Energy expenditure and cardiorespiratory responses at the transition between walking and running

A modified step-ramp-step protocol to prescribe constant-speed exercise in treadmill running

PURPOSE

This study investigated whether a running-adapted version of the cycling-based "step-ramp-step" (SRS) protocol would improve prediction of V ˙ O2 in treadmill exercise compared to the traditional prescriptive approach.

METHODS

Fourteen healthy individuals (6 females; 25 ± 6 years; 66.1 ± 12.7 kg) performed a treadmill-based SRS protocol including a ramp-incremental test to task failure followed by two constant-speed bouts within the moderate-(MODstep-below estimated lactate threshold; θLT), and heavy-intensity domains (HVYstep-between θLT and respiratory compensation point; RCP). Using the uncorrected V ˙ O2-to-speed relationship from the ramp exercise, three constant-speed bouts were performed at 40-50% between: baseline and θLT (CSEMOD); θLT and RCP (CSEHVY); and RCP and peak (CSESEV). For CSEMOD, CSEHVY, and CSESEV measured end-exercise V ˙ O2 was compared to predicted V ˙ O2 based on the: (i) "SRS-corrected" V ˙ O2-to-speed relationship (where MODstep and HVYstep were used to adjust the V ˙ O2 relative to speed); and (ii) linear "uncorrected" data.

RESULTS

Average treadmill speeds for CSEMOD and CSEHVY were 7.8 ± 0.8 and 11.0 ± 1.4 km·h-1, respectively, eliciting end-exercise V ˙ O2 of 1979 ± 390 and 2574 ± 540 mL·min-1. End-exercise V ˙ O2 values were not different compared to SRS-predicted V ˙ O2 at CSEMOD (mean difference: 5 ± 166 mL·min-1; p = 0.912) and CSEHVY (20 ± 128 mL·min-1; p = 0.568). The linear "uncorrected" estimates were not different for CSEMOD (- 91 ± 172 mL·min-1; p = 0.068) but lower for CSEHVY (- 195 ± 146 mL·min-1; p < 0.001). For CSESEV (running speed: 13.8 ± 1.7 km·h-1), the end-exercise V ˙ O2 was not different from peak V ˙ O2 achieved during the ramp (3027 ± 682 vs. 2979 ± 655 mL·min-1; p = 0.231).

CONCLUSION

In healthy individuals, the SRS protocol more accurately predicts speeds for a target V ˙ O2 compared to traditional approaches.

Estimating Metabolic Energy Expenditure During Level Running in Healthy, Military-Age Women and Men

ABSTRACT

Looney, DP, Hoogkamer, W, Kram, R, Arellano, CJ, and Spiering, BA. Estimating metabolic energy expenditure during level running in healthy, military-age women and men. J Strength Cond Res 37(12): 2496-2503, 2023-Quantifying the rate of metabolic energy expenditure (Ṁ) of varied aerobic exercise modalities is important for optimizing fueling and performance and maintaining safety in military personnel operating in extreme conditions. However, although equations exist for estimating oxygen uptake during running, surprisingly, there are no general equations that estimate Ṁ. Our purpose was to generate a general equation for estimating Ṁ during level running in healthy, military-age (18-44 years) women and men. We compiled indirect calorimetry data collected during treadmill running from 3 types of sources: original individual subject data (n = 45), published individual subject data (30 studies; n = 421), and published group mean data (20 studies, n = 619). Linear and quadratic equations were fit on the aggregated data set using a mixed-effects modeling approach. A chi-squared (χ2) difference test was conducted to determine whether the more complex quadratic equation was justified (p < 0.05). Our primary indicator of model goodness-of-fit was the root-mean-square deviation (RMSD). We also examined whether individual characteristics (age, height, body mass, and maximal oxygen uptake [V̇O2max]) could minimize prediction errors. The compiled data set exhibited considerable variability in Ṁ (14.54 ± 3.52 W·kg-1), respiratory exchange ratios (0.89 ± 0.06), and running speeds (3.50 ± 0.86 m·s-1). The quadratic regression equation had reduced residual sum of squares compared with the linear fit (χ2, 3,484; p < 0.001), with higher combined accuracy and precision (RMSD, 1.31 vs. 1.33 W·kg-1). Age (p = 0.034), height (p = 0.026), and body mass (p = 0.019) were associated with the magnitude of under and overestimation, which was not the case for V̇O2max (p = 0.898). The newly derived running energy expenditure estimation (RE3) model accurately predicts level running Ṁ at speeds from 1.78 to 5.70 m·s-1 in healthy, military-age women and men. Users can rely on the following equations for improved predictions of running Ṁ as a function of running speed (S, m·s-1) in either watts (W·kg-1 = 4.43 + 1.51·S + 0.37·S2) or kilocalories per minute (kcal·kg-1·min-1 = 308.8 + 105.2·S + 25.58·S2).

Running Economy in the Vertical Kilometer

New and promising variables are being developed to analyze performance and fatigue in trail running, such as mechanical power, metabolic power, metabolic cost of transport and mechanical efficiency. The aim of this study was to analyze the behavior of these variables during a real vertical kilometer field test. Fifteen trained trail runners, eleven men (from 22 to 38 years old) and four women (from 19 to 35 years old) performed a vertical kilometer with a length of 4.64 km and 835 m positive slope. During the entire race, the runners were equipped with portable gas analyzers (Cosmed K5) to assess their cardiorespiratory and metabolic responses breath by breath. Significant differences were found between top-level runners versus low-level runners in the mean values of the variables of mechanical power, metabolic power and velocity. A repeated-measures ANOVA showed significant differences between the sections, the incline and the interactions between all the analyzed variables, in addition to differences depending on the level of the runner. The variable of mechanical power can be statistically significantly predicted from metabolic power and vertical net metabolic COT. An algebraic expression was obtained to calculate the value of metabolic power. Integrating the variables of mechanical power, vertical velocity and metabolic power into phone apps and smartwatches is a new opportunity to improve performance monitoring in trail running.

Comparison of energy expenditure and substrate oxidation between walking and running in men and women

[Purpose] The present study compared energy metabolism between walking and running at equivalent speeds during two incremental exercise tests.[Methods] Thirty four university students (18 males, 16 females) were recruited. Each participant completed two trials, consisting of walking (Walk) and running (Run) trials on different days, with 2-3 days apart. Exercise on a treadmill was started from initial stage of 3 min (3.0 k/m in Walk trial, 5.0 km/h in Run trial), and the speed for walking and running was progressively every minute by 0.5 km/h. The changes in metabolic variables, heart rate (HR), and rating of perceived exertion (RPE) during exercise were compared between the trials.[Results] Energy expenditure (EE) increased with speed in each trial. However, the Walk trial had a significantly higher EE than the Run trial at speeds exceeding 92 ± 2 % of the maximal walking speed (MWS, p < 0.01). Similarly, carbohydrate (CHO) oxidation was significantly higher in the Walk trial than in the Run trial at above 92 ± 2 %MWS in males (p < 0.001) and above 93 ± 1 %MWS in females (p < 0.05).[Conclusion] These findings suggest that EE and CHO oxidation during walking increase non-linearly with speed, and walking at a fast speed causes greater metabolic responses than running at the equivalent speed in young participants.

Disturbance of neural coupling between upper and lower limbs during gait transition

Humans spontaneously alternate between walking and running with a change in locomotion speed, which is termed gait transition. It has been suggested that sensory information in the muscle is a factor that triggers the gait transition; however, direct evidence for this has not been presented. In addition, it has been suggested that upper limb movement during human gait facilitates leg muscle activity due to the neural coupling between the upper and lower limbs. We hypothesized that a disturbance of afferent inputs in the neural coupling between the upper and lower limbs suppressively act on the gait transition. Here, we aimed to deepen the understanding of contribution of the afferent inputs in neural coupling between the upper and lower limbs to the gait transition. Eight participants performed spontaneous walk-to-run and run-to-walk transitions under two different conditions: Normal (arms swinging normally); and TIS (partial blocking of afferent inputs from the arms by inducing tourniquet ischemia). We compared the preferred gait transition speeds (PTS), joint angles, muscle activities, and muscle synergies between the two conditions. Control of coordinated muscle activities can be investigated by analyzing muscle synergies, which are groups of muscles that activate together. The PTS, joint angle profiles, muscle activity profiles, and muscle synergies were nearly identical between conditions (walk-to-run PTS at Normal and TIS: 6.9 ± 0.4 and 6.9 ± 0.4 km/h; run-to-walk PTS at Normal and TIS: 6.6 ± 0.4 and 6.5 ± 0.4 km/h; p = 0.869 and p = 0.402, respectively). Therefore, we conclude that the control of gait transition is little affected by disturbing the neural coupling between the upper and lower limbs by reducing afferent inputs from the forearms and distal upper arms. Our findings might reflect robustness of the neural coupling between the upper and lower limbs during locomotion against neural perturbations or disturbances.

Does the preferred walk-run transition speed on steep inclines minimize energetic cost, heart rate or neither?

As walking speed increases, humans choose to transition to a running gait at their preferred transition speed (PTS). Near that speed, it becomes metabolically cheaper to run rather than to walk and that defines the energetically optimal transition speed (EOTS). Our goals were to determine: (1) how PTS and EOTS compare across a wide range of inclines and (2) whether the EOTS can be predicted by the heart rate optimal transition speed (HROTS). Ten healthy, high-caliber, male trail/mountain runners participated. On day 1, subjects completed 0 and 15 deg trials and on day 2, they completed 5 and 10 deg trials. We calculated PTS as the average of the walk-to-run transition speed (WRTS) and the run-to-walk transition speed (RWTS) determined with an incremental protocol. We calculated EOTS and HROTS from energetic cost and heart rate data for walking and running near the expected EOTS for each incline. The intersection of the walking and running linear regression equations defined EOTS and HROTS. We found that PTS, EOTS and HROTS all were slower on steeper inclines. PTS was slower than EOTS at 0, 5 and 10 deg, but the two converged at 15 deg. Across all inclines, PTS and EOTS were only moderately correlated. Although EOTS correlated with HROTS, EOTS was not predicted accurately by heart rate on an individual basis.

Age-Related Differences in Perceived Exertion While Walking and Running Near the Preferred Transition Speed

PURPOSE

To investigate whether youth and adults can perceive differences in exertion between walking and running at speeds near the preferred transition speed (PTS) and if there are age-related differences in these perceptions.

METHODS

A total of 49 youth (10-12 y, n = 21; 13-14 y, n = 10; 15-17 y, n = 18) and 13 adults (19-29 y) completed a walk-to-run transition protocol to determine PTS and peak oxygen uptake. The participants walked and ran on a treadmill at 5 speeds (PTS-0.28 m·s-1, PTS-0.14 m·s-1, PTS, PTS+0.14 m·s-1, PTS+0.28 m·s-1) and rated perceived exertion using the OMNI Perceived Exertion (OMNI-RPE) scale. Oxygen consumption was measured during the walk-to-run transition protocol to obtain the relative intensity (percentage of peak oxygen uptake) at PTS. OMNI-RPE scores at all speeds and percentage of peak oxygen uptake at PTS were compared between age groups.

RESULTS

The 10- to 12-year-olds transitioned at a higher percentage of peak oxygen uptake than adults (64.54 [10.18] vs 52.22 [11.40], respectively; P = .035). The 10- to 14-year-olds generally reported higher OMNI-RPE scores than the 15- to 17-year-olds and adults (P < .050). In addition, the 10- to 14-year-olds failed to distinguish differences in OMNI-RPE between walking and running at PTS and PTS+0.14 m·s-1.

CONCLUSIONS

Children aged 10-14 years are less able to distinguish whether walking or running requires less effort at speeds near the PTS compared with adults. The inability to judge which gait mode is less demanding could hinder the ability to minimize locomotive demands.

Modulation of joint and limb mechanical work in walk-to-run transition steps in humans

Surprisingly little information exists of the mechanics in the steps initializing the walk-to-run transition (WRT) in humans. Here, we assess how mechanical work of the limbs (vertical and horizontal) and the individual joints (ankle, knee and hip) are modulated as humans transition from a preferred constant walking velocity (v_walk) to a variety of running velocities (v_run; ranging from a sprint to a velocity slower than v_walk). WRTs to fast v_run values occur nearly exclusively through positive horizontal limb work, satisfying the goal of forward acceleration. Contrary to our hypothesis, however, positive mechanical work remains above that at v_walk even when decelerating. In these WRTs to slow running, positive mechanical work is remarkably high and is comprised nearly exclusively of vertical limb work. Vertical-to-horizontal work modulation may represent an optimization for achieving minimal and maximal v_run, respectively, while fulfilling an apparent necessity for energy input when initiating WRTs. Net work of the WRT steps was more evenly distributed across the ankle, knee and hip joints than expected. Absolute positive mechanical work exhibited a clearer modulation towards hip-based work at high accelerations (>3 m s^-2), corroborating previous suggestions that the most proximal joints are preferentially recruited for locomotor tasks requiring high power and work production. In WRTs to very slow v_run values, high positive work is nevertheless done at the knee, indicating that modulation of joint work is not only dependent on the amount of work required but also the locomotor context.

Humans control stride-to-stride stepping movements differently for walking and running, independent of speed

As humans walk or run, external (environmental) and internal (physiological) disturbances induce variability. How humans regulate this variability from stride-to-stride can be critical to maintaining balance. One cannot infer what is "controlled" based on analyses of variability alone. Assessing control requires quantifying how deviations are corrected across consecutive movements. Here, we assessed walking and running, each at two speeds. We hypothesized differences in speed would drive changes in variability, while adopting different gaits would drive changes in how people regulated stepping. Ten healthy adults walked/ran on a treadmill under four conditions: walk or run at comfortable speed, and walk or run at their predicted walk-to-run transition speed. Time series of relevant stride parameters were analyzed to quantify variability and stride-to-stride error-correction dynamics within a Goal-Equivalent Manifold (GEM) framework. In all conditions, participants' stride-to-stride control respected a constant-speed GEM strategy. At each consecutively faster speed, variability tangent to the GEM increased (p ≤ 0.031), while variability perpendicular to the GEM decreased (p ≤ 0.044). There were no differences (p ≥ 0.999) between gaits at the transition speed. Differences in speed determined how stepping variability was structured, independent of gait, confirming our first hypothesis. For running versus walking, measures of GEM-relevant statistical persistence were significantly less (p ≤ 0.004), but showed minimal-to-no speed differences (0.069 ≤ p ≤ 0.718). When running, people corrected deviations both more quickly and more directly, each indicating tighter control. Thus, differences in gait determined how stride-to-stride fluctuations were regulated, independent of speed, confirming our second hypothesis.

The role of speed and incline in the spontaneous choice of technique in classical roller-skiing

Cross-country skiers change technique depending on terrain (incline) and effort (work rate; speed at a particular incline or resistance). The literature is not unequivocal about the influence of incline or speed on the choice of technique, i.e., which of these act as a 'control parameter'. Identifying task related control parameters for spontaneous technique shifts assists elucidating which mechanisms are active for triggering technique transitions. The aim of this study was to investigate whether speed or incline acted as such control parameter for technique shifts during classic style roller skiing. In this study, we kept the exercise intensity constant while changing two potential control parameters (speed and incline). Thus, any effect of work rate was excluded. Eight male competitive cross-country skiers performed roller skiing on a treadmill while incline was altered from 3 to 11% and back to 3% each minute by 1% and speed changed accordingly to obtain a constant work rate. This protocol was performed at three submaximal work rates (170, 200, and 230W) to obtain various combinations of speed and incline. The athletes were free to choose their technique (double poling, double poling with kick and diagonal stride), which was identified using continuous phase analysis on the motion of the skis. Physiological response (heart rate, oxygen uptake) was recorded continuously. The incline seemed to affect choice of technique shift more than speed: the ANOVA for repeated measures on all work rates showed no significant effect of incline (p>0.2) and an effect for speed (p<0.001). No effect of protocol order (increasing versus decreasing incline) was found for transitions. The physiological response was lowest for conditions of steep incline-low speed and was affected by protocol order. Cycle rate was affected by incline only in the double poling technique. Possible mechanisms related to the triggering of technique transitions are discussed.

Asymmetric interlimb role-sharing in mechanical power during human sideways locomotion

Sideways movement at a wide variety of speeds is required in daily life and sports. The purpose of this study was to identify the characteristics of asymmetry in power output between lower limbs during sideways gait patterns. Seven healthy men performed steady-state sideways locomotion at various speeds. The mechanical external power of each limb was calculated and decomposed to the lateral and vertical components by the center of mass velocity and ground reaction force. We acquired data from 126 steps of sideways walking at 0.44-1.21m/s, and from 41 steps of sideways galloping at 1.04-3.00m/s. The results showed asymmetric power production between the limbs during sideways locomotion. During sideways walking, the trailing limb predominantly produced positive external power and the leading limb produced predominantly negative external power, and these amplitudes increased with step speed. In contrast, during sideways galloping, negative and subsequent positive power production was observed in both limbs. These differences in asymmetric interlimb role-sharing were mainly due to the vertical component. During sideways galloping, the trailing limb absorbs vertical power produced by the leading limb due to the longer flight time. This characteristic of vertical power production in the trailing limb may explain the presence of a double-support phase, which is not observed during forward running, even at high speeds. Our results will help to elucidate the asymmetric movements of the limbs in lateral directions at various speeds.

Physiological strain to prolonged exercise bouts at the walk-run transition speeds depends on locomotion mode in healthy untrained men

This study compared the physiological strain induced by prolonged walking and running performed at the walk-run transition speed (WRTS) in healthy untrained men. Twenty volunteers (age: 28 ± 5.01 years; height: 174.0 ± 0.3 cm; body mass: 74.5 ± 0.6 kg) underwent the following: (a) ramp-incremental maximal cardiopulmonary exercise test (CPET); (b) specific protocol to detect the WRTS; and (c) two 30-min walking and running bouts at WRTS (mean ± SD: 6.9 ± 0.06 km/h). Expired gases were collected during exercise bouts via the metabolic cart. A significant effect of locomotion mode (F = 4.8, P < 0.001) was observed with running resulting in higher cardiorespiratory responses than walking at the WRTS (oxygen uptake: mean difference = 0.26 L/min; pulmonary ventilation: mean difference = 5.53 L/min; carbon dioxide output: mean difference = 0.32 L/min; heart rate: mean difference = 13 beats/min; total energy expenditure: mean difference = 59 kcal). The rating of perceived exertion was similar across locomotion modes (mean difference = 0.3; P = 0.490). In conclusion, running promoted greater cardiorespiratory responses than walking at the WRTS in untrained healthy men. These data might have practical impact on aerobic training performed at intensities corresponding to WRTS.

Walking beyond preferred transition speed increases muscle activations with a shift from inverted pendulum to spring mass model in lower extremity

BACKGROUND

The triggers for the transition of gait from walking to running during increasing speed locomotion have been attributed to an energy conservation strategy or a relief of excessive muscle activation. Walking beyond the preferred transition speed (PTS) has been proposed as an exercise protocol for boosting energy consumption. However, the biomechanical factors involved while this protocol is used have not been investigated. Thus, this study investigated the difference between walking and running below, during, and beyond the PTS from a biomechanical perspective.

METHODS

Sixteen healthy male participants were recruited. After determination of their PTS, five speeds of walking and running were defined. Kinematic data, including center-of-mass (COM) displacement, COM acceleration, and electromyography (EMG) data of rectus femoris (RF), biceps femoris, gastrocnemius (GAS), and tibialis anterior were collected at the five speeds for both walking and running.

RESULT

The vertical COM displacement and acceleration in running were significantly larger than those in walking at all five speeds (p<0.05). EMG signals of the two antigravity muscles, RF and GAS, demonstrated a significant higher activation in walking than that in running at the speed beyond PTS (p<0.05).

CONCLUSION

The larger energy consumption in walking than that in running beyond the PTS may be attributed to the high activation of lower-extremity muscles. The smaller vertical COM displacements and accelerations exhibited when participants walked beyond the PTS rather than ran did not indicate adverse effects of using walking beyond the PTS as an exercise prescription for boosting energy consumption.

Biomechanics of the human walk-to-run gait transition in persons with unilateral transtibial amputation

Propulsive force production (indicative of intrinsic force-length-velocity characteristics of the plantar flexor muscles) has been shown to be a major determinant of the human walk-to-run transition. The purpose of this work was to determine the gait transition speed of persons with unilateral transtibial amputation donning a passive-elastic prosthesis and assess whether a mechanical limit of their intact side plantar flexor muscles is a major determinant of their walk-to-run transition. We determined each individual׳s gait transition speed (GTS) via an incremental protocol and assessed kinetics and kinematics during walking at speeds 50%, 60%, 70%, 80%, 90%, 100%, 120%, and 130% of that gait transition speed (100%:GTS). Unilateral transtibial amputees transitioned between gaits at significantly slower absolute speeds than matched able-bodied controls (1.73±0.13 and 2.09±0.05m/s respectively, p<0.01). Peak anterior-posterior propulsive force increased with speed in controls until 100% of the preferred gait transition speed and decreased at greater speeds. A significant decrease in anterior-posterior propulsive force production was found at 120%GTS (110%: 0.27±0.04>120%: 0.23±0.05BW, p<0.05). In contrast, amputee subjects' intact side generated significantly higher peak anterior-posterior propulsive forces while walking at speeds above their preferred gait transition speed (100%: 0.28±0.04<110%: 0.30±0.04BW, p<0.05). Changes in propulsive force production were found to be a function of changes in absolute speed, rather than relative to the walk-to-run transition speed. Therefore, the walk-to-run transition in unilateral transtibial amputees is not likely dictated by propulsive force production or the force-length-velocity characteristics of the intact side plantar flexor muscles.

Energetics of vertical kilometer foot races; is steeper cheaper?

Vertical kilometer foot races consist of a 1,000-m elevation gain in <5,000 m of overall distance, and the inclines of the fastest courses are ∼30°. Previous uphill locomotion studies have focused on much shallower angles. We aimed to quantify the metabolic costs of walking and running on very steep angles and to biomechanically distinguish walking from running. Fifteen runners (10 male, 5 female, 32.9 ± 7.5 yr, 1.75 ± 0.09 m, 64.3 ± 9.1 kg) walked and ran for 5 min at seven different angles (9.4, 15.8, 20.4, 24.8, 30.0, 35.0, and 39.2°) all at a fixed vertical velocity (0.35 m/s). We measured the metabolic rates and calculated the vertical costs of walking (Cwvert) and running (Crvert). Using video analysis, we determined stride frequency, stride length, and duty factor (fraction of stride that each foot is in ground contact). At all angles other than 9.4°, Cwvert was cheaper than Crvert (average −8.45 ± 1.05%; P < 0.001). Further, broad minima for both Cwvert and Crvert existed between 20.4 and 35.0° (average Cwvert 44.17 ± 0.41 J·kg−1·m−1 and average Crvert 48.46 ± 0.35 J·kg−1·m−1). At all angles and speeds tested, both walking and running involved having at least one foot on the ground at all times. However, in walking, stride frequency and stride length were ∼28% slower and longer, respectively, than in running. In conclusion, we found that there is a range of angles for which energy expenditure is minimized. At the vertical velocity tested, on inclines steeper than 15.8°, athletes can reduce their energy expenditure by walking rather than running.

Identification of muscle synergies associated with gait transition in humans

There is no theoretical or empirical evidence to suggest how the central nervous system (CNS) controls a variety of muscles associated with gait transition between walking and running. Here, we examined the motor control during a gait transition based on muscle synergies, which modularly organize functionally similar muscles. To this end, the subjects walked or ran on a treadmill and performed a gait transition spontaneously as the treadmill speed increased or decreased (a changing speed condition) or voluntarily following an experimenter's instruction at constant treadmill speed (a constant speed condition). Surface electromyograms (EMGs) were recorded from 11 lower limb muscles bilaterally. We then extracted the muscle weightings of synergies and their activation coefficients from the EMG data using non-negative matrix factorization. As a result, the gait transition was controlled by approximately 9 muscle synergies, which were common during a walking and running, and their activation profiles were changed before and after a gait transition. Near a gait transition, the peak activation phases of the synergies, which were composed of plantar flexor muscles, were shifted to an earlier phase at the walk-to-run transition, and vice versa. The shifts were gradual in the changing speed condition, but an abrupt change was observed in the constant speed condition. These results suggest that the CNS low-dimensionally regulate the activation profiles of the specific synergies based on afferent information (spontaneous gait transition) or by changing only the descending neural input to the muscle synergies (voluntary gait transition) to achieve a gait transition.

Metabolic costs and rating of perceived exertion during backward walking in water and on dry land

The purpose of this study was to compare metabolic costs, rating of perceived exertion (RPE), and stride frequency during backward walking in water and on land. The walking speeds in water were set to be half of those on land. There was no significant difference in metabolic costs and RPE between backward walking in water with a current and on land, at slow and moderate speeds (P > 0.05). However, at the fast speed (i.e., 3.0 and 6.0 km · h(-1) for water and land, respectively), the metabolic costs and RPE during backward walking on land were significantly higher than when walking backward in water with a current (P < 0.05). With regard to backward walking at faster speeds, if the walking speed in water with a current is set at half the speed on land, then the speed will be inadequate for inducing metabolic costs and RPE that are similar to those produced on land.

Joint-level mechanics of the walk-to-run transition in humans

Two commonly proposed mechanical explanations for the walk-to-run transition (WRT) include the prevention of muscular over-exertion (effort) and the minimization of peak musculoskeletal loads and thus injury risk. The purpose of this study was to address these hypotheses at a joint level by analysing the effect of speed on discrete lower-limb joint kinetic parameters in humans across a wide range of walking and running speeds including walking above and running below the WRT speed. Joint work, peak instantaneous joint power, and peak joint moments in the sagittal and frontal plane of the ankle, knee and hip from eight participants were collected for 10 walking speeds (30-120% of their WRT) and 10 running speeds (80-170% of their WRT) on a force plate instrumented treadmill. Of the parameters analysed, three satisfied our statistical criteria of the 'effort-load' hypothesis of the WRT. Mechanical parameters that provide an acute signal (peak moment and peak power) were more strongly associated with the gait transition than parameters that reflect the mechanical function across a portion of the stride. We found that both the ankle (peak instantaneous joint power during swing) and hip mechanics (peak instantaneous joint power and peak joint moments in stance) can influence the transition from walking to running in human locomotion and may represent a cascade of mechanical events beginning at the ankle and leading to an unfavourable compensation at the hip. Both the ankle and hip mechanisms may contribute to gait transition by lowering the muscular effort of running compared with walking at the WRT speed. Although few of the examined joint variables satisfied our hypothesis of the WRT, most showed a general marked increase when switching from walking to running across all speeds where both walking and running are possible, highlighting the fundamental differences in the mechanics of walking and running. While not eliciting the WRT per se, these variables may initiate the transition between stable walking and running patterns. Those variables that were invariant of gait were predominantly found in the swing phase.

Biomechanical and energetic determinants of technique selection in classical cross-country skiing

Classical cross-country skiing can be performed using three main techniques: diagonal stride (DS), double poling (DP), and double poling with kick (DK). Similar to other forms of human and animal gait, it is currently unclear whether technique selection occurs to minimize metabolic cost or to keep some mechanical factors below a given threshold. The aim of this study was to find the determinants of technique selection. Ten male athletes roller skied on a treadmill at different slopes (from 0° to 7° at 10km/h) and speeds (from 6 to 18km/h at 2°). The technique preferred by skiers was gathered for every proposed condition. Biomechanical parameters and metabolic cost were then measured for each condition and technique. Skiers preferred DP for skiing on the flat and they transitioned to DK and then to DS with increasing slope steepness, when increasing speed all skiers preferred DP. Data suggested that selections mainly occur to remain below a threshold of poling force. Second, critically low values of leg thrust time may limit the use of leg-based techniques at high speeds. A small role has been identified for the metabolic cost of locomotion, which determined the selection of DP for flat skiing.

Vaulting mechanics successfully predict decrease in walk-run transition speed with incline

There is an ongoing debate about the reasons underlying gait transition in terrestrial locomotion. In bipedal locomotion, the 'compass gait', a reductionist model of inverted pendulum walking, predicts the boundaries of speed and step length within which walking is feasible. The stance of the compass gait is energetically optimal-at walking speeds-owing to the absence of leg compression/extension; completely stiff limbs perform no work during the vaulting phase. Here, we extend theoretical compass gait vaulting to include inclines, and find good agreement with previous observations of changes in walk-run transition speed (approx. 1% per 1% incline). We measured step length and frequency for humans walking either on the level or up a 9.8 per cent incline and report preferred walk-run, walk-compliant-walk and maximum walk-run transition speeds. While the measured 'preferred' walk-run transition speed lies consistently below the predicted maximum walking speeds, and 'actual' maximum walking speeds are clearly above the predicted values, the onset of compliant walking in level as well as incline walking occurs close to the predicted values. These findings support the view that normal human walking is constrained by the physics of vaulting, but preferred absolute walk-run transition speeds may be influenced by additional factors.

Walking, running, and resting under time, distance, and average speed constraints: optimality of walk-run-rest mixtures

On a treadmill, humans switch from walking to running beyond a characteristic transition speed. Here, we study human choice between walking and running in a more ecological (non-treadmill) setting. We asked subjects to travel a given distance overground in a given allowed time duration. During this task, the subjects carried, and could look at, a stopwatch that counted down to zero. As expected, if the total time available were large, humans walk the whole distance. If the time available were small, humans mostly run. For an intermediate total time, humans often use a mixture of walking at a slow speed and running at a higher speed. With analytical and computational optimization, we show that using a walk-run mixture at intermediate speeds and a walk-rest mixture at the lowest average speeds is predicted by metabolic energy minimization, even with costs for transients-a consequence of non-convex energy curves. Thus, sometimes, steady locomotion may not be energy optimal, and not preferred, even in the absence of fatigue. Assuming similar non-convex energy curves, we conjecture that similar walk-run mixtures may be energetically beneficial to children following a parent and animals on long leashes. Humans and other animals might also benefit energetically from alternating between moving forward and standing still on a slow and sufficiently long treadmill.

Humans, geometric similarity and the Froude number: is ''reasonably close'' really close enough?

Understanding locomotor energetics is imperative, because energy expended during locomotion, a requisite feature of primate subsistence, is lost to reproduction. Although metabolic energy expenditure can only be measured in extant species, using the equations of motion to calculate mechanical energy expenditure offers unlimited opportunities to explore energy expenditure, particularly in extinct species on which empirical experimentation is impossible. Variability, either within or between groups, can manifest as changes in size and/or shape. Isometric scaling (or geometric similarity) requires that all dimensions change equally among all individuals, a condition that will not be met in naturally developing populations. The Froude number (Fr), with lower limb (or hindlimb) length as the characteristic length, has been used to compensate for differences in size, but does not account for differences in shape.To determine whether or not shape matters at the intraspecific level, we used a mechanical model that had properties that mimic human variation in shape. We varied crural index and limb segment circumferences (and consequently, mass and inertial parameters) among nine populations that included 19 individuals that were of different size. Our goal in the current work is to understand whether shape variation changes mechanical energy sufficiently enough to make shape a critical factor in mechanical and metabolic energy assessments.Our results reaffirm that size does not affect mass-specific mechanical cost of transport (Alexander and Jayes, 1983) among geometrically similar individuals walking at equal Fr. The known shape differences among modern humans, however, produce sufficiently large differences in internal and external work to account for much of the observed variation in metabolic energy expenditure, if mechanical energy is correlated with metabolic energy. Any species or other group that exhibits shape differences should be affected similarly to that which we establish for humans. Unfortunately, we currently do not have a simple method to control or adjust for size-shape differences in individuals that are not geometrically similar, although musculoskeletal modeling is a viable, and promising, alternative. In mouse-to-elephant comparisons, size differences could represent the largest source of morphological variation, and isometric scaling factors such as Fr can compensate for much of the variability. Within species, however, shape differences may dominate morphological variation and Fr is not designed to compensate for shape differences. In other words, those shape differences that are "reasonably close" at the mouse-to-elephant level may become grossly different for within-species energetic comparisons.

Fast visual prediction and slow optimization of preferred walking speed

People prefer walking speeds that minimize energetic cost. This may be accomplished by directly sensing metabolic rate and adapting gait to minimize it, but only slowly due to the compounded effects of sensing delays and iterative convergence. Visual and other sensory information is available more rapidly and could help predict which gait changes reduce energetic cost, but only approximately because it relies on prior experience and an indirect means to achieve economy. We used virtual reality to manipulate visually presented speed while 10 healthy subjects freely walked on a self-paced treadmill to test whether the nervous system beneficially combines these two mechanisms. Rather than manipulating the speed of visual flow directly, we coupled it to the walking speed selected by the subject and then manipulated the ratio between these two speeds. We then quantified the dynamics of walking speed adjustments in response to perturbations of the visual speed. For step changes in visual speed, subjects responded with rapid speed adjustments (lasting <2 s) and in a direction opposite to the perturbation and consistent with returning the visually presented speed toward their preferred walking speed, when visual speed was suddenly twice (one-half) the walking speed, subjects decreased (increased) their speed. Subjects did not maintain the new speed but instead gradually returned toward the speed preferred before the perturbation (lasting >300 s). The timing and direction of these responses strongly indicate that a rapid predictive process informed by visual feedback helps select preferred speed, perhaps to complement a slower optimization process that seeks to minimize energetic cost.

Running perturbations reveal general strategies for step frequency selection

Recent research has suggested that energy minimization in human walking involves both a fast preprogrammed process and a slow optimization process. Here, we studied human running to test whether these two processes represent control mechanisms specific to walking or a more general strategy for minimizing energetic cost in human locomotion. To accomplish this, we used free response experiments to enforce step frequency with a metronome at values above and below preferred step frequency and then determined the response times for the return to preferred steady-state step frequency when the auditory constraint was suddenly removed. In forced response experiments, we applied rapid changes in treadmill speed and examined response times for the processes involved in the consequent adjustments to step frequency. We then compared the dynamics of step frequency adjustments resulting from the two different perturbations to each other and to previous results found in walking. Despite the distinct perturbations applied in the two experiments, both responses were dominated by a fast process with a response time of 1.47 ± 0.05 s with fine-tuning provided by a slow process with a response time of 34.33 ± 0.50 s. The dynamics of the processes underlying step frequency adjustments in running match those found previously in walking, both in magnitude and relative importance. Our results suggest that the underlying mechanisms are fundamental strategies for minimizing energetic cost in human locomotion.

Why is walker-assisted gait metabolically expensive?

Walker-assisted gait is reported to be ∼200% more metabolically expensive than normal bipedal walking. However, previous studies compared different walking speeds. Here, we compared the metabolic power consumption and basic stride temporal-spatial parameters for 10 young, healthy adults walking without assistance and using 2-wheeled (2W), 4-wheeled (4W) and 4-footed (4F) walker devices, all at the same speed, 0.30m/s. We also measured the metabolic power demand for walking without any assistive device using a step-to gait at 0.30m/s, walking normally at 1.25m/s, and for repeated lifting of the 4F walker mimicking the lifting pattern used during 4F walker-assisted gait. Similar to previous studies, we found that the cost per distance walked was 217% greater with a 4F walker at 0.30m/s compared to unassisted, bipedal walking at 1.25m/s. Compared at the same speed, 0.30m/s, using a 4F walker was still 82%, 74%, and 55% energetically more expensive than walking unassisted, with a 4W walker and a 2W walker respectively. The sum of the metabolic cost of step-to walking plus the cost of lifting itself was equivalent to the cost of walking with a 4F walker. Thus, we deduce that the high cost of 4F walker assisted gait is due to three factors: the slow walking speed, the step-to gait pattern and the repeated lifting of the walker.

Fuel oxidation at the walk-to-run-transition in humans

Multiple factors (including anthropometric, kinetic, mechanical, kinematic, perceptual, and energetic factors) are likely to play a role in the walk-to-run transition in humans. The primary purpose of the present study was to consider an additional factor, the metabolic fuel source. Indirect calorimetry was used to measure fuel oxidation, and perception of effort was recorded as 10 overnight-fasted adults locomoted on a level treadmill at speeds progressing from 1.56 to 2.46 m s(-1) in increments of 0.11 m s(-1) and 10.0 minutes under 3 conditions: (1) unconstrained choice of gait, (2) walking at all speeds, and (3) running at all speeds. The preferred transition speed was 2.08 ± 0.03 m s(-1). Gait transition from walking to running increased oxygen consumption rate, decreased the perception of effort, and decreased the rate of carbohydrate oxidation. We propose that, in an evolutionary context, gait transition, guided by the perception of effort, can be viewed as a carbohydrate-sparing strategy.

The effects of step width and arm swing on energetic cost and lateral balance during running

In walking, humans prefer a moderate step width that minimizes energetic cost and vary step width from step-to-step to maintain lateral balance. Arm swing also reduces energetic cost and improves lateral balance. In running, humans prefer a narrow step width that may present a challenge for maintaining lateral balance. However, arm swing in running may improve lateral balance and help reduce energetic cost. To understand the roles of step width and arm swing, we hypothesized that net metabolic power would be greater at step widths greater or less than preferred and when running without arm swing. We further hypothesized that step width variability (indicator of lateral balance) would be greater at step widths greater or less than preferred and when running without arm swing. Ten subjects ran (3m/s) at four target step widths (0%, 15%, 20%, and 25% leg length (LL)) with arm swing, at their preferred step width with arm swing, and at their preferred step width without arm swing. We measured metabolic power, step width, and step width variability. When subjects ran at target step widths less (0% LL) or greater (15%, 20%, and 25% LL) than preferred, both net metabolic power demand (by 3%, 9%, 12%, and 15%) and step width variability (by 7%, 33%, 46%, and 69%) increased. When running without arm swing, both net metabolic power demand (by 8%) and step width variability (by 9%) increased compared to running with arm swing. It appears that humans prefer to run with a narrow step width and swing their arms so as to minimize energetic cost and improve lateral balance.

Evidence for energy savings from aerial running in the Svalbard rock ptarmigan (Lagopus muta hyperborea)

Svalbard rock ptarmigans were walked and run upon a treadmill and their energy expenditure measured using respirometry. The ptarmigan used three different gaits: a walking gait at slow speeds (less than or equal to 0.75 m s(-1)), grounded running at intermediate speeds (0.75 m s(-1) < U < 1.67 m s(-1)) and aerial running at high speeds (greater than or equal to 1.67 m s(-1)). Changes of gait were associated with reductions in the gross cost of transport (COT; J kg(-1) m(-1)), providing the first evidence for energy savings with gait change in a small crouched-postured vertebrate. In addition, for the first time (excluding humans) a decrease in absolute metabolic energy expenditure (rate of O(2) consumption) in aerial running when compared with grounded running was identified. The COT versus U curve varies between species and the COT was cheaper during aerial running than grounded running, posing the question of why grounded running should be used at all. Existing explanations (e.g. stability during running over rocky terrain) amount to just so stories with no current evidence to support them. It may be that grounded running is just an artefact of treadmill studies. Research investigating the speeds used by animals in the field is sorely needed.

Walk-run transition in young and older adults: with special reference to the cardio-respiratory responses

Cardio-respiratory responses of young and older subjects performing walking and running protocols at the walk-run transition speed (WRT) were compared. A total of 26 volunteers assigned to younger (YG, 24 +/- 3 years) and older (OG, 64 +/- 6 years) groups underwent a protocol to determine the WRT used in 6-min walking and running protocols. Oxygen uptake (VO(2)), ventilation (V (E)), expired carbon dioxide (VCO(2)), heart rate (HR) and perceived exertion (RPE) were assessed. Oxygen pulse (O(2) pulse) and respiratory exchange ratio (RER) were calculated. The WRT was not different between groups (OG: 6.84 +/- 0.69 km h(-1) vs. YG: 7.04 +/- 0.77 km h(-1), P = 0.62). No between-group differences were found within a given gait pattern for VO(2) (P = 0.061) and VCO(2) (P = 0.076). However, VO(2) (P = 0.0022) and VCO(2) (P = 0.0041) increased in OG when running, remaining stable in YG (VO(2): P = 0.622; VCO(2): P = 0.412). The VE was higher in OG compared to YG in walking (P = 0.030) and running (P = 0.004) protocols. No age-related (P = 0.180) or locomotion (P = 0.407) effects were found for RER. The HR increased in OG and between-group difference was detected while running (P = 0.003). No within- (P = 0.447) or between-group (P = 0.851) difference was found for O(2) pulse. The net VO(2) increased from walking to running in OG (P < 0.0001) but not in YG (P = 0.53), while RPE was lower in YG (P = 0.041) but stable in OG (P = 0.654). In conclusion, the WRT speed was similar across the age groups. However, the VO(2) and VCO(2) increase from walking to running was larger for OG than YG. The HR, VE and RPE were also higher when running in OG compared to YG. Therefore, the locomotion strategy had different impacts on the metabolic demand of older and younger subjects.

Gait transitions of persons with and without intellectual disability

This study examined whether the walk-to-run transition speed (W-RTS) and the run-to-walk transition speed (R-WTS) were different or more variable between participants with and without intellectual disability (ID). Nine adults with ID and 10 adults without ID completed in a series of walk-to-run and run-to-walk trials on a treadmill. W-RTS and R-WTS were identified using force-sensitive resistors. When transition speeds were expressed as Froude numbers to account for differences in leg length, W-RTS was slower and intraindividual variability of W-RTS and R-WTS was greater in participants with ID. These findings support the idea that the unique constraints of individuals with ID result in altered attractor dynamics for walking and a weaker coupling between locomotor speed and order parameters governing gait transitions.

Changing the demand on specific muscle groups affects the walk-run transition speed

It has been proposed that muscle-specific factors trigger the human walk-run transition. We investigated if changing the demand on trigger muscles alters the preferred walk-run transition speed. We hypothesized that (1) reducing the demand on trigger muscles would increase the transition speed and (2) increasing the demand on trigger muscles would decrease the transition speed. We first determined the normal preferred walk-run transition speed (PTS) using a step-wise protocol with a randomized speed order. We then determined PTS while subjects walked with external devices that decreased or increased the demand on specific muscle groups. We concurrently measured the electromyographic activity of five leg muscles (tibialis anterior, soleus, rectus femoris, medial and lateral gastrocnemius) at each speed and condition. For this study, we developed a dorsiflexor assist device that aids the dorsiflexor muscles. A leg swing assist device applied forward pulling forces at the feet thus aiding the hip flexors during swing. A third device applied a horizontal force near the center of mass, which impedes or aids forward progression thus overloading or unloading the plantarflexor muscles. We found that when demand was decreased in the muscles measured, the PTS significantly increased. Conversely, when muscle demand was increased in the plantar flexors, the PTS decreased. However, combining assistive devices did not produce an even faster PTS. We conclude that altering the demand on specific muscles can change the preferred walk-run transition speed. However, the lack of a summation effect with multiple external devices, suggests that another underlying factor ultimately determines the preferred walk-run transition speed.

The Relationship between Joint Kinetic Factors and the Walk–Run Gait Transition Speed during Human Locomotion

The primary purpose of this project was to examine whether lower extremity joint kinetic factors are related to the walk–run gait transition during human locomotion. Following determination of the preferred transition speed (PTS), each of the 16 subjects walked down a 25-m runway, and over a floor-mounted force platform at five speeds (70, 80, 90, 100, and 110% of the PTS), and ran over the force platform at three speeds (80, 100, and 120% of the PTS) while being videotaped (240 Hz) from the right sagittal plane. Two-dimensional kinematic data were synchronized with ground reaction force data (960 Hz). After smoothing, ankle and knee joint moments and powers were calculated using standard inverse dynamics calculations. The maximum dorsiflexor moment was the only variable tested that increased as walking speed increased and then decreased when gait changed to a run at the PTS, meeting the criteria set to indicate that this variable influences the walk–run gait transition during human locomotion. This supports previous research suggesting that an important factor in changing gaits at the PTS is the prevention of undue stress in the dorsiflexor muscles.

Kinematics of the transition between walking and running when gradually changing speed

The purpose of this study was to examine kinematics of the walk-to-run transition (WRT) and run-to-walk transition (RWT) when speed is altered with a constant acceleration of 0.1 m s(-2), respectively -0.1 m s(-2). Thirteen women (height: 168.9+/-3.36 cm) performed gait transitions on a motor-driven treadmill. WRT-speed was 2.16+/-0.12 m s(-1), RWT-speed 2.19+/-0.12 m s(-1). Kinematics were examined in the range from eight steps before to eight steps after transition in order to identify the possible occurrence of a transition process to facilitate the actual realization of transition. A transition step in which the main changes from one gait to another are realized is present in WRT and RWT. Despite this clear discontinuity, a transition process also appeared in both transitions. In the WRT, transition was prepared and kinematic adaptations were found in the last swing before transition leading to altered landing conditions. During RWT posttransition changes were observed and RWT was only completed after reorientation of the trunk in the first walking stride after transition. A noteworthy finding was that spatiotemporal (presence of a flight phase), kinematic (knee flexion) and energetic (kinetic and gravitational potential energy fluctuating in-phase versus out-of-phase) criteria to define transition stride correspond to each other. Furthermore, a functional interlimb asymmetry was recognized as a unique characteristic of the transition stride, offering a fourth way of identifying the transition stride.

Influence of M. tibialis anterior fatigue on the walk-to-run and run-to-walk transition in non-steady state locomotion

The purpose of this study was to examine the influence of muscular fatigue of tibialis anterior (TA) on the walk-to-run transition (WRT) and run-to-walk transition (RWT) when speed is altered at different constant accelerations (a=0.01, 0.07 and 0.05 ms(-2)). Twenty women (height: 168.9+/-3.36 cm) performed WRTs and RWTs on a motor-driven treadmill, before and after a protocol inducing muscular fatigue of the TA. WRT-speed decreased after TA fatigue whereas RWT-speed did not change except during the intermediate deceleration. Integrated EMG (iEMG) of the activity burst of TA around heel contact was examined in the last steps before transition, the transition step and the first steps after transition. iEMG increased before WRT, then decreased after transition to running. In the RWT the opposite was observed: iEMG increased after RWT, then decreased with decreasing walking speed. After inducing fatigue in the TA, there was a decrease in iEMG in the WRT whereas no influence of fatigue was found on iEMG in the RWT. As a result of TA fatigue, WRT occurred at a lower speed, probably to avoid over-exertion of the TA. This indicates that the TA is a likely determinant of WRT as previously reported. The RWT, on the other hand, was not altered following TA fatigue, which would indicate that WRT and RWT are determined by different factors.

Visual flow influences gait transition speed and preferred walking speed

It is typically assumed that basic features of human gait are determined by purely biomechanical factors. In two experiments, we test whether gait transition speed and preferred walking speed are also influenced by visual information about the speed of self-motion. The visual flow during treadmill locomotion was manipulated to be slower than, matched to, or faster than the physical gait speed (visual gains of 0.5, 1.0, 2.0). Higher flow rates elicit significantly lower transition speeds for both the Walk-Run and Run-Walk transition, as expected. Similarly, higher flow rates elicit significantly lower preferred walking speeds. These results suggest that visual information becomes calibrated to mechanical or energetic aspects of gait and contributes to the control of locomotor behavior.

Effects of changing protocol, grade, and direction on the preferred gait transition speed during human locomotion

Although the preferred transition speed (PTS) reported by various researchers is relatively consistent, the amount of observed hysteresis (difference between the walk-run and the run-walk transition speed) varies considerably. Variations in reported hysteresis appear to be related to the protocol used to determine the transition speeds. This investigation compared the PTS, and the amount of hysteresis observed between the incremental and continuous protocols at various inclination conditions. The PTS was significantly greater in the continuous than the incremental protocol within both the 10% and 15% inclination conditions. The amount of hysteresis, however, did not vary significantly between protocols nor between inclination conditions. In the incremental protocol, the amount of hysteresis appears to be related to the size of the speed increment used. In the continuous protocol, the amount of hysteresis could be related to the rate of treadmill acceleration.

Dynamics of the body centre of mass during actual acceleration across transition speed

Judged by whole body dynamics, walking and running in humans clearly differ. When walking, potential and kinetic energy fluctuate out-of-phase and energy is partially recovered in a pendulum-like fashion. In contrast, running involves in-phase fluctuations of the mechanical energy components of the body centre of mass, allowing elastic energy recovery. We show that, when constantly accelerating across the transition speed, humans make the switch from walking to running abruptly in one single step. In this step, active mechanical energy input triples the normal step-by-step energy increment needed to power the imposed constant acceleration. This extra energy is needed to launch the body into the flight phase of the first running step and to bring the trunk into its more inclined orientation during running. Locomotor cycles immediately proceed with the typical in-phase fluctuations of kinetic and potential energy. As a result, the pendular energy transfer drops in one step from 43% to 5%. Kinematically, the transition step is achieved by landing with the knee and hip significantly more flexed compared to the previous walking steps. Flexion in these joints continues during the first half of stance, thus bringing the centre of mass to its deepest position halfway through stance phase to allow for the necessary extension to initiate the running gait. From this point of view, the altered landing conditions seem to constitute the actual transition.

What are the relations between mechanics, gait parameters, and energetics in terrestrial locomotion?

Are the different energy-conserving mechanics (i.e., pendulum and spring) used in different gaits reflected in differences in energetics and/or stride parameters? The analysis included published data from several species and new data from horses. When changing from pendulum to spring mechanics, there is a change in the slope of metabolic rate (MR) vs. speed in all species, in birds and quadrupeds there is no step increase, and in humans there are conflicting reports. At the trot-gallop transition, where quadrupeds are hypothesized to change from spring mechanics to some combination of spring and pendulum mechanics, there is a change in slope of MR vs. speed in horses but not in other species. Stride frequency (SF) is a logarithmic function of walking speed in all species, a linear function of trotting/running speed, and nearly independent of speed in galloping. In humans and horses there is a discontinuity in SF at the walk-trot (run) transition but not in birds. The slope of time of contact vs. speed does not change with mechanics in most species, but it does in humans. In horses and humans, there is a discontinuity at the walk-trot (run) transition and data for other species do not permit generalization. Duty factor (DF) in humans is greater than 0.5 in walking (pendulum mechanics) and less than 0.5 when running (spring mechanics). However, this is not true in many species that have DF>0.5 at the lowest speeds where they use spring mechanics. When trotting at low speeds, horses use forelimb DF>0.5 and hind limb DF<0.5. Thus, it is confusing to distinguish between walking and running by DF.

What explains the trot–gallop transition in small mammals?

The transition from trot to gallop in quadruped mammals has been widely hypothesized to be a strategy to minimize the energetic costs of running. This view, however, has been challenged by some experimental evidence suggesting instead that this transition might be triggered by mechanical cues, and would occur when musculoskeletal stresses reach a certain critical value. All previous experiments to test those hypotheses have used relatively large species and their results, therefore, may not be applicable to small mammals. In this study we evaluated the effect of carrying loads on the locomotor energetics and gait transitions of the rodent Octodon degus running on a treadmill. Metabolic rate and cost of transport increased about 30% with a 20% increment in body mass. This increment was higher than expectations based on other mammals, where energy consumption increases in proportion to the added mass, but similar to the response of humans to loads. No abrupt change of energy consumption between gaits was observed and therefore no evidence was found to support the energetic hypothesis. The trot–gallop transition speed did not vary when subjects were experimentally loaded,suggesting that the forces applied to the musculoskeletal system do not trigger gait transition.

Preferred Transition Speed between Walking and Running: Effects of Training Status

PURPOSE

This study was conducted to identify the preferred transition speed (PTS) between walking and running and the energetically optimal transition speed (ETOS), in runners and nonrunners.

METHODS

A total of 19 young men were asked to walk on a treadmill at 5 km.h(-1). Speed was then increased by 0.2 km.h(-1) every minute. Subjects were instructed to start running at a particular speed they felt was easier. PTS for each subject was determined as the mean of the walk-run and the run-walk transitions. Subjects were also asked to walk and to run for 5 min at each of the following velocities: PTS - 1 km.h(-1), PTS - 0.5 km.h(-1), PTS, PTS + 0.5 km.h(-1), and PTS + 1 km.h(-1). This procedure was performed twice, once walking and once running, at all speeds. Physiologic measurements of oxygen consumption, heart rate, and rate of perceived exertion (RPE) were performed at each stage. EOTS was determined by plotting individual curves for each subject with the energy cost of locomotion as a function of velocity.

RESULTS

Preferred transition speed was 7.23 +/- 0.25 and 7.42 +/- 0.25 km.h(-1) for nonrunners and runners, respectively (P > 0.05), and differed significantly (F = 16.47, alpha < 0.001) from the EOTS, which was 8.02 +/- 0.84 km.h(-1) for nonrunners and 7.90 +/- 0.48 km.h(-1) for the runners. No significant differences were found between runners and nonrunners in PTS or EOTS. Running at the PTS resulted in a significantly lower RPE and higher energy cost than walking at the PTS in both groups.

CONCLUSION

This study indicates that 1) the preferred PTS is slower than the EOTS, and 2) the PTS and EOTS are not dependent on the aerobic capacity or the training status.