Step width and frontal plane trunk motion in bipedal chimpanzee and human walking

Reevaluating the energy cost in locomotion: quadrupedal vs. bipedal walking in humans

This study examines the energy expenditure and physiological responses associated with short-term quadrupedal locomotion compared to bipedal walking in humans. It aims to support evolutionary theory and explore quadrupedal locomotion's potential for enhancing fitness and health. In a randomized crossover design, 12 participants performed quadrupedal and bipedal walking on a treadmill at identical speeds. Physiological responses, including energy expenditure, carbohydrate oxidation rates, respiratory rate, and heart rate, were measured during both forms of locomotion. Quadrupedal walking significantly increased total energy expenditure by 4.15 Kcal/min [95% CI, 3.11 - 5.19 Kcal/min], due to a rise in carbohydrate oxidation of 1.70 g/min [95% CI, 1.02 - 2.24 g/min]. It also increased respiratory and heart rates, indicating higher metabolic demands. The exercise mainly activated upper limb muscles and the gluteus maximus in the lower limbs. Ten minutes of quadrupedal walking at the same speed as bipedal walking resulted in a 254.48% increase in energy consumption. This simple form of locomotion offers a strategy for enhancing physical activity, and supports the idea that energy optimization influenced the evolution of efficient bipedal locomotion.

A three-dimensional kinematic analysis of bipedal walking in a white-handed gibbon (Hylobates lar) on a horizontal pole and flat surface

Gibbons, a type of lesser ape, are brachiators but also walk bipedally and without forelimb assistance, not only on the ground but also on tree branches. The arboreal bipedal walking strategy of the gibbons has been studied in previous studies in relation to two-dimensional (2D) kinematic analysis. However, because tree branches and the ground differ greatly in width, leading to a constrained foot contact point on the tree branches, gibbons must adjust their 3D joint motions of trunk and hindlimb on the tree branches. Furthermore, these motor adjustments could help minimize the center of mass (CoM) mediolateral displacement. This study investigated the kinematic adjustment mechanism necessary to enable a gibbon to walk bipedally on an arboreal-like substrate using 3D measurements. Trials were recorded with eight video cameras that were placed around the substrate. The CoM position on the body, the Cardan angles of the hindlimb joints and trunk, and spatiotemporal parameters were calculated. Asymmetry of thorax, pelvis, trunk, and left and right hindlimb joint motion was observed in the pole and flat conditions. In the pole condition, the narrower step width and the smaller range of motion of the mediolateral CoM displacement were observed with increased hip adduction and knee eversion angles. These kinematic adjustments might place the knee and foot directly under the body during the single support phase, producing a reduced step width and the amount of the mediolateral CoM displacement of a gibbon.

Lower extremity joint kinematics in individuals with and without bilateral knee osteoarthritis during normal and narrow-base walking: A cross-sectional study

BACKGROUND

Knee osteoarthritis (KOA) is a prevalent musculoskeletal disease affecting joint mechanics. Considering the effect of step-width changes on the biomechanics of gait, especially the alteration of stability dynamics during narrow-base gait, this study investigated the kinematic parameters of the lower extremities during both normal and narrow-base walking in individuals with and without KOA.

METHODS

A cross-sectional study with 20 individuals with bilateral KOA and 20 controls was conducted. Participants walked on a treadmill at a preferred speed across normal and narrow paths. Joint angles and angular velocities in the sagittal and frontal planes were recorded, and mixed ANOVA was used to analyze group × condition effects.

RESULTS

Significant main effects of walking condition were observed for hip (p = 0.001) and ankle angles (p = 0.002) in the frontal plane, and knee (p = 0.004) and ankle angular velocities (p = 0.002) in the sagittal plane. Moreover, there were significant main effects of group on the hip (p = 0.01) and knee angles (p = 0.04) in the sagittal plane. KOA group showed higher peak hip adduction (p < 0.001) and ankle inversion (p = 0.02]) during narrow-base walking than on the normal path. People with KOA had also significantly higher peak angular velocity of knee flexion (p = 0.03), ankle dorsiflexion (p = 0.002), and ankle inversion (p = 0.03) during narrow-base walking.

CONCLUSIONS

The findings suggest that KOA and narrow-base gait challenges may trigger distinct kinematic adaptation strategies, potentially contributing to cartilage degeneration and altering balance mechanisms.

Muscle synergy in several locomotor modes in chimpanzees and Japanese macaques, and its implications for the evolutionary origin of bipedalism through shared muscle synergies

Recent evidence indicates that human ancestors utilized a combination of quadrupedal walking, climbing, and bipedal walking. Therefore, the origin of bipedalism may be linked to underlying mechanisms supporting diverse locomotor modes. This study aimed to elucidate foundations of varied locomotor modes from the perspective of motor control by identifying muscle synergies and demonstrating similarities in synergy compositions across different locomotor modes in chimpanzees and Japanese macaques. Four muscle synergies were extracted for bipedal and quadrupedal walking in both the chimpanzees and macaques, as well as for vertical climbing in the chimpanzees. Bipedal walking synergies were generally analogous to those observed in quadrupedal walking and vertical climbing. Specifically, the bipedal walking synergies during the stance and swing phase in the chimpanzees were substitutable with those of vertical climbing and quadrupedal walking, respectively. For the macaque, not all bipedal walking synergies exhibited similarities to quadrupedal walking synergies, likely due to instability during the single support phase of bipedalism. These findings suggest that synergies from vertical climbing and quadrupedal walking might be transferred to bipedal walking, as seen in the chimpanzees, and that this sharing of synergies might form a foundation for a diverse range of locomotor capacities including bipedal walking.

The Biomechanical Influence of Step Width on Typical Locomotor Activities: A Systematic Review

BACKGROUND

Step width is a spatial variable in the frontal plane, defined as the mediolateral distance between the heel (forefoot during sprinting) of bilateral feet at initial contact. Variations in step width may impact the lower limb biomechanics. This systematic review aimed to synthesize the published findings to determine the influence of acute changes in step width on locomotion biomechanics and provide implications for injury prevention and enhanced sports performance.

METHODS

Literature was identified, selected, and appraised in accordance with the methods of a systematic review. Four electronic databases (Web of Science, MEDLINE via PubMed, Scopus, and ScienceDirect) were searched up until May 2023 with the development of inclusion criteria based on the PICO model. Study quality was assessed using the Downs and Black checklist and the measured parameters were summarized.

RESULTS

Twenty-three articles and 399 participants were included in the systematic review. The average quality score of the 23 studies included was 9.39 (out of 14). Step width changed the kinematics and kinetics in the sagittal, frontal, and transverse planes of the lower limb, such as peak rearfoot eversion angle and moment, peak hip adduction angle and moment, knee flexion moment, peak knee internal rotation angle, as well as knee external rotation moment. Alteration of step width has the potential to change the stability and posture during locomotion, and evidence exists for the immediate biomechanical effects of variations in step width to alter proximal kinematics and cues to impact loading variables.

CONCLUSION

Short-term changes in step width during walking, running, and sprinting influenced multiple lower extremity biomechanics. Narrower step width may result in poor balance and higher impact loading on the lower extremities during walking and running and may limit an athlete's sprint performance. Increasing step width may be beneficial for injury rehabilitation, i.e., for patients with patellofemoral pain syndrome, iliotibial band syndrome or tibial bone stress injury. Wider steps increase the supporting base and typically enhance balance control, which in turn could reduce the risks of falling during daily activities. Altering the step width is thus proposed as a simple and non-invasive treatment method in clinical practice.

Relationship between the bilateral ratios of the thoracic shape and electromyographic activity of the thoracic and lumbar iliocostalis muscles during thoracic lateral translation

[Purpose] This study aimed to determine the relationship between thoracic lateral deviation, the bilateral ratio of the thoracic shape, and the bilateral ratio of the thoracic and lumbar iliocostalis muscles during resting sitting and thoracic lateral translation. [Participants and Methods] We included 23 healthy adult males in the study. The measurement tasks were resting sitting and thoracic lateral translation relative to the pelvis. The thoracic lateral deviation and bilateral ratio of the upper and lower thoracic shapes were measured using three-dimensional motion capture. The bilateral ratio of the thoracic and lumbar iliocostalis muscles were measured using the surface electromyographic recording. [Results] The bilateral ratio of the lower thoracic shape was significantly positively correlated with the thoracic translation distance and the bilateral ratio of the thoracic and iliocostalis muscles. In addition, the bilateral ratio of the thoracic iliocostalis muscles was significantly negatively correlated with the bilateral ratios of the lower thoracic shape and lumbar iliocostalis muscles. [Conclusion] Our findings showed that the asymmetry of the lower thoracic shape is associated with left lateral deviation of the thorax at rest and thoracic translation distance. In addition, the thoracic and lumbar iliocostalis muscle activity differed between the left and right translations.

Non-human primate models and systems for gait and neurophysiological analysis

Brain-computer interfaces (BCIs) have garnered extensive interest and become a groundbreaking technology to restore movement, tactile sense, and communication in patients. Prior to their use in human subjects, clinical BCIs require rigorous validation and verification (V&V). Non-human primates (NHPs) are often considered the ultimate and widely used animal model for neuroscience studies, including BCIs V&V, due to their proximity to humans. This literature review summarizes 94 NHP gait analysis studies until 1 June, 2022, including seven BCI-oriented studies. Due to technological limitations, most of these studies used wired neural recordings to access electrophysiological data. However, wireless neural recording systems for NHPs enabled neuroscience research in humans, and many on NHP locomotion, while posing numerous technical challenges, such as signal quality, data throughout, working distance, size, and power constraint, that have yet to be overcome. Besides neurological data, motion capture (MoCap) systems are usually required in BCI and gait studies to capture locomotion kinematics. However, current studies have exclusively relied on image processing-based MoCap systems, which have insufficient accuracy (error: ≥4° and 9 mm). While the role of the motor cortex during locomotion is still unclear and worth further exploration, future BCI and gait studies require simultaneous, high-speed, accurate neurophysiological, and movement measures. Therefore, the infrared MoCap system which has high accuracy and speed, together with a high spatiotemporal resolution neural recording system, may expand the scope and improve the quality of the motor and neurophysiological analysis in NHPs.

Forest terrains influence walking kinematics among indigenous Tsimane of the Bolivian Amazon

Laboratory-based studies indicate that a major evolutionary advantage of bipedalism is enabling humans to walk with relatively low energy expenditure. However, such studies typically record subjects walking on even surfaces or treadmills that do not represent the irregular terrains our species encounters in natural environments. To date, few studies have quantified walking kinematics on natural terrains. Here we used high-speed video to record marker-based kinematics of 21 individuals from a Tsimane forager-horticulturalist community in the Bolivian Amazon walking on three different terrains: a dirt field, a forest trail and an unbroken forest transect. Compared with the field, in the unbroken forest participants contacted the ground with more protracted legs and flatter foot postures, had more inclined trunks, more flexed hips and knees, and raised their feet higher during leg swing. In contrast, kinematics were generally similar between trail and field walking. These results provide preliminary support for the idea that irregular natural surfaces like those in forests cause humans to alter their walking kinematics, such that travel in these environments could be more energetically expensive than would be assumed from laboratory-based data. These findings have important implications for the evolutionary energetics of human foraging in environments with challenging terrains.

Footprint evidence of early hominin locomotor diversity at Laetoli, Tanzania

Bipedal trackways discovered in 1978 at Laetoli site G, Tanzania and dated to 3.66 million years ago are widely accepted as the oldest unequivocal evidence of obligate bipedalism in the human lineage1-3. Another trackway discovered two years earlier at nearby site A was partially excavated and attributed to a hominin, but curious affinities with bears (ursids) marginalized its importance to the paleoanthropological community, and the location of these footprints fell into obscurity3-5. In 2019, we located, excavated and cleaned the site A trackway, producing a digital archive using 3D photogrammetry and laser scanning. Here we compare the footprints at this site with those of American black bears, chimpanzees and humans, and we show that they resemble those of hominins more than ursids. In fact, the narrow step width corroborates the original interpretation of a small, cross-stepping bipedal hominin. However, the inferred foot proportions, gait parameters and 3D morphologies of footprints at site A are readily distinguished from those at site G, indicating that a minimum of two hominin taxa with different feet and gaits coexisted at Laetoli.

Interspecies variation of larval locomotion kinematics in the genus Drosophila and its relation to habitat temperature

BACKGROUND

Speed and trajectory of locomotion are the characteristic traits of individual species. Locomotion kinematics may have been shaped during evolution towards increased survival in the habitats of each species. Although kinematics of locomotion is thought to be influenced by habitats, the quantitative relation between the kinematics and environmental factors has not been fully revealed. Here, we performed comparative analyses of larval locomotion in 11 Drosophila species.

RESULTS

We found that larval locomotion kinematics are divergent among the species. The diversity is not correlated to the body length but is correlated instead to the habitat temperature of the species. Phylogenetic analyses using Bayesian inference suggest that the evolutionary rate of the kinematics is diverse among phylogenetic tree branches.

CONCLUSIONS

The results of this study imply that the kinematics of larval locomotion has diverged in the evolutionary history of the genus Drosophila and evolved under the effects of the ambient temperature of habitats.

The loss of the 'pelvic step' in human evolution

Human bipedalism entails relatively short strides compared with facultatively bipedal primates. Unique non-sagittal-plane motions associated with bipedalism may account for part of this discrepancy. Pelvic rotation anteriorly translates the hip, contributing to bipedal stride length (i.e. the 'pelvic step'). Facultative bipedalism in non-human primates entails much larger pelvic rotation than in humans, suggesting that a larger pelvic step may contribute to their relatively longer strides. We collected data on the pelvic step in bipedal chimpanzees and over a wide speed range of human walking. At matched dimensionless speeds, humans have 26.7% shorter dimensionless strides, and a pelvic step 5.4 times smaller than bipedal chimpanzees. Differences in pelvic rotation explain 31.8% of the difference in dimensionless stride length between the two species. We suggest that relative stride lengths and the pelvic step have been significantly reduced throughout the course of hominin evolution.

Neuromechanical linkage between the head and forearm during running

OBJECTIVES

The main objective was to test the hypothesis of a neuromechanical link in humans between the head and forearm during running mediated by the biceps brachii and superior trapezius muscles. We hypothesized that this linkage helps stabilize the head and combats rapid forward pitching during running which may interfere with gaze stability.

MATERIALS AND METHODS

Thirteen human participants walked and ran on a treadmill while motion capture recorded body segment kinematics and electromyographic sensors recorded muscle activation. To test perturbations to the linkage system we compared participants running normally as well as with added mass to the face and the hand.

RESULTS

The results confirm the presence of a neuromechanical linkage between the head and forearm mediated by the biceps and superior trapezius during running but not during walking. In running, the biceps and superior trapezius activations were temporally linked during the stride cycle, and adding mass to either the head or hand increased activation in both muscles, consistent with our hypothesis. During walking the forces acting on the body segments and muscle activation levels were much smaller than during running, indicating no need for a linkage to keep the head and gaze stable.

DISCUSSION

The results suggest that the evolution of long distance running in early Homo may have favored selection for reduced rotational inertia of both the head and forearm through synergistic muscle activation, contributing to the transition from australopith head and forelimb morphology to the more human-like form of Homo erectus. Selective pressures from the evolution of bipedal walking were likely much smaller, but may explain in part the intermediate form of the australopith scapula between that of extant apes and humans.

Trunk and leg kinematics of grounded and aerial running in bipedal macaques

Across a wide range of Froude speeds, non-human primates such as macaques prefer to use grounded and aerial running when locomoting bipedally. Both gaits are characterized by bouncing kinetics of the center of mass. In contrast, a discontinuous change from pendular to bouncing kinetics occurs in human locomotion. To clarify the mechanism underlying these differences in bipedal gait mechanics between humans and non-human primates, we investigated the influence of gait on joint kinematics in the legs and trunk of three macaques crossing an experimental track. The coordination of movement was compared with observations available for primates. Compared with human running, macaque leg retraction cannot merely be produced by hip extension, but needs to be supported by substantial knee flexion. As a result, despite quasi-elastic whole-leg operation, the macaque's knee showed only minor rebound behavior. Ankle extension resembled that observed during human running. Unlike human running and independent of gait, torsion of the trunk represents a rather conservative feature in primates, and pelvic axial rotation added to step length. Pelvic lateral lean during grounded running by macaques (compliant leg) and human walking (stiff leg) depends on gait dynamics at the same Froude speed. The different coordination between the thorax and pelvis in the sagittal plane as compared with human runners indicates different bending modes of the spine. Morphological adaptations in non-human primates to quadrupedal locomotion may prevent human-like operation of the leg and limit exploitation of quasi-elastic leg operation despite running dynamics.

Frontal plane dynamics of the centre of mass during quadrupedal locomotion on a split-belt treadmill

Our previous study of cat locomotion demonstrated that lateral displacements of the centre of mass (COM) were strikingly similar to those of human walking and resembled the behaviour of an inverted pendulum (Park et al. 2019 J. Exp. Biol.222, 14. (doi:10.1242/jeb.198648)). Here, we tested the hypothesis that frontal plane dynamics of quadrupedal locomotion are consistent with an inverted pendulum model. We developed a simple mathematical model of balance control in the frontal plane based on an inverted pendulum and compared model behaviour with that of four cats locomoting on a split-belt treadmill. The model accurately reproduced the lateral oscillations of cats' COM vertical projection. We inferred the effects of experimental perturbations on the limits of dynamic stability using data from different split-belt speed ratios with and without ipsilateral paw anaesthesia. We found that the effect of paw anaesthesia could be explained by the induced bias in the perceived position of the COM, and the magnitude of this bias depends on the belt speed difference. Altogether, our findings suggest that the balance control system is actively involved in cat locomotion to provide dynamic stability in the frontal plane, and that paw cutaneous receptors contribute to the representation of the COM position in the nervous system.

A comparison of axial trunk rotation during bipedal walking between humans and Japanese macaques

OBJECTIVES

Human walking involves out-of-phase axial rotations of the thorax and pelvis. It has long been believed that this rotational capability is a distinctive feature of the genus Homo. However, Thompson et al. (2015) showed that chimpanzees also counter-rotate their thorax relative to the pelvis during bipedal walking, which raised questions regarding the origins and development of this characteristic. In this study, we measured the axial rotation of the trunk during bipedal walking in humans and macaques to investigate if intra-trunk axial rotations are observed in non-hominoid primate species.

MATERIALS AND METHODS

We collected three-dimensional trunk kinematic data during bipedal walking in six humans and five Japanese macaques. The human subjects walked on a treadmill, and the animal subjects walked on a 5-m runway. During walking, the positions of cluster markers, which defined trunk segments, were recorded by multiple video cameras. Segmental xyz coordinates were digitized, and transverse rotations were calculated using motion analysis software.

RESULTS

Although trunk rotations in the global coordinate system were greater in macaques than in humans, the intra-trunk rotation and range of motion showed a similar pattern in the two species.

CONCLUSIONS

Thoracic rotation relative to the pelvis during bipedal walking is not unique to the hominid lineage but rather a characteristic generated by the mechanical requirements of bipedal walking. The fact that the range of motion of counter rotation is similar in these species infers that an optimal range of rotation exists for bipedal walking.

The biomechanics of knuckle-walking: 3-D kinematics of the chimpanzee and macaque wrist, hand and fingers

The origin and evolution of knuckle-walking has long been a key focus in understanding African ape, including human, origins. Yet, despite numerous studies documenting morphological characteristics potentially associated with knuckle-walking, little quantitative three-dimensional (3-D) data exist of forelimb motion during knuckle-walking. Nor do any comparative 3-D data exist for hand postures used during quadrupedalism in monkeys. This lack of data has limited the testability of proposed adaptations for knuckle-walking in African apes. This study presents the first 3-D kinematic data of the wrist, hand and metacarpophalangeal joints during knuckle-walking in chimpanzees and in macaques using digitigrade and palmigrade hand postures. These results clarify the unique characteristics of, and commonalities between, knuckle-walking and digitigrady/palmigrady in multiple planes of motion. Notably, chimpanzees utilized more wrist ulnar deviation than any macaque hand posture. Maximum extension of the chimpanzee wrist was slight (5-20 deg) and generally overlapped with macaque digitigrady. Metacarpophalangeal joint motion displayed distinct differences between digits in both species, likely related to the timing of force application. These data also reveal that maximum metacarpophalangeal extension angles during knuckle-walking (26-59 deg) were generally higher than previously considered. In macaques, maximum metacarpophalangeal extension during digitigrady and palmigrady overlapped for most digits, highlighting additional complexity in the interpretation of skeletal features that may be related to limiting metacarpophalangeal motion. Most importantly, however, these new 3-D data serve as a fundamental dataset with which evaluation of proposed musculoskeletal adaptations for knuckle-walking can be tested.

Is step width decoupled from pelvic motion in human evolution?

Humans are the only primate that walk bipedally with adducted hips, valgus knees, and swing-side pelvic drop. These characteristic frontal-plane aspects of bipedalism likely play a role in balance and energy minimization during walking. Understanding when and why these aspects of bipedalism evolved also requires an understanding of how each of these features are interrelated during walking. Here we investigated the relationship between step width, hip adduction, and pelvic list during bipedalism by altering step widths and pelvic motions in humans in ways that both mimic chimpanzee gait as well as an exaggerated human gait. Our results show that altering either step width or pelvic list to mimic those of chimpanzees affects hip adduction, but neither of these gait parameters dramatically affects the other in ways that lead to a chimpanzee-like gait. These results suggest that the evolution of valgus knees and narrow steps in humans may be decoupled from the evolution of the human-like pattern of pelvic list. While the origin of narrow steps in hominins may be linked to minimizing energetic cost of locomotion, the origin of the human-like pattern of pelvic list remains unresolved.

A novel Movement Amplification environment reveals effects of controlling lateral centre of mass motion on gait stability and metabolic cost

During human walking, the centre of mass (COM) laterally oscillates, regularly transitioning its position above the two alternating support limbs. To maintain upright forward-directed walking, lateral COM excursion should remain within the base of support, on average. As necessary, humans can modify COM motion through various methods, including foot placement. How the nervous system controls these oscillations and the costs associated with control are not fully understood. To examine how lateral COM motions are controlled, healthy participants walked in a 'Movement Amplification' force field that increased lateral COM momentum in a manner dependent on the participant's own motion (forces were applied to the pelvis proportional to and in the same direction as lateral COM velocity). We hypothesized that metabolic cost to control lateral COM motion would increase with the gain of the field. In the Movement Amplification field, participants were significantly less stable than during baseline walking. Stability significantly decreased as the field gain increased. Participants also modified gait patterns, including increasing step width, which increased the metabolic cost of transport as the field gain increased. These results support previous research suggesting that humans modulate foot placement to control lateral COM motion, incurring a metabolic cost.