized effect size: +0.11). The intrasession repeatability was high (ICC: 0.73–0.81) and slightly higher in barefoot walking condition (ICC: 0.81–0.87). Therefore, it seems that barefoot walking can be used to evaluate stability without introducing a bias as compared with shod walking, and with a sufficient reliability.

Persistent fluctuations in stride intervals under fractal auditory stimulation

Stride sequences of healthy gait are characterized by persistent long-range correlations, which become anti-persistent in the presence of an isochronous metronome. The latter phenomenon is of particular interest because auditory cueing is generally considered to reduce stride variability and may hence be beneficial for stabilizing gait. Complex systems tend to match their correlation structure when synchronizing. In gait training, can one capitalize on this tendency by using a fractal metronome rather than an isochronous one? We examined whether auditory cues with fractal variations in inter-beat intervals yield similar fractal inter-stride interval variability as isochronous auditory cueing in two complementary experiments. In Experiment 1, participants walked on a treadmill while being paced by either an isochronous or a fractal metronome with different variation strengths between beats in order to test whether participants managed to synchronize with a fractal metronome and to determine the necessary amount of variability for participants to switch from anti-persistent to persistent inter-stride intervals. Participants did synchronize with the metronome despite its fractal randomness. The corresponding coefficient of variation of inter-beat intervals was fixed in Experiment 2, in which participants walked on a treadmill while being paced by non-isochronous metronomes with different scaling exponents. As expected, inter-stride intervals showed persistent correlations similar to self-paced walking only when cueing contained persistent correlations. Our results open up a new window to optimize rhythmic auditory cueing for gait stabilization by integrating fractal fluctuations in the inter-beat intervals.

Development and decline of upright gait stability

Upright gait is a peculiar characteristic of humans that requires the ability to manage upper body dynamic balance while walking, despite the perturbations that are generated by movements of the lower limbs. Most of the studies on upright gait stability have compared young adults and the elderly to determine the effects of aging. In other studies, the comparison was between healthy subjects and patients to examine specific pathologies. Fewer researches have also investigated the development of upright gait stability in children. This review discusses these studies in order to provide an overview of this relevant aspect of human locomotion. A clear trend from development to decline of upright gait stability has been depicted across the entire lifespan, from toddlers at first steps to elderly. In old individuals, even if healthy, the deterioration of skeletal muscle, combined with sensorial and cognitive performance, reduces the ability to maintain an upright trunk during walking, increasing the instability and the risk of falls. Further, the pathological causes of altered development or of a sudden loss of gait stability, as well as the environmental influence are investigated. The last part of this review is focused on the control of upper body accelerations during walking, a particularly interesting topic for the recent development of low-cost wearable accelerometers.

Evaluation of age-related differences in the stride-to-stride fluctuations, regularity and symmetry of gait using a waist-mounted tri-axial accelerometer

PURPOSE

To compare the stride-to-stride fluctuations, regularity and symmetry of gait using a body-fixed accelerometer in a group of healthy young and healthy older adults.

METHODS

Forty-one healthy young adults (24 ± 3 years) and forty-one healthy older adults (76 ± 5 years) completed a 10-min walk at a self-selected, normal walking speed while wearing a single waist-mounted tri-axial accelerometer. The following gait parameters were compared between age groups: mean step and stride time, step and stride time variability, stride time fractal scaling index and the regularity and symmetry of the acceleration pattern in the vertical, mediolateral and anteroposterior directions (unbiased autocorrelation procedure).

RESULTS

Older adults displayed significantly greater step and stride time variability (p<0.05) and a lower stride time fractal scaling index (p<0.01), as well as significantly less regularity (p<0.05) and symmetry (p<0.05) of the anteroposterior accelerations.

CONCLUSION

The results show that healthy older adults possess greater temporal gait variability, as well as a less-organized and repeatable pattern of variability and acceleration in the direction of motion, than younger adults. The findings also suggest the presence of an age-related decline in the anteroposterior control of gait, but not in the vertical and mediolateral control of gait.

Non-linear dynamics of human locomotion: effects of rhythmic auditory cueing on local dynamic stability

It has been observed that times series of gait parameters [stride length (SL), stride time (ST), and stride speed (SS)], exhibit long-term persistence and fractal-like properties. Synchronizing steps with rhythmic auditory stimuli modifies the persistent fluctuation pattern to anti-persistence. Another non-linear method estimates the degree of resilience of gait control to small perturbations, i.e., the local dynamic stability (LDS). The method makes use of the maximal Lyapunov exponent, which estimates how fast a non-linear system embedded in a reconstructed state space (attractor) diverges after an infinitesimal perturbation. We propose to use an instrumented treadmill to simultaneously measure basic gait parameters (time series of SL, ST, and SS from which the statistical persistence among consecutive strides can be assessed), and the trajectory of the center of pressure (from which the LDS can be estimated). In 20 healthy participants, the response to rhythmic auditory cueing (RAC) of LDS and of statistical persistence [assessed with detrended fluctuation analysis (DFA)] was compared. By analyzing the divergence curves, we observed that long-term LDS (computed as the reverse of the average logarithmic rate of divergence between the 4th and the 10th strides downstream from nearest neighbors in the reconstructed attractor) was strongly enhanced (relative change +73%). That is likely the indication of a more dampened dynamics. The change in short-term LDS (divergence over one step) was smaller (+3%). DFA results (scaling exponents) confirmed an anti-persistent pattern in ST, SL, and SS. Long-term LDS (but not short-term LDS) and scaling exponents exhibited a significant correlation between them (r = 0.7). Both phenomena probably result from the more conscious/voluntary gait control that is required by RAC. We suggest that LDS and statistical persistence should be used to evaluate the efficiency of cueing therapy in patients with neurological gait disorders.

Extraction of basic movement from whole-body movement, based on gait variability

The aim of this study was to quantify the step-to-step variability (SSV) in speed-variant and speed-invariant movement components of the whole-body gait pattern during running. These separate aspects of variability can be used to gain insight into the neuromuscular control strategies that are engaged during running. Ten healthy, physically active, male recreational athletes performed five treadmill running trials at five different speeds (range: 1.3–4.9 m/sec). The whole-body movement was separated into principal movements (PM) using a principal component analysis. The PMs were split into two groups: a speed-variant group, where the range of motion (amplitude of PMs) changed with running speed; and a speed-invariant group, where the range of motion was constant across various speeds. The step-to-step variability (SSV) of the two groups was then quantified. The absolute SSV was the summed variability across all gait cycles, whereas the relative SSV was the summed variability divided by the magnitude of the movement. The absolute SSV of the speed-variant movements increased with running speed. By contrast, the relative SSV of the speed-variant group (as normalized to the PM amplitude) decreased asymptotically toward a minimal level as running speed increased. Both the absolute and relative SSV of the speed-invariant movements revealed a minimum at 3.1 m/sec. The whole-body gait pattern during running can be subdivided into speed-variant and speed-invariant movements. An interpretation of the SSV based on minimal intervention theory suggests that speed-variant movements are more tightly controlled, as evidenced by a lower degree of variability compared to the speed-invariant movements.

Reliability of spatiotemporal and kinetic gait parameters determined by a new instrumented treadmill system

Background

Despite the emerging use of treadmills integrated with pressure platforms as outcome tools in both clinical and research settings, published evidence regarding the measurement properties of these new systems is limited. This study evaluated the within– and between–day repeatability of spatial, temporal and vertical ground reaction force parameters measured by a treadmill system instrumented with a capacitance–based pressure platform.

Methods

Thirty three healthy adults (mean age, 21.5 ± 2.8 years; height, 168.4 ± 9.9 cm; and mass, 67.8 ± 18.6 kg), walked barefoot on a treadmill system (FDM–THM–S, Zebris Medical GmbH) on three separate occasions. For each testing session, participants set their preferred pace but were blinded to treadmill speed. Spatial (foot rotation, step width, stride and step length), temporal (stride and step times, duration of stance, swing and single and double support) and peak vertical ground reaction force variables were collected over a 30–second capture period, equating to an average of 52 ± 5 steps of steady–state walking. Testing was repeated one week following the initial trial and again, for a third time, 20 minutes later. Repeated measures ANOVAs within a generalized linear modelling framework were used to assess between–session differences in gait parameters. Agreement between gait parameters measured within the same day (session 2 and 3) and between days (session 1 and 2; 1 and 3) were evaluated using the 95% repeatability coefficient.

Results

There were statistically significant differences in the majority (14/16) of temporal, spatial and kinetic gait parameters over the three test sessions (P < .01). The minimum change that could be detected with 95% confidence ranged between 3% and 17% for temporal parameters, 14% and 33% for spatial parameters, and 4% and 20% for kinetic parameters between days. Within–day repeatability was similar to that observed between days. Temporal and kinetic gait parameters were typically more consistent than spatial parameters. The 95% repeatability coefficient for vertical force peaks ranged between ± 53 and ± 63 N.

Conclusions

The limits of agreement in spatial parameters and ground reaction forces for the treadmill system encompass previously reported changes with neuromuscular pathology and footwear interventions. These findings provide clinicians and researchers with an indication of the repeatability and sensitivity of the Zebris treadmill system to detect changes in common spatiotemporal gait parameters and vertical ground reaction forces.

Local dynamic stability as a responsive index for the evaluation of rehabilitation effect on fall risk in patients with multiple sclerosis: a longitudinal study

BACKGROUND

Gait and balance problems are common in patients with multiple sclerosis, leading to high risk for falls. Local Dynamic Stability (LDS), a non-linear gait stability index, has been advocated as an early indicator of risk for falls. With this longitudinal study over three weeks, we aimed to assess the responsiveness of Local Dynamic Stability to a rehabilitation program and to compare it to other measures.

METHODS

Eighteen patients (mean 54 years, median EDSS score: 5) participated. They were admitted to inpatient rehabilitation and received a three weeks individually tailored program. They performed a 3-minute walking test at the beginning and at the end of the stay, as well as pain, wellbeing, fatigue, and balance assessment. The Local Dynamic Stability was computed from the acceleration signals measured with a 3D-accelerometer.

RESULTS

At the end of the rehabilitation process, patients reported reduced pain (Effect Size: -0.7), fatigue (ES:-0.6), and increased wellbeing (ES: 1.1). A small positive effect on static balance was observed (ES: 0.3). LDS was improved (ES: 0.6), and the effect was higher than walking speed improvement (ES: 0.4).

CONCLUSIONS

The Local Dynamic Stability seemed responsive to assess rehabilitation effects in patients with multiple sclerosis. It could constitute a valuable gait quality index, which could evaluate potential effects of rehabilitation on fall risk.

TRIAL REGISTRATION

Current Controlled Trials ISRCTN69803702.

Assessing the stability of human locomotion: a review of current measures

Falling poses a major threat to the steadily growing population of the elderly in modern-day society. A major challenge in the prevention of falls is the identification of individuals who are at risk of falling owing to an unstable gait. At present, several methods are available for estimating gait stability, each with its own advantages and disadvantages. In this paper, we review the currently available measures: the maximum Lyapunov exponent (λS and λL), the maximum Floquet multiplier, variability measures, long-range correlations, extrapolated centre of mass, stabilizing and destabilizing forces, foot placement estimator, gait sensitivity norm and maximum allowable perturbation. We explain what these measures represent and how they are calculated, and we assess their validity, divided up into construct validity, predictive validity in simple models, convergent validity in experimental studies, and predictive validity in observational studies. We conclude that (i) the validity of variability measures and λS is best supported across all levels, (ii) the maximum Floquet multiplier and λL have good construct validity, but negative predictive validity in models, negative convergent validity and (for λL) negative predictive validity in observational studies, (iii) long-range correlations lack construct validity and predictive validity in models and have negative convergent validity, and (iv) measures derived from perturbation experiments have good construct validity, but data are lacking on convergent validity in experimental studies and predictive validity in observational studies. In closing, directions for future research on dynamic gait stability are discussed.

Do orthopaedic shoes improve local dynamic stability of gait? An observational study in patients with chronic foot and ankle injuries

Background

Complex foot and ankle fractures, such as calcaneum fractures or Lisfranc dislocations, are often associated with a poor outcome, especially in terms of gait capacity. Indeed, degenerative changes often lead to chronic pain and chronic functional limitations. Prescription footwear represents an important therapeutic tool during the rehabilitation process. Local Dynamic Stability (LDS) is the ability of locomotor system to maintain continuous walking by accommodating small perturbations that occur naturally during walking. Because it reflects the degree of control over the gait, LDS has been advocated as a relevant indicator for evaluating different conditions and pathologies. The aim of this study was to analyze changes in LDS induced by orthopaedic shoes in patients with persistent foot and ankle injuries. We hypothesised that footwear adaptation might help patients to improve gait control, which could lead to higher LDS:

Methods

Twenty-five middle-aged inpatients (5 females, 20 males) participated in the study. They were treated for chronic post-traumatic disabilities following ankle and/or foot fractures in a Swiss rehabilitation clinic. During their stay, included inpatients received orthopaedic shoes with custom-made orthoses (insoles). They performed two 30s walking trials with standard shoes and two 30s trials with orthopaedic shoes. A triaxial motion sensor recorded 3D accelerations at the lower back level. LDS was assessed by computing divergence exponents in the acceleration signals (maximal Lyapunov exponents). Pain was evaluated with Visual Analogue Scale (VAS). LDS and pain differences between the trials with standard shoes and the trials with orthopaedic shoes were assessed.

Results

Orthopaedic shoes significantly improved LDS in the three axes (medio-lateral: 10% relative change, paired t-test p < 0.001; vertical: 9%, p = 0.03; antero-posterior: 7%, p = 0.04). A significant decrease in pain level (VAS score -29%) was observed.

Conclusions

Footwear adaptation led to pain relief and to improved foot & ankle proprioception. It is likely that that enhancement allows patients to better control foot placement. As a result, higher dynamic stability has been observed. LDS seems therefore a valuable index that could be used in early evaluation of footwear outcome in clinical settings.

Speed-dependent temporospatial gait variability and long-range correlations in cerebellar ataxia

OBJECTIVE

This study investigated the influence of impaired cerebellar locomotion function on the magnitude and structure of stride-to-stride fluctuations in the walking pattern. On the basis of studies reporting a dependency of variability magnitude and structure on the walking speed, we hypothesized that patients with cerebellar ataxia (CA) would show alterations of gait variability in a speed-dependent manner.

METHODS

11 patients with CA [7 idiopathic sporadic ataxia, 4 inherited spinocerebellar ataxia] and 11 healthy subjects (HS) walked on a treadmill for 5-min periods at their preferred walking speed and at 20%, 40%, 70%, and 80% of maximal walking speed. The variability magnitude of stride time, stride length and base width was calculated, and long-range correlations were detected by a detrended fluctuation analysis.

RESULTS

Both temporal and spatial gait variability were impaired in CA. Variability magnitude and structure of all examined parameters depended on the walking speed. The preferred walking speed of patients was linked to minimal levels of stride time and stride length variability magnitude and to the strongest correlations within the fluctuations of these parameters. Long-range correlations were present for all examined gait parameters in patients and HS. Compared to HS, patients showed alterations in the speed dependency of stride time and stride length variability, with increased variability occurring at slow and maximal pace, whereas base width variability remained unaffected.

CONCLUSIONS

Gait variability and therefore walking stability is critically dependent on the walking speed in patients with CA. At preferred walking speed, however, variability is minimal and similar to HS.

Persistent and anti-persistent pattern in stride-to-stride variability of treadmill walking: influence of rhythmic auditory cueing

It has been observed that long time series of Stride Time (ST), Stride Length (SL) and Stride Speed (SS=SL/ST) exhibited statistical persistence (long-range auto-correlation) in overground walking. Rhythmic auditory cueing induced anti-persistent (or anti-correlated) patterns in ST series, while SL and SS remained persistent. On the other hand, it has been shown that SS became anti-persistent in treadmill walking, while ST and SL remained persistent. The aim of this study was to analyze the effect of the combination of treadmill walking (imposed speed) and auditory cueing (imposed cadence) on gait dynamics. Twenty middle-aged subjects performed 6×5 min walking trials at various imposed speeds on an instrumented treadmill. Freely chosen walking cadences were measured during the first three trials, and then imposed accordingly in the last three trials by using a metronome. Detrended fluctuation analysis (DFA) was performed on the times series of ST, SL, and SS. Treadmill induced anti-persistent dynamics in the time series of SS, but preserved the persistence of ST and SL. On the contrary, all the three parameters were anti-persistent under dual-constraints condition. Anti-persistent dynamics may be related to a tighter control: deviations are followed by a rapid over-correction, which produces oscillations around target values. Under single constraint condition, while SS is tightly regulated in order to follow the treadmill speed, redundancy between ST and SL would likely allow persistent pattern to occur. Conversely, under dual constraint conditions, the absence of redundancy among SL, ST and SS would explain the generalized anti-persistent pattern.

Comparison of walking overground and in a Computer Assisted Rehabilitation Environment (CAREN) in individuals with and without transtibial amputation

Background

Due to increased interest in treadmill gait training, recent research has focused on the similarities and differences between treadmill and overground walking. Most of these studies have tested healthy, young subjects rather than impaired populations that might benefit from such training. These studies also do not include optic flow, which may change how the individuals integrate sensory information when walking on a treadmill. This study compared overground walking to treadmill walking in a computer assisted virtual reality environment (CAREN) in individuals with and without transtibial amputations (TTA).

Methods

Seven individuals with traumatic TTA and 27 unimpaired controls participated. Subjects walked overground and on a treadmill in a CAREN at a normalized speed. The CAREN applied optic flow at the same speed that the subject walked. Temporal-spatial parameters, full body kinematics, and kinematic variability were collected during all trials.

Results

Both subject groups decreased step time and control subjects decreased step length when walking in the CAREN. Differences in lower extremity kinematics were small (< 2.5^○) and did not exceed the minimal detectable change values for these measures. Control subjects exhibited decreased transverse and frontal plane range of motion of the pelvis and trunk when walking in the CAREN, while patients with TTA did not. Both groups exhibited increased step width variability during treadmill walking in the CAREN, but only minor changes in kinematic variability.

Conclusions

The results of this study suggest that treadmill training in a virtual environment should be similar enough to overground that changes should carry over. Caution should be made when comparing step width variability and step time results from studies utilizing a treadmill to those overground.

Step-to-step variability in treadmill walking: influence of rhythmic auditory cueing

While walking, human beings continuously adjust step length (SpL), step time (SpT), step speed (SpS = SpL/SpT) and step width (SpW) by integrating both feedforward and feedback mechanisms. These motor control processes result in correlations of gait parameters between consecutive strides (statistical persistence). Constraining gait with a speed cue (treadmill) and/or a rhythmic auditory cue (metronome), modifies the statistical persistence to anti-persistence. The objective was to analyze whether the combined effect of treadmill and rhythmic auditory cueing (RAC) modified not only statistical persistence, but also fluctuation magnitude (standard deviation, SD), and stationarity of SpL, SpT, SpS and SpW. Twenty healthy subjects performed 6 × 5 min. walking tests at various imposed speeds on a treadmill instrumented with foot-pressure sensors. Freely-chosen walking cadences were assessed during the first three trials, and then imposed accordingly in the last trials with a metronome. Fluctuation magnitude (SD) of SpT, SpL, SpS and SpW was assessed, as well as NonStationarity Index (NSI), which estimates the dispersion of local means in the times series (SD of 20 local means over 10 steps). No effect of RAC on fluctuation magnitude (SD) was observed. SpW was not modified by RAC, what is likely the evidence that lateral foot placement is separately regulated. Stationarity (NSI) was modified by RAC in the same manner as persistent pattern: Treadmill induced low NSI in the time series of SpS, and high NSI in SpT and SpL. On the contrary, SpT, SpL and SpS exhibited low NSI under RAC condition. We used relatively short sample of consecutive strides (100) as compared to the usual number of strides required to analyze fluctuation dynamics (200 to 1000 strides). Therefore, the responsiveness of stationarity measure (NSI) to cued walking opens the perspective to perform short walking tests that would be adapted to patients with a reduced gait perimeter.

The effects of rhythmic sensory cues on the temporal dynamics of human gait

Walking is a complex, rhythmic task performed by the locomotor system. However, natural gait rhythms can be influenced by metronomic auditory stimuli, a phenomenon of particular interest in neurological rehabilitation. In this paper, we examined the effects of aural, visual and tactile rhythmic cues on the temporal dynamics associated with human gait. Data were collected from fifteen healthy adults in two sessions. Each session consisted of five 15-minute trials. In the first trial of each session, participants walked at their preferred walking speed. In subsequent trials, participants were asked to walk to a metronomic beat, provided through visually, aurally, tactile or all three cues (simultaneously and in sync), the pace of which was set to the preferred walking speed of the first trial. Using the collected data, we extracted several parameters including: gait speed, mean stride interval, stride interval variability, scaling exponent and maximum Lyapunov exponent. The extracted parameters showed that rhythmic sensory cues affect the temporal dynamics of human gait. The auditory rhythmic cue had the greatest influence on the gait parameters, while the visual cue had no statistically significant effect on the scaling exponent. These results demonstrate that visual rhythmic cues could be considered as an alternative cueing modality in rehabilitation without concern of adversely altering the statistical persistence of walking.

Accuracy and precision of equine gait event detection during walking with limb and trunk mounted inertial sensors

The increased variations of temporal gait events when pathology is present are good candidate features for objective diagnostic tests. We hypothesised that the gait events hoof-on/off and stance can be detected accurately and precisely using features from trunk and distal limb-mounted Inertial Measurement Units (IMUs). Four IMUs were mounted on the distal limb and five IMUs were attached to the skin over the dorsal spinous processes at the withers, fourth lumbar vertebrae and sacrum as well as left and right tuber coxae. IMU data were synchronised to a force plate array and a motion capture system. Accuracy (bias) and precision (SD of bias) was calculated to compare force plate and IMU timings for gait events. Data were collected from seven horses. One hundred and twenty three (123) front limb steps were analysed; hoof-on was detected with a bias (SD) of -7 (23) ms, hoof-off with 0.7 (37) ms and front limb stance with -0.02 (37) ms. A total of 119 hind limb steps were analysed; hoof-on was found with a bias (SD) of -4 (25) ms, hoof-off with 6 (21) ms and hind limb stance with 0.2 (28) ms. IMUs mounted on the distal limbs and sacrum can detect gait events accurately and precisely.

Wearing a safety harness during treadmill walking influences lower extremity kinematics mainly through changes in ankle regularity and local stability

Background

Wearing a harness during treadmill walking ensures the subject's safety and is common practice in biomedical engineering research. However, the extent to which such practice influences gait is unknown. This study investigated harness-related changes in gait patterns, as evaluated from lower extremity kinematics during treadmill walking.

Findings

Healthy subjects (n = 10) walked on a treadmill at their preferred speed for 3 minutes with and without wearing a harness (LiteGait^®, Mobility Research, Inc.). In the former condition, no weight support was provided to the subjects. Lower extremity kinematics was assessed in the sagittal plane from the mean (mean_RoM), standard deviation (SD_RoM) and coefficient of variation (CoV_RoM) of the hip, knee, and ankle ranges of motion (RoM), as well as from the sample entropy (SampEn) and the largest Lyapunov exponent (LyE) of the joints' angles. Wearing the harness increased the mean_RoM of the hip, the SD_RoM and the CoV_RoM of the knee, and the SampEn and the LyE of the ankle. In particular, the harness effect sizes for both the SampEn and the LyE of the ankle were large, likely reflecting a meaningful decline in the neuromuscular stabilizing control of this joint.

Conclusions

Wearing a harness during treadmill walking marginally influences lower extremity kinematics, resulting in more or less subtle changes in certain kinematic variables. However, in cases where differences in gait patterns would be expressed through modifications in these variables, having subjects walk with a harness may mask or reinforce such differences.

Fractal dimension approach in postural control of subjects with Prader-Willi Syndrome

BACKGROUND

Static posturography is user-friendly technique suitable for the study of the centre of pressure (CoP) trajectory. However, the utility of static posturography in clinical practice is somehow limited and there is a need for reliable approaches to extract physiologically meaningful information from stabilograms. The aim of this study was to quantify the postural strategy of Prader-Willi patients with the fractal dimension technique in addition to the CoP trajectory analysis in time and frequency domain.

METHODS

11 adult patients affected by Prader-Willi Syndrome (PWS) and 20 age-matched individuals (

CONTROL GROUP

CG) were included in this study. Postural acquisitions were conducted by means of a force platform and the participants were required to stand barefoot on the platform with eyes open and heels at standardized distance and position for 30 seconds. Platform data were analysed in time and frequency domain. Fractal Dimension (FD) was also computed.

RESULTS

The analysis of CoP vs. time showed that in PWS participants all the parameters were statistically different from CG, with greater displacements along both the antero-posterior and medio-lateral direction and longer CoP tracks. As for frequency analysis, our data showed no significant differences between PWS and CG. FD evidenced that PWS individuals were characterized by greater value in comparison with CG.

CONCLUSIONS

Our data showed that while the analysis in the frequency domain did not seem to explain the postural deficit in PWS, the FD method appears to provide a more informative description of it and to complement and integrate the time domain analysis.