Muscle force redistributes segmental power for body progression during walking

Robot-Aided Training of Propulsion: Effects of Torque Pulses Applied to the Hip and Knee Joint Under User-Driven Treadmill Control

OBJECTIVE

to establish whether torque pulses applied by an exoskeleton to the hip and knee joint modulate propulsion mechanics and whether changes in propulsion mechanics are sustained after exposure to torque pulses under user-driven treadmill control.

METHODS

we applied twelve formulations of torque pulses consecutively over 300 strides to 22 healthy participants, and quantified the evolution of four outcome measures - gait speed (GS), hip extension (HE), trailing limb angle (TLA), normalized propulsive impulse (NPI) - before, during, and immediately after training.

RESULTS

Metrics of propulsion mechanics significantly changed both during and after training. Increases in HE during and after training were observed primarily in conjunction with hip/knee flexion pulses during early stance, or hip/knee extension during late stance. Increases in NPI during training were associated with hip/knee extension during early stance, or knee flexion during late stance. Knee flexion during early stance resulted in positive after-effects in NPI. Increases in GS were associated with the application of hip flexion pulses. Conditions exhibiting the largest positive changes in HE, and not NPI, during training resulted in increased GS after training. Analysis of the relationship between the effects measured during and after training suggests that after-effects primarily arise from retention of training effects, and that such retention is amplified compared to fixed-speed training.

CONCLUSION AND SIGNIFICANCE

Combination of exoskeleton training and user-driven treadmill control modulates propulsion mechanics both during and after training and can be considered for the formulation of propulsion-oriented methods for individuals with impairments in propulsion mechanics.

Should individuals with unilateral transtibial amputation carry a load on their intact or prosthetic side?

Carrying side loads often occurs during activities of daily living. As walking is most unstable mediolaterally, side load carriage may further compromise gait biomechanics, especially for transtibial amputees (TTAs). This study investigated the effects of side load carriage on gait kinetics during steady-state walking to determine which side, intact or prosthetic, TTAs should carry a load. Twelve unilateral TTAs wore a passive-elastic foot and carried a side load of 13.6 kg while walking at their self-selected speed. Kinetic metrics, including ground reaction force peaks and impulses, loading and unloading rates, and joint moments and powers, were analyzed. TTAs had smaller propulsive forces on their intact limb during the prosthetic side load condition. During the intact side load condition, they had smaller hip flexor moment in late stance and smaller knee flexor moment at the end of swing on their intact limb. They had higher hip and knee abductor moments on their intact limb and prosthetic limb in early and late stance during the contralateral side load condition. TTAs generated higher hip extensor power at weight acceptance during the ipsilateral side load. Significant interactions were observed in hip extensor power and abductor moment, suggesting strong associations between hip extensor power generation and the ipsilateral side load and between hip abductor moment and the contralateral side load. These mixed results demonstrate some kinetic changes due to side load carriage and suggest that the side TTAs should carry a load depends on the desired effects, primarily on their intact limb.

The influence of load carriage and prosthetic foot type on individual muscle and prosthetic foot contributions to body support and propulsion

Individuals with transtibial amputation (TTA) experience altered gait mechanics, which are primarily attributed to the functional loss of the ankle plantarflexors. The plantarflexors contribute to body support and propulsion and play an important role in adapting to different load carriage conditions. However, how muscle function is altered across different prosthetic foot types and load carriage scenarios for individuals with TTA remains unclear. This study used musculoskeletal modeling and simulation of human movement in OpenSim to investigate the effects of a range of prosthetic feet and load conditions on individual muscle and prosthetic foot contributions to body support and propulsion. Twenty walking trials were collected from five individuals with TTA, consisting of five loading conditions (no-load; 30 lbs (13.6 kg) carried as a front-load, back-load, intact-side-load and residual-side-load) while wearing four prosthetic feet (their passive standard of care (SOC) foot, their SOC foot one category stiffer, their SOC foot with a heel stiffening wedge, and a dual-keel foot). Two participants also wore a powered ankle-foot prosthesis, thus completing an additional five trials each. The results indicated that the front-load condition may be more challenging because it required overall increased muscle contributions to body support and propulsion. However, the front- and residual-side-loads required reduced intact-side plantarflexor contributions to support and propulsion, and thus may be advantageous for individuals with plantarflexor weakness. Further, the large variability across contributions suggests that individuals with TTA may rely on a variety of compensatory mechanisms depending on the load condition and prosthetic foot used.

A Recurrent Deep Network for Gait Phase Identification from EMG Signals During Exoskeleton-Assisted Walking

Lower limb exoskeletons represent a relevant tool for rehabilitating gait in patients with lower limb movement disorders. Partial assistance exoskeletons adaptively provide the joint torque needed, on top of that produced by the patient, for a correct and stable gait, helping the patient to recover an autonomous gait. Thus, the device needs to identify the different phases of the gait cycle to produce precisely timed commands that drive its joint motors appropriately. In this study, EMG signals have been used for gait phase detection considering that EMG activations lead limb kinematics by at least 120 ms. We propose a deep learning model based on bidirectional LSTM to identify stance and swing gait phases from EMG data. We built a dataset of EMG signals recorded at 1500 Hz from four muscles from the dominant leg in a population of 26 healthy subjects walking overground (WO) and walking on a treadmill (WT) using a lower limb exoskeleton. The data were labeled with the corresponding stance or swing gait phase based on limb kinematics provided by inertial motion sensors. The model was studied in three different scenarios, and we explored its generalization abilities and evaluated its applicability to the online processing of EMG data. The training was always conducted on 500-sample sequences from WO recordings of 23 subjects. Testing always involved WO and WT sequences from the remaining three subjects. First, the model was trained and tested on 500 Hz EMG data, obtaining an overall accuracy on the WO and WT test datasets of 92.43% and 91.16%, respectively. The simulation of online operation required 127 ms to preprocess and classify one sequence. Second, the trained model was evaluated against a test set built on 1500 Hz EMG data. The accuracies were lower, yet the processing times were 11 ms faster. Third, we partially retrained the model on a subset of the 1500 Hz training dataset, achieving 87.17% and 89.64% accuracy on the 1500 Hz WO and WT test sets, respectively. Overall, the proposed deep learning model appears to be a valuable candidate for entering the control pipeline of a lower limb rehabilitation exoskeleton in terms of both the achieved accuracy and processing times.

Effect of Unanticipated Tasks on Side-Cutting Stability of Lower Extremity with Patellofemoral Pain Syndrome

BACKGROUND

Patellofemoral pain syndrome (PFPS) is one of the most common causes of anterior knee pain encountered in the outpatient setting. The purpose of this study was to compare the lower limb biomechanical differences during anticipated and unanticipated side-cutting in athletes with PFPS.

METHODS

Fifteen male basketball players diagnosed with PFPS were enrolled in the study. Participants executed both anticipated and unanticipated 45-degree side-cutting tasks. Motion analysis systems, force plates, and electromyography (EMG) were used to assess the lower limb joint angles, joint moments, joint stiffness, and patellofemoral joint contact forces. Analyzed biomechanical data were used to compare the differences between the two circumstances.

RESULTS

Unanticipated side-cutting resulted in significantly increased ankle plantarflexion and dorsiflexion angles, knee abduction and internal rotation angles, and hip abduction angles, as well as heightened knee adduction moments. Additionally, patellofemoral joint contact forces and stress increased, while contact area decreased during unanticipated tasks.

CONCLUSIONS

Unanticipated movement raises the demands for joint stability and neuromuscular control, increasing injury risks in athletes with PFPS. These findings have practical implications for developing targeted rehabilitation programs and injury prevention strategies.

Beyond Inverse Dynamics: Methods for Assessment of Individual Muscle Function during Gait

Three-dimensional motion analysis performed in the modern gait analysis laboratory provides a wealth of information about the kinematics and kinetics of human locomotion, but standard gait analysis is largely restricted to joint-level measures. Three-dimensional joint rotations, joint moments, and joint powers tell us a great deal about gait mechanics, but it is often of interest to know about the roles that muscles play. This narrative review surveys work that has been done, largely over the past four decades, to augment standard gait analysis with muscle-level assessments of function. Often, these assessments have incorporated additional technology such as ultrasound imaging, or complex modeling and simulation techniques. The review discusses measurements of muscle moment arm during walking along with assessment of muscle mechanical advantage, muscle-tendon lengths, and the use of induced acceleration analysis to determine muscle roles. In each section of the review, examples are provided of how the auxiliary analyses have been used to gain potentially useful information about normal and pathological human walking. While this work highlights the potential benefits of adding various measures to gait analysis, it is acknowledged that challenges to implementation remain, such as the need for specialized knowledge and the potential for bias introduced by model choices.

Categorizing knee hyperextension patterns in hemiparetic gait and examining associated impairments in patients with chronic stroke

BACKGROUND

Post-stroke hemiparetic gait exhibits considerable variations in motion patterns and abnormal muscle activities, notably knee hyperextension during the stance phase. Existing studies have primarily concentrated on its joint angle or moment. However, the underlying causes remain unclear. Thus, the causes of knee hyperextension were explored from a new perspective based on temporal-durational factors.

RESEARCH QUESTION

Does the temporal-durational difference of knee hyperextension presence result from specific decreased motor functions?

METHODS

Barefoot gait at a comfortable speed was captured using a three-dimensional camera system. Scores of knee hyperextension used a metric with the temporal-durational factor of knee hyperextension presence in each of four stance phases (1st double support, DS1; early single-leg stance, ESS; late single-leg stance, LSS; 2nd double support, DS2). These scores were used in cluster analysis. The classification and regression tree analysis characterizing each knee hyperextension cluster used the clinical measures of the lower limb and trunk motor function, muscle strength, and spasticity as explanatory variables.

RESULTS

Thirty patients with hemiparetic chronic stroke who exhibited knee hyperextension during gait were included. Four knee hyperextension clusters were shown: Momentary (almost no hyperextension), Continuous (DS1-DS2), ESS-LSS, and ESS-DS2. Knee flexor strength was lower in the groups with long hyperextension durations (Continuous and ESS-DS2) compared with short durations (ESS-LSS and Momentary). ESS-DS2 exhibited higher trunk motor function than Continuous, whereas more severe spasticity was observed in ESS-LSS than in Momentary.

SIGNIFICANCE

This study successfully classified four hemiparetic gait patterns with knee hyperextension based on the temporal-durational factor, providing valuable perspectives for understanding and addressing specific functional physical impairments. These findings offer guidance for focusing on related physical functions when striving for gait improvement with knee hyperextension and are expected to serve as a reference for treatment decision-making.

Influence of Backpack Carriage and Walking Speed on Muscle Synergies in Healthy Children

Four to five muscle synergies account for children's locomotion and appear to be consistent across alterations in speed and slopes. Backpack carriage induces alterations in gait kinematics in healthy children, raising questions regarding the clinical consequences related to orthopedic and neurological diseases and ergonomics. However, to support clinical decisions and characterize backpack carriage, muscle synergies can help with understanding the alterations induced in this condition at the motor control level. In this study, we investigated how children adjust the recruitment of motor patterns during locomotion, when greater muscular demands are required (backpack carriage). Twenty healthy male children underwent an instrumental gait analysis and muscle synergies extraction during three walking conditions: self-selected, fast and load conditions. In the fast condition, a reduction in the number of synergies (three to four) was needed for reconstructing the EMG signal with the same accuracy as in the other conditions (three to five). Synergies were grouped in only four clusters in the fast condition, while five clusters were needed for the self-selected condition. The right number of clusters was not clearly identified in the load condition. Speed and backpack carriage altered nearly every spatial-temporal parameter of gait, whereas kinematic alterations reflected mainly hip and pelvis adaptations. Although the synergistic patterns were consistent across conditions, indicating a similar motor pattern in different conditions, the fast condition required fewer synergies for reconstructing the EMG signal with the same level of accuracy.

Deep Learning-Based Identification Algorithm for Transitions Between Walking Environments Using Electromyography Signals Only

Although studies on terrain identification algorithms to control walking assistive devices have been conducted using sensor fusion, studies on transition classification using only electromyography (EMG) signals have yet to be conducted. Therefore, this study was to suggest an identification algorithm for transitions between walking environments based on the entire EMG signals of selected lower extremity muscles using a deep learning approach. The muscle activations of the rectus femoris, vastus medialis and lateralis, semitendinosus, biceps femoris, tibialis anterior, soleus, medial and lateral gastrocnemius, flexor hallucis longus, and extensor digitorum longus of 27 subjects were measured while walking on flat ground, upstairs, downstairs, uphill, and downhill and transitioning between these walking surfaces. An artificial neural network (ANN) was used to construct the model, taking the entire EMG profile during the stance phase as input, to identify transitions between walking environments. The results show that transitioning between walking environments, including continuously walking on a current terrain, was successfully classified with high accuracy of 95.4 % when using all muscle activations. When using a combination of muscle activations of the knee extensor, ankle extensor, and metatarsophalangeal flexor group as classifying parameters, the classification accuracy was 90.9 %. In conclusion, transitioning between gait environments could be identified with high accuracy with the ANN model using only EMG signals measured during the stance phase.

A novel biomechanical indicator for impaired ankle dorsiflexion function during walking in individuals with chronic stroke

BACKGROUND

Ankle dorsiflexion function during swing phase contributes to foot clearance and plays an important role in walking ability post-stroke. Commonly used biomechanical measures such as foot clearance and ankle joint excursion have limited ability to accurately evaluate impaired dorsiflexor function.

RESEARCH QUESTION

Can ankle angular velocity and acceleration be used as reliable measurers of dorsiflexion function in post-stroke gait?

METHODS

Using linear regression and Pearson's correlation we retrospectively compared peak ankle angular velocity (AωP), peak ankle angular acceleration (AαP), peak dorsiflexion angle (DFAP) and peak foot clearance (FCLP) as direct measures for swing phase dorsiflexor function in 60 chronic stroke survivors. Intraclass correlation coefficient (ICC) analysis was used for test-retest reliability of AωP and AαP. RESULTS: Linear regression models revealed that AωP, AαP, DFAP, FCLP had a significant relationship (p < 0.05) with impaired dorsiflexion function. AαP and DFAP accounted for the most variance of dorsiflexion function. AωP, AαP, FCLP, correlated significantly with all clinical outcome measures of walking ability. DFAP had a positive correlation only with FMA-LE. Post-hoc William's t-tests, used to compare the magnitude of difference between two non-independent correlations, revealed that the correlation between all clinical measures and DFAP were significantly weaker than with AωP and AαP. Correlation between FMA-LE and FCLP was weaker than with AωP and AαP. Excellent test-retest reliability for both AωP (ICC = 0.968) and AαP (ICC = 0.947) was observed.

SIGNIFICANCE

These results suggest that DFAP may only be associated with dorsiflexion function during non-task specific isolated movements, but not during walking. FCLP is associated with dorsiflexion function and walking ability measures but not as strongly as AωP and AαP possibly because FCLP is influenced by contribution from hip and knee joint movements. Therefore, AωP and AαP are reliable measures and represent dorsiflexion function more accurately than DFAP, and FCLP.

Age-related changes and sex differences in ankle plantarflexion velocity

Ankle plantar flexors play a vital role in the mobility of older adults. The strength and velocity of plantarflexion are critical factors in determining walking speed. Despite reports on how age and sex affect plantarflexion strength, basic information regarding plantarflexion velocity is still lacking. This cross-sectional observational study investigated age-related changes and sex differences in plantarflexion velocity by comparing them with plantarflexion strength. A total of 550 healthy adults were classified into four age groups for each sex: Young (< 40 years old), Middle-aged (40-64 years old), Young-old (65-74 years old), and Older-old (≧ 75 years old). We measured plantarflexion velocity and strength in the long-sitting position using a gyroscope and a hand-held dynamometer, respectively. Two-way analysis of variance revealed no interaction between age and sex for either plantarflexion velocity or strength. Plantarflexion velocity exhibited a significant decline with aging, as did the plantarflexion strength. We found no significant sex differences in plantarflexion velocity in contrast to plantarflexion strength. The results indicated a significant decrease with age and no difference in plantarflexion velocity between males and females characteristic plantarflexion velocity. Understanding the characteristics of plantarflexion velocity could contribute to preventing a decline in mobility in older adults.

The Influence of Multiple Pregnancies on Gait Asymmetry: A Case Study

Gait asymmetry is a predictor of fall risk and may contribute to increased falls during pregnancy. Previous work indicates that pregnant women experience asymmetric joint laxity and pelvic tilt during standing and asymmetric joint moments and angles during walking. How these changes translate to other measures of gait asymmetry remains unclear. Thus, the purpose of this case study was to determine the relationships between pregnancy progression, subsequent pregnancies, and gait asymmetry. Walking data were collected from an individual during 2 consecutive pregnancies during the second and third trimesters and 6 months postpartum of her first pregnancy and the first, second, and third trimesters and 6 months postpartum of her second pregnancy. Existing asymmetries in step length, anterior-posterior (AP) impulses, AP peak ground reaction forces, lateral impulses, and joint work systematically increased as her pregnancy progressed. These changes in asymmetry may be attributed to pelvic asymmetry, leading to asymmetric hip flexor and extensor length, or due to asymmetric plantar flexor strength, as suggested by her ankle work asymmetry. Relative to her first pregnancy, she had greater asymmetry in step length, step width, braking AP impulse, propulsive AP impulse, and peak braking AP ground reaction force during her second pregnancy, which may have resulted from increased joint laxity.

Effects of Functional Electrical Stimulation on Gait Characteristics in Healthy Individuals: A Systematic Review

BACKGROUND

This systematic review aimed to provide a comprehensive overview of the effects of functional electrical stimulation (FES) on gait characteristics in healthy individuals.

METHODS

Six electronic databases (PubMed, Embase, Epistemonikos, PEDro, COCHRANE Library, and Scopus) were searched for studies evaluating the effects of FES on spatiotemporal, kinematic, and kinetic gait parameters in healthy individuals. Two examiners evaluated the eligibility and quality of the included studies using the PEDro scale.

RESULTS

A total of 15 studies met the inclusion criteria. The findings from the literature reveal that FES can be used to modify lower-limb joint kinematics, i.e., to increase or reduce the range of motion of the hip, knee, and ankle joints. In addition, FES can be used to alter kinetics parameters, including ground reaction forces, center of pressure trajectory, or knee joint reaction force. As a consequence of these kinetics and kinematics changes, FES can lead to changes in spatiotemporal gait parameters, such as gait speed, step cadence, and stance duration.

CONCLUSIONS

The findings of this review improve our understanding of the effects of FES on gait biomechanics in healthy individuals and highlight the potential of this technology as a training or assistive solution for improving gait performance in this population.

An EMG-to-Force Processing Approach to Estimating Knee Muscle Forces during Adult, Self-Selected Speed Gait

BACKGROUND

The purpose of this study was to determine the force production during self-selected speed normal gait by muscle-tendon units that cross the knee. The force of a single knee muscle is not directly measurable without invasive methods, yet invasive techniques are not appropriate for clinical use. Thus, an EMG-to-force processing (EFP) model was developed which scaled muscle-tendon unit (MTU) force output to gait EMG.

METHODS

An EMG-to-force processing (EFP) model was developed which scaled muscle-tendon unit (MTU) force output to gait EMG. Active muscle force power was defined as the product of MTU forces (derived from EFP) and that muscle's contraction velocity. Net knee EFP moment was determined by summing individual active knee muscle moments. Net knee moments were also calculated for these study participants via inverse dynamics (kinetics plus kinematics, KIN). The inverse dynamics technique used are well accepted and the KIN net moment was used to validate or reject this model. Closeness of fit of the moment power curves for the two methods (during active muscle forces) was used to validate the model.

RESULTS

The correlation between the EFP and KIN methods was sufficiently close, suggesting validation of the model's ability to provide reasonable estimates of knee muscle forces.

CONCLUSIONS

The EMG-to-force processing approach provides reasonable estimates of active individual knee muscle forces in self-selected speed walking in neurologically intact adults.

The hip joint mobilization with movement technique improves muscle activity, postural stability, functional and dynamic balance in hemiplegia secondary to chronic stroke: a blinded randomized controlled trial

BACKGROUND

People with stroke generally experience abnormal muscle activity and develop balance disorder. Based on the important role of the proximal joints of the lower extremity in balance maintenance, hip joint mobilization with movement technique can be applied to enhance normal joint arthrokinematics. Therefore, the present study aimed to investigate the effectiveness of hip joint mobilization with movement technique on stroke patients' muscle activity and balance.

METHODS

Twenty patients aged between 35 and 65 years old with chronic stroke were randomly assigned either to an experimental group (n = 10) or to a control group (n = 10). Both groups participated in a 30-minute conventional physiotherapy session 3 times per week for 4 weeks. The experimental group received an additional 30-minute's session of hip joint mobilization with movement technique on the affected limb. The muscle activity, berg balance scale, time up and go, and postural stability were measured at baseline, 1-day and 2-week follow-up by a blinded assessor.

RESULTS

The experimental group showed a significant improvement in berg balance scale, time up and go, and postural stability (p ≤ 0.05). The rectus femoris, tibialis anterior, biceps femoris, and medial gastrocnemius muscles' activations of the affected limb during static balance test markedly changed along with the biceps femoris, erector spine, rectus femoris, and tibialis anterior muscles during dynamic balance test after hip joint mobilization with movement technique. The mean onset time of rectus abdominus, erector Spine, rectus femoris, and tibialis anterior muscles activity significantly decreased in the affected limb after hip joint mobilization with movement technique compared to the control group (p ≤ 0.05).

CONCLUSIONS

The results of the present study suggest that a combination of hip joint mobilization with movement technique and conventional physiotherapy could improve muscle activity and balance among chronic stroke patients.

TRIAL REGISTRATION NUMBER

The study was registered in the Iranian Registry of Clinical Trials (No; IRCT20200613047759N1). Registration date: 2/08/2020.

Effect of pregnancy on female gait characteristics: a pilot study based on portable gait analyzer and induced acceleration analysis

Introduction: The changes in physical shape and center of mass during pregnancy may increase the risk of falls. However, there were few studies on the effects of maternal muscles on gait characteristics and no studies have attempted to investigate changes in induced acceleration during pregnancy. Further research in this area may help to reveal the causes of gait changes in women during pregnancy and provide ideas for the design of footwear and clothing for pregnant women. The purpose of this study is to compare gait characteristics and induced accelerations between non-pregnant and pregnant women using OpenSim musculoskeletal modeling techniques, and to analyze their impact on pregnancy gait. Methods: Forty healthy participants participated in this study, including 20 healthy non-pregnant and 20 pregnant women (32.25 ± 5.36 weeks). The portable gait analyzer was used to collect participants' conventional gait parameters. The adjusted OpenSim personalized musculoskeletal model analyzed the participants' kinematics, kinetics, and induced acceleration. Independent sample T-test and one-dimensional parameter statistical mapping analysis were used to compare the differences in gait characteristics between pregnant and non-pregnant women. Results: Compared to the control group, pregnancy had a 0.34 m reduction in mean walking speed (p < 0.01), a decrease in mean stride length of 0.19 m (p < 0.01), a decrease in mean stride frequency of 19.06 step/min (p < 0.01), a decrease in mean thigh acceleration of 0.14 m/s² (p < 0.01), a decrease in mean swing work of 0.23 g (p < 0.01), and a decrease in mean leg falling strength of 0.84 g (p < 0.01). Induced acceleration analysis showed that pregnancy muscle-induced acceleration decreased in late pregnancy (p < 0.01), and the contribution of the gastrocnemius muscle to the hip and joint increased (p < 0.01). Discussion: Compared with non-pregnant women, the gait characteristics, movement amplitude, and joint moment of pregnant women changed significantly. This study observed for the first time that the pregnant women relied more on gluteus than quadriceps to extend their knee joints during walking compared with the control group. This change may be due to an adaptive change in body shape and mass during pregnancy.

A novel biomechanical indicator for impaired ankle dorsiflexion function during walking in individuals with chronic stroke

Ankle dorsiflexion function during swing phase of the gait cycle contributes to foot clearance and plays an important role in walking ability post-stroke. Commonly used biomechanical measures such as foot clearance and ankle joint excursion have limited ability to accurately evaluate dorsiflexor function in stroke gait. We retrospectively evaluated ankle angular velocity and ankle angular acceleration as direct measures for swing phase dorsiflexor function in post-stroke gait of 61 chronic stroke survivors. Our linear regression models revealed that peak ankle angular velocity (AAV P ), peak ankle angular acceleration (AAA P ), peak dorsiflexion angle (DFA P ) and peak foot clearance (FCL P ) during swing had a significant relationship (p < 0.05) with impaired dorsiflexion function. AAA P and DFA P accounted for the most variance of dorsiflexion function. Additionally, AAV P , AAA P , FCL P during swing, correlated significantly with all clinical outcome measures of walking ability. DFA P during swing had a positive correlation only with FMA-LE. Post-hoc William's t -tests, used to compare the magnitude of difference between two non-independent correlations, revealed that the correlation between all clinical measures and DFA P were significantly weaker than with AAV P and AAA P . We also found that correlation between FMA-LE and FCL P was weaker than with AAV P and AAA P . We found an excellent test-retest reliability for both AAV P (ICC = 0.968) and AAA P (ICC = 0.947). These results suggest that DFA P may only be associated with non-task specific isolated dorsiflexion movement, but not during walking. FCL P is associated with dorsiflexion function and walking ability measures but not as strongly as AAV P and AAA P possibly because FCL P is influenced by contribution from hip and knee joint movements during walking. Therefore, we believe that AAV P and AAA P both can be used as reliable measures of impaired dorsiflexion function in post-stroke gait.

Functional connectivity of proximal and distal lower limb muscles and impact on gait variability in stroke

BACKGROUND

Higher gait variability after stroke increases risk of falls and compromises safe community ambulation. Corticomotor connectivity plays an important role in walking after stroke, however, its relation to gait variability remains unknown.

RESEARCH QUESTION

Do corticomotor characteristics of the proximal and distal lower limb muscles predict gait variability in individuals with chronic stroke?

METHODS

Retrospective analysis of data from 30 individuals with chronic stroke was conducted. Corticomotor characteristics were measured in the paretic and non-paretic tibialis anterior (TA, distal muscle) and rectus femoris (RF, proximal muscle) using transcranial magnetic stimulation. We calculated corticomotor excitability ratio of paretic TA and RF (CME_TA/RF), corticomotor excitability symmetry (CME_sym) between hemispheres for the TA and RF, and ipsilateral corticomotor excitability (ICE) of the paretic TA. Gait variability was quantified as the coefficient of variation of the paretic step length (spatial) and step time (temporal) during comfortable walking. Relations between corticomotor characteristics and gait variability were tested with multiple linear regression.

RESULTS

CME_TA/RF and CME_sym of RF were significant predictors of spatial gait variability. Greater corticomotor input to the paretic RF compared to the paretic TA and greater symmetry of RF were related to higher spatial gait variability. There were no significant predictors of temporal gait variability.

SIGNIFICANCE

Corticomotor inputs to the proximal RF may be important for spatial gait variability, reflecting a compensatory role of RF in walking after stroke. Stroke survivors with relatively greater corticomotor input to the paretic RF may adopt compensatory strategy to enhance propulsion and achieve foot clearance, but it may also increase spatial gait variability, particularly when combined with impaired motor control of the paretic TA. These findings may provide novel rehabilitative targets to decrease gait variability and promote safe ambulation in individuals with stroke.

Examination of the Impact of Strength and Velocity of the Knee and Ankle on Gait Speed in Community-Dwelling Older Adults

The muscle strength of the knee extension and plantarflexion plays a crucial role in determining gait speed. Recent studies have shown that no-load angular velocity of the lower limb joints is essential for determining gait speed. However, no reports have compared the extent to which lower limb functions, such as knee extension strength, knee extension velocity, plantarflexion strength, and plantarflexion velocity, impact gait speed in a single study. Therefore, this study aimed to examine the relative importance of maximum strength and no-load angular velocity on gait speed. Overall, 164 community-dwelling older adults (72.9 ± 5.0 years) participated in this study. We measured the gait speed and lower limb function (the strength and velocity of knee extension and plantarflexion). Strength was measured with a hand-held dynamometer, and velocity with a gyroscope. A multiple regression analysis was performed with gait speed as the dependent variable and age, sex, and lower-limb function as independent variables. Plantarflexion velocity (β = 0.25) and plantarflexion strength (β = 0.21) were noted to be significant predictors of gait speed. These findings indicate that no-load plantarflexion velocity is more important than the strength of plantarflexion and knee extensions as a determinant of gait speed, suggesting that improvement in plantarflexion velocity may increase gait speed.

Effects of increasing non-paretic step length on paretic leg movement during hemiparetic gait: a pilot study

[Purpose] Gait training that increases non-paretic step length in stroke patients increases the propulsive force of the paretic leg. However, it limits knee flexion during the swing phase of gait, and this may cause gait disturbances such as worsening of gait pattern and increased risk of falling. Therefore, this study aimed to investigate the effects of increasing non-paretic step length on the joint movement and muscle activity of a paretic lower limb during hemiparetic gait. [Participants and Methods] A total of 15 hemiparetic patients with chronic stroke were enrolled in this study. Spatiotemporal parameters, along with kinematic and electromyography data of their paretic lower limbs, were measured during a 10-m distance overground walking. Two walking conditions were assessed: normal (comfortable gait) and non-paretic-long (gait with increased non-paretic step length) conditions. [Results] Under the non-paretic-long condition, the trailing limb angle was larger than under the normal condition. However, no significant difference was observed in the knee flexion angle during the swing phase. [Conclusion] Increasing non-paretic step length during gait is unlikely to limit knee flexion during the swing phase and can safely improve the propulsive force of a paretic leg.

Muscle function during single leg landing

Landing manoeuvres are an integral task for humans, especially in the context of sporting activities. Such tasks often involve landing on one leg which requires the coordination of multiple muscles in order to effectively dissipate kinetic energy. However, no prior studies have provided a detailed description of the strategy used by the major lower limb muscles to perform single-leg landing. The purpose of the present study was to understand how humans coordinate their lower limb muscles during a single-leg landing task. Marker trajectories, ground reaction forces (GRFs), and surface electromyography (EMG) data were collected from healthy male participants performing a single-leg landing from a height of 0.31 m. An EMG-informed neuromusculoskeletal modelling approach was used to generate neuromechanical simulations of the single-leg landing task. The muscular strategy was determined by computing the magnitude and temporal characteristics of musculotendon forces and energetics. Muscle function was determined by computing muscle contributions to lower limb net joint moments, GRFs and lower limb joint contact forces. It was found that the vasti, soleus, gluteus maximus and gluteus medius produced the greatest muscle forces and negative (eccentric) mechanical work. Downward momentum of the centre-of-mass was resisted primarily by the soleus, vasti, gastrocnemius, rectus femoris, and gluteus maximus, whilst forward momentum was primarily resisted by the quadriceps (vasti and rectus femoris). Flexion of the lower limb joints was primarily resisted by the uni-articular gluteus maximus (hip), vasti (knee) and soleus (ankle). Overall, our findings provide a unique insight into the muscular strategy used by humans during a landing manoeuvre and have implications for the design of athletic training programs.

Correcting for subcutaneous fat: does it improve the correlation between vastus lateralis echo intensity and physical performance in older women?

Numerous studies have corrected echo intensity of the vastus lateralis for subcutaneous fat thickness. However, it is unclear if correction for subcutaneous fat improves the correlation between vastus lateralis echo intensity and physical performance. We aimed to examine the correlations between vastus lateralis muscle morphology parameters and physical performance outcomes in older women. Twenty healthy older women (67 ± 4 years) participated in this study. Muscle cross-sectional area, raw and corrected echo intensity, and subcutaneous fat thickness were determined from ultrasound scans of the vastus lateralis. Physical performance was assessed from timed up-and-go and six-minute walk tests. Raw echo intensity was significantly related to timed up-and-go scores (r = 0.552, P = 0.012) and six-minute walk distance (r = -0.462, P = 0.040), whereas corrected echo intensity was not significantly associated with these performances (r = 0.433, P = 0.056 and r = -0.373, P = 0.105). There was a non-significant correlation between raw echo intensity and subcutaneous fat thickness (r = 0.353, P = 0.126). There were also non-significant correlations between muscle cross-sectional area and timed up-and-go scores (r = -0.189, P = 0.426) and six-minute walk distance (r = 0.298, P = 0.201). The results of our study showed that raw echo intensity correlated better than corrected echo intensity with physical performance. These findings question the need to correct echo intensity of the vastus lateralis for subcutaneous fat thickness in older adults. This article is protected by copyright. All rights reserved.

Muscle contributions to pre-swing biomechanical tasks influence swing leg mechanics in individuals post-stroke during walking

Background

Successful walking requires the execution of the pre-swing biomechanical tasks of body propulsion and leg swing initiation, which are often impaired post-stroke. While excess rectus femoris activity during swing is often associated with low knee flexion, previous work has suggested that deficits in propulsion and leg swing initiation may also contribute. The purpose of this study was to determine underlying causes of propulsion, leg swing initiation and knee flexion deficits in pre-swing and their link to stiff knee gait in individuals post-stroke.

Methods

Musculoskeletal models and forward dynamic simulations were developed for individuals post-stroke (n = 15) and healthy participants (n = 5). Linear regressions were used to evaluate the relationships between peak knee flexion, braking and propulsion symmetry, and individual muscle contributions to braking, propulsion, knee flexion in pre-swing, and leg swing initiation.

Results

Four out of fifteen of individuals post-stroke had higher plantarflexor contributions to propulsion and seven out of fifteen had higher vasti contributions to braking on their paretic leg relative to their nonparetic leg. Higher gastrocnemius contributions to propulsion predicted paretic propulsion symmetry (p = 0.005) while soleus contributions did not. Higher vasti contributions to braking in pre-swing predicted lower knee flexion (p = 0.022). The rectus femoris had minimal contributions to lower knee flexion acceleration in pre-swing compared to contributions from the vasti. However, for some individuals with low knee flexion, during pre-swing the rectus femoris absorbed more power and the iliopsoas contributed less power to the paretic leg. Total musculotendon work done on the paretic leg in pre-swing did not predict knee flexion during swing.

Conclusions

These results emphasize the multiple causes of propulsion asymmetry in individuals post-stroke, including low plantarflexor contributions to propulsion, increased vasti contributions to braking and reliance on compensatory mechanisms. The results also show that the rectus femoris is not a major contributor to knee flexion in pre-swing, but absorbs more power from the paretic leg in pre-swing in some individuals with stiff knee gait. These results highlight the need to identify individual causes of propulsion and knee flexion deficits to design more effective rehabilitation strategies.

Supplementary Information

The online version contains supplementary material available at 10.1186/s12984-022-01029-z.

Assessing Neurokinematic and Neuromuscular Connectivity During Walking Using Mobile Brain-Body Imaging

Gait is a common but rather complex activity that supports mobility in daily life. It requires indeed sophisticated coordination of lower and upper limbs, controlled by the nervous system. The relationship between limb kinematics and muscular activity with neural activity, referred to as neurokinematic and neuromuscular connectivity (NKC/NMC) respectively, still needs to be elucidated. Recently developed analysis techniques for mobile high-density electroencephalography (hdEEG) recordings have enabled investigations of gait-related neural modulations at the brain level. To shed light on gait-related neurokinematic and neuromuscular connectivity patterns in the brain, we performed a mobile brain/body imaging (MoBI) study in young healthy participants. In each participant, we collected hdEEG signals and limb velocity/electromyography signals during treadmill walking. We reconstructed neural signals in the alpha (8–13 Hz), beta (13–30 Hz), and gamma (30–50 Hz) frequency bands, and assessed the co-modulations of their power envelopes with myogenic/velocity envelopes. Our results showed that the myogenic signals have larger discriminative power in evaluating gait-related brain-body connectivity with respect to kinematic signals. A detailed analysis of neuromuscular connectivity patterns in the brain revealed robust responses in the alpha and beta bands over the lower limb representation in the primary sensorimotor cortex. There responses were largely contralateral with respect to the body sensor used for the analysis. By using a voxel-wise analysis of variance on the NMC images, we revealed clear modulations across body sensors; the variability across frequency bands was relatively lower, and below significance. Overall, our study demonstrates that a MoBI platform based on hdEEG can be used for the investigation of gait-related brain-body connectivity. Future studies might involve more complex walking conditions to gain a better understanding of fundamental neural processes associated with gait control, or might be conducted in individuals with neuromotor disorders to identify neural markers of abnormal gait.

Neuromuscular response to the stimulation of plantar cutaneous during walking at different speeds

BACKGROUND

A lot of authors have been studied the consequence of postural control strategies through investigating the effects of foot-surface contact. In this context an important variable of textured surfaces or insoles could be related to material stiffness. We apply a particular textured insoles to evaluate neuromuscular response of plantar stimulation during walking.

RESEARCH QUESTION

Could textured insoles alter the human locomotion during walking at different speeds?

METHODS

Ten adults (age: 27 ± 5 years) completed three trials on the multifunction treadmill at 0.42 ms^-1, 0.89 ms^-1, and 1.5 ms^-1 walking speed. Temporal-spatial parameters, gait line, and kinetic parameters were analyzed. The Co-Contraction Index (CCI) and electromyography (EMG) of the right leg muscles were assessed during four phases of gait: first half stance (FHS), half stance (HS), second half stance (SHS), swing phase (SP). Textured insole and soft control insole were worn while walking.

RESULTS

Plantar stimulation improved cadence, stride time, stride length and gait line parameters with increasing speed. First force peaks and maximum force forefoot were always significant. The maximum force midfoot was significant at 0.42 and 0.89 ms^-1. The maximum force heel only was significant in lower velocity. The maximum pressure showed different significant values except for the heel. Significant differences in the CCI were always found in the FHS and SHS for the plantar muscles, and in the FHS and HS for the knee muscles. The differences in gait analysis in biomechanical and in electromyographic parameters were more significant in the higher speed tested.

SIGNIFICANCE

The perception of shape and texture through its linear response to skin deformation over a wide range of deformations could be the reason why the significant differences increase in the higher speed. In conclusion, sensory interventions fallowing appropriate insoles can influence significantly gait. Walking strategy positively adjusts locomotion with high efficiency.

Comparison of the Upper and Lower Extremity and Trunk Muscle Masses between Children with Down Syndrome and Children with Typical Development

PURPOSE

Comparison of not only the upper and lower extremity but also trunk muscle masses measured by means of an ultrasound imaging device between children with Down syndrome (DS) and children with typical development (TD).

METHODS

The study included 35 children with TD (TD group) and 26 children with DS (DS group). The upper and lower extremity and trunk muscle thicknesses were measured using an ultrasound imaging device.

RESULTS

The thicknesses of the rectus abdominis, obliquus externus and internus abdominis, rectus femoris, and short head of the biceps femoris muscles were significantly lower in the DS group than in the TD group. The thicknesses of the other upper and lower extremity and trunk muscles did not differ significantly between the groups.

CONCLUSIONS

The results of this study demonstrated lower masses of trunk flexor and knee extensor and flexor muscles in children with DS compared to those in children with TD.

Lower-limb muscle function in healthy young and older adults across a range of walking speeds

BACKGROUND

Previous studies have compared the functional roles of the individual lower-limb muscles when healthy young and older adults walk at their self-selected speeds. No age-group differences were observed in ankle muscle forces and ankle muscle contributions to support and progression. However, older adults displayed higher gluteus maximus (hip extensor) muscle forces and greater contributions to support during early stance. There are no data that describe the functions of the individual lower-limb muscles in healthy older adults for walking at speeds other than the self-selected speed.

RESEARCH QUESTION

How does walking speed affect the functional roles of the individual lower-limb muscles in healthy older adults?

METHODS

Three-dimensional gait data were recorded for 10 healthy young and 10 healthy older adults walking at slow, normal, and fast speeds (0.7 m/s, 1.4 m/s, and 1.7 m/s, respectively). Both groups walked at the same speed at each condition. The experimental data were combined with a full-body musculoskeletal model to calculate and compare muscle forces and muscle contributions to the vertical, fore-aft, and mediolateral ground reaction forces (support, progression, and balance, respectively) in both groups.

RESULTS

Lower-limb muscle function was similar in young and older adults when both groups walked at the same speed at each condition. The same five muscles - gluteus maximus, gluteus medius, vasti, gastrocnemius, and soleus - contributed most significantly to support, progression, and balance in both groups at all speeds. However, gluteus maximus generated greater support and braking forces during early stance and gastrocnemius contributed less to forward propulsion during late stance at all speeds in the older group.

SIGNIFICANCE

These results provide further insight into the functional roles of the individual lower-limb muscles of older adults during walking and could inform the design of exercise programs aimed at improving support and balance in those at risk of falling.

The Functionality Verification through Pilot Human Subject Testing of MyFlex-δ: An ESR Foot Prosthesis with Spherical Ankle Joint

Most biomechanical research has focused on level-ground walking giving less attention to other conditions. As a result, most lower limb prosthesis studies have focused on sagittal plane movements. In this paper, an ESR foot is presented, of which five different stiffnesses were optimized for as many weight categories of users. It is characterized by a spherical ankle joint, with which, combined with the elastic elements, the authors wanted to create a prosthesis that gives the desired stiffness in the sagittal plane but at the same time, gives flexibility in the other planes to allow the adaptation of the foot prosthesis to the ground conditions. The ESR foot was preliminarily tested by participants with transfemoral amputation. After a brief familiarization with the device, each participant was asked to wear markers and to walk on a sensorized treadmill to measure their kinematics and kinetics. Then, each participant was asked to leave feedback via an evaluation questionnaire. The measurements and feedback allowed us to evaluate the performance of the prosthesis quantitatively and qualitatively. Although there were no significant improvements on the symmetry of the gait, due also to very limited familiarization time, the participants perceived an improvement brought by the spherical ankle joint.

Altered Muscle Contributions are Required to Support the Stance Limb During Voluntary Toe-Walking

Toe-walking characterizes several neuromuscular conditions and is associated with a reduction in gait stability and efficiency, as well as in life quality. The optimal choice of treatment depends on a correct understanding of the underlying pathology and on the individual biomechanics of walking. The objective of this study was to describe gait deviations occurring in a cohort of healthy adult subjects when mimicking a unilateral toe-walking pattern compared to their normal heel-to-toe gait pattern. The focus was to characterize the functional adaptations of the major lower-limb muscles which are required in order to toe walk. Musculoskeletal modeling was used to estimate the required muscle contributions to the joint sagittal moments. The support moment, defined as the sum of the sagittal extensive moments at the ankle, knee, and hip joints, was used to evaluate the overall muscular effort necessary to maintain stance limb stability and prevent the collapse of the knee. Compared to a normal heel-to-toe gait pattern, toe-walking was characterized by significantly different lower-limb kinematics and kinetics. The altered kinetic demands at each joint translated into different necessary moment contributions from most muscles. In particular, an earlier and prolonged ankle plantarflexion contribution was required from the soleus and gastrocnemius during most of the stance phase. The hip extensors had to provide a higher extensive moment during loading response, while a significantly higher knee extension contribution from the vasti was necessary during mid-stance. Compensatory muscular activations are therefore functionally required at every joint level in order to toe walk. A higher support moment during toe-walking indicates an overall higher muscular effort necessary to maintain stance limb stability and prevent the collapse of the knee. Higher muscular demands during gait may lead to fatigue, pain, and reduced quality of life. Toe-walking is indeed associated with significantly larger muscle forces exerted by the quadriceps to the patella and prolonged force transmission through the Achilles tendon during stance phase. Optimal treatment options should therefore account for muscular demands and potential overloads associated with specific compensatory mechanisms.

Validation of Methods for Estimation of Knee Joint Mechanical Impedance During Locomotion Using a Torque-Controllable Knee Exoskeleton

The mechanical impedance of the joints of the leg governs the body's response to external disturbances, and its regulation is essential for the completion of tasks of daily life. However, it is still unclear how this quantity is regulated at the knee during dynamic tasks. In this work, we introduce a method to estimate the mechanical impedance of spring-mass systems using a torque-controllable exoskeleton with the intention of extending these methods to characterize the mechanical impedance of the human knee during locomotion. We characterize system bandwidth and intrinsic impedance and present a perturbation-based methodology to identify the mechanical impedance of known spring-mass systems. Our approach was able to obtain accurate estimates of stiffness and inertia, with errors under 3% and ∼13-16%, respectively. This work provides a qualitative and quantitative foundation that will enable accurate estimates of knee joint impedance during locomotion in future works.

Effect of Reciprocating Gait Orthosis with Hip Actuation on Upper Extremity Loading during Ambulation in Patient with Spinal Cord Injury: A Single Case Study

Reciprocating gait orthosis (RGO) is a traditional passive orthosis that provides postural stability and allows for independent upright ambulation with the assistance of walking aids, such as crutches, canes, and walkers. Previous follow-up studies of patients with RGOs have indicated a high frequency of nonusage. One of the main reasons for avoiding the use of RGOs is the excessive upper extremity loading induced by walking aids. The purpose of this study was to investigate the effect of hip actuation on the upper extremity loading induced by crutches when ambulating with an RGO. One female individual with a chronic complete spinal cord injury classified as ASIA A participated in this study. We compared the upper extremity loading during ambulation when individualized hip assistive forces were applied on the RGO (POWERED condition) and when wearing the RGO without actuation (RGO condition). Upper extremity loading was assessed by measuring the forces acting on the crutches. Compared with the RGO condition, the average upper extremity loading per unit distance and per unit time were lower for the POWERED condition by 15.21% (RGO: 0.307 ± 0.056 and POWERED: 0.260 ± 0.034 %bw·m−1) and by 21.19% (RGO: 0.120 ± 0.020 and POWERED: 0.094 ± 0.011 %bw·s−1), respectively. We believe that a substantial reduction in upper extremity loading during ambulation provided by hip actuation holds promise to promote long-term RGO use and enable patients with paraplegia to perform frequent and intensive rehabilitation training. As this is a single case study, subsequent studies should aim to verify this effect through a higher number of patients and to different injury levels.

Effects of age and knee osteoarthritis on the modular control of walking: A pilot study

Background

Older adults and individuals with knee osteoarthritis (KOA) often exhibit reduced locomotor function and altered muscle activity. Identifying age- and KOA-related changes to the modular control of gait may provide insight into the neurological mechanisms underlying reduced walking performance in these populations. The purpose of this pilot study was to determine if the modular control of walking differs between younger and older adults without KOA and adults with end-stage KOA.

Methods

Kinematic, kinetic, and electromyography data were collected from ten younger (23.5 ± 3.1 years) and ten older (63.5 ± 3.4 years) adults without KOA and ten adults with KOA (64.0 ± 4.0 years) walking at their self-selected speed. Separate non-negative matrix factorizations of 500 bootstrapped samples determined the number of modules required to reconstruct each participant’s electromyography. One-way Analysis of Variance tests assessed the effect of group on walking speed and the number of modules. Kendall rank correlations (τ_b) assessed the association between the number of modules and self-selected walking speed.

Results

The number of modules required in the younger adults (3.2 ± 0.4) was greater than in the individuals with KOA (2.3 ± 0.7; p = 0.002), though neither cohorts’ required number of modules differed significantly from the unimpaired older adults (2.7 ± 0.5; p ≥ 0.113). A significant association between module number and walking speed was observed (τ_b = 0.350, p = 0.021) and individuals with KOA walked significantly slower (0.095 ± 0.21 m/s) than younger adults (1.24 ± 0.15 m/s; p = 0.005). Individuals with KOA also exhibited altered module activation patterns and composition (which muscles are associated with each module) compared to unimpaired adults.

Conclusion

These findings suggest aging alone may not significantly alter modular control; however, the combined effects of knee osteoarthritis and aging may together impair the modular control of gait.

Evaluation of a quasi-passive biarticular prosthesis to replicate gastrocnemius function in transtibial amputee gait

Lower limb amputees experience gait impairments, in part due to limitations of prosthetic limbs and the lack of a functioning biarticular gastrocnemius (GAS) muscle. Energy storing prosthetic feet restore the function of the soleus, but not GAS. We propose a transtibial prosthesis that implements a spring mechanism to replicate the GAS. A prototype Biarticular Prosthesis (BP) was tested on seven participants with unilateral transtibial amputation. Participants walked on an instrumented treadmill with motion capture, first using their prescribed prosthesis, then with the BP in four different spring stiffness conditions. A custom OpenSim musculoskeletal model, including the BP, was used to estimate kinematics, joint torques, and muscle forces. Kinematic symmetry was evaluated by comparing the amputated and intact angles of the ankle, knee, and hip. The BP knee and ankle torques were compared to the intact GAS. Finally, work done by the BP spring was calculated at the ankle and knee. There were no significant differences between conditions in kinematic symmetry, indicating that the BP performs similarly to prescribed prostheses. When comparing the BP torques to intact GAS, higher spring stiffness better approximated peak GAS torques, but those peaks occurred earlier in the gait cycle. The BP spring did positive work on the knee joint and negative work on the ankle joint, and this work increased as BP spring stiffness increased. The BP has the potential to improve amputee gait compensations associated with the lack of biarticular GAS function, which may reduce their walking effort and improve quality of life.

Learning to walk with a wearable robot in 880 simple steps: a pilot study on motor adaptation

BACKGROUND

Wearable robots have been shown to improve the efficiency of walking in diverse scenarios. However, it is unclear how much practice is needed to fully adapt to robotic assistance, and which neuromotor processes underly this adaptation. Familiarization strategies for novice users, robotic optimization techniques (e.g. human-in-the-loop), and meaningful comparative assessments depend on this understanding.

METHODS

To better understand the process of motor adaptation to robotic assistance, we analyzed the energy expenditure, gait kinematics, stride times, and muscle activities of eight naïve unimpaired participants across three 20-min sessions of robot-assisted walking. Experimental outcomes were analyzed with linear mixed effect models and statistical parametric mapping techniques.

RESULTS

Most of the participants' kinematic and muscular adaptation occurred within the first minute of assisted walking. After ten minutes, or 880 steps, the energetic benefits of assistance were realized (an average of 5.1% (SD 2.4%) reduction in energy expenditure compared to unassisted walking). Motor adaptation was likely driven by the formation of an internal model for feedforward motor control as evidenced by the reduction of burst-like muscle activity at the cyclic end of robotic assistance and an increase in arm-swing asymmetry previously associated with increased cognitive load.

CONCLUSION

Humans appear to adapt to walking assistance from a wearable robot over 880 steps by forming an internal model for feedforward control. The observed adaptation to the wearable robot is well-described by existing three-stage models that start from a cognitive stage, continue with an associative stage, and end in autonomous task execution. Trial registration Not applicable.

The associations between asymmetries in quadriceps strength and gait in individuals with unilateral transtibial amputation

BACKGROUND

Individuals with unilateral transtibial amputations (ITTAs) are asymmetrical in quadriceps strength. It is unknown if this is associated with gait performance characteristics such as walking speed and limb symmetry.

RESEARCH QUESTION

Are quadriceps strength asymmetries related to walking speed and/ or gait asymmetries in ITTAs?

METHODS

Knee-extensor isometric maximum voluntary torque (MVT) and rate of torque development (RTD) were measured in eight ITTAs. Gait data were captured as the ITTAs walked at self-selected habitual and fast speeds. Step length and single support time, peak knee extension moments and their impulse and peak vertical ground reaction force (vGRF) in the braking and propulsive phases of stance were extracted. Bilateral Asymmetry Index (BAI) and, for gait variables only, difference in BAI between walking speeds (ΔBAI) were calculated. Correlation analyses assessed the relationships between MVT and RTD asymmetry and (1) walking speed; (2) gait asymmetries.

RESULTS

Associations between strength and gait BAIs generally became more apparent at faster walking speeds, and when the difference in BAI between fast and habitual walking speed was considered. BAI RTD was strongly negatively correlated with habitual and fast walking speeds (r=∼0.83). Larger BAI RTD was strongly correlated with propulsive vGRF BAI in fast walking, and larger ΔBAIs in vGRF during both the braking and propulsion phases of gait (r = 0.74-0.92). ITTAs who exhibited greater BAI MVT showed greater ΔBAI in single support time (r = 0.83).

SIGNIFICANCE

While MVT and RTD BAI appear to be associated with gait asymmetries in ITTAs, the magnitude of the asymmetry in RTD appears to be a more sensitive marker of walking speed. Based on these results, it's possible that strengthening the knee-extensors of the amputated limb to improve both MVT and RTD symmetry may benefit walking speed, and reduce asymmetrical loading in gait.

Reducing the metabolic energy of walking and running using an unpowered hip exoskeleton

BACKGROUND

Walking and running are the most common means of locomotion in human daily life. People have made advances in developing separate exoskeletons to reduce the metabolic rate of walking or running. However, the combined requirements of overcoming the fundamental biomechanical differences between the two gaits and minimizing the metabolic penalty of the exoskeleton mass make it challenging to develop an exoskeleton that can reduce the metabolic energy during both gaits. Here we show that the metabolic energy of both walking and running can be reduced by regulating the metabolic energy of hip flexion during the common energy consumption period of the two gaits using an unpowered hip exoskeleton.

METHODS

We analyzed the metabolic rates, muscle activities and spatiotemporal parameters of 9 healthy subjects (mean ± s.t.d; 24.9 ± 3.7 years, 66.9 ± 8.7 kg, 1.76 ± 0.05 m) walking on a treadmill at a speed of 1.5 m s-1 and running at a speed of 2.5 m s-1 with different spring stiffnesses. After obtaining the optimal spring stiffness, we recruited the participants to walk and run with the assistance from a spring with optimal stiffness at different speeds to demonstrate the generality of the proposed approach.

RESULTS

We found that the common optimal exoskeleton spring stiffness for walking and running was 83 Nm Rad-1, corresponding to 7.2% ± 1.2% (mean ± s.e.m, paired t-test p < 0.01) and 6.8% ± 1.0% (p < 0.01) metabolic reductions compared to walking and running without exoskeleton. The metabolic energy within the tested speed range can be reduced with the assistance except for low-speed walking (1.0 m s-1). Participants showed different changes in muscle activities with the assistance of the proposed exoskeleton.

CONCLUSIONS

This paper first demonstrates that the metabolic cost of walking and running can be reduced using an unpowered hip exoskeleton to regulate the metabolic energy of hip flexion. The design method based on analyzing the common energy consumption characteristics between gaits may inspire future exoskeletons that assist multiple gaits. The results of different changes in muscle activities provide new insight into human response to the same assistive principle for different gaits (walking and running).

The Influence of Kinesio Tape and an Ankle Brace on the Lower Extremity Joint Motion in Fatigued, Unstable Ankles during a Lateral Drop Landing

BACKGROUND

An unstable ankle along with plantar flexor muscle fatigue may exacerbate landing performance. External support may be an option to control the ankle motion and protect joints from injuries. Research goal: To investigate the immediate changes in the joint motion of a lower extremity under ankle plantar flexors fatigue conditions in athletes with unstable ankles using different external supports.

METHODS

A total of 44 participants were allocated to a control (Cn) group, an ankle brace (AB) group, and a kinesio tape (KT) group, and were asked to perform a lateral drop landing before and after a fatigue protocol. The outcome measures were fatigue-induced changes in the maximal joint angle and changes in the angle ranges of the hip, knee, and ankle.

RESULTS

Smaller changes in the maximal hip abduction were found in the AB group (p = 0.025), and the KT group exhibited smaller changes in the maximal ankle dorsiflexion (p = 0.009). The AB group landed with a smaller change in the range of hip flexion and knee flexion (p = 0.008 and 0.006). The Cn group had greater fatigue-induced changes in the COM range than AB and KT group (p = 0.002 and 0.028).

SIGNIFICANCE

Despite the beneficial effect in the postural control in the frontal plane, the use of AB might constrain the distal joint motion which might lead to an extended knee landing posture resulting in secondary injuries to the knee joint. Therefore, the use of AB in conjunction with an additional training of landing strategy might be recommended from the injury prevention perspective.

The effect of the use of smartphone while walking on the electromyography activity of the lower extremity in young students

The study aims to determine the effects of smartphone use on the muscle activity of the lower extremity when walking. Twenty-three healthy young students were asked to perform a 10-m walk test between normal walking without using a smartphone and walking while two-handed texting on a smartphone. The electromyography activities of the lower extremity were quantified. To quantitatively assess the cervical flexion range of smartphone users, the cervical flexion angle was measured using a digital goniometer. The study results indicated that the use of a smartphone while walking could lessen muscle activity on the tibialis anterior, gastrocnemius, rectus femoris, gluteus maximus, and gluteus medius than that of normal walking without using a smartphone. The walking speeds were reduced in walking while using a smartphone compared with normal walking without using a smartphone. The cervical flexion angle was greater when walking while using a smartphone compared to that of normal walking without using a smartphone. These results suggest that frequently using a smartphone while walking could be a potential risk for musculoskeletal problems.

Lower extremity muscle contributions to ACL loading during a stop-jump task

Landing is considered a high-risk movement, especially landings from a stop-jump task, as they are often associated with lower extremity injuries, such as anterior cruciate ligament injuries (ACL). Females demonstrate lower extremity landing mechanics that often place them at a larger risk of injury compared to their male counterparts. While efforts have been made to understand lower extremity mechanics during stop-jump landings, little is known regarding the musculature function during these tasks and how they may influence ACL loading. Understanding lower extremity muscle contributions to ACL loading (F_ACL) may give insight to improving injury prevention protocols. Ten healthy, recreationally active females completed five trials of an unanticipated stop-jump task. Right leg kinematics, kinetics, and electromyography data were collected with three-dimensional motion capture, force plates, and electromyography sensors, respectively. Modified musculoskeletal models were scaled based on participant-specific anthropometrics, and muscle forces were obtained using static optimization. An induced acceleration analysis combined with a previously established mathematical ACL loading model was used to calculate lower extremity muscle contribution to F_ACL. The vastus lateralis, vastus intermedius, vastus medials, biceps femoris long head, semimembranosus, and soleus were found to be the primary contributors to F_ACL, with the vastus lateralis being the largest contributor. These data suggest that muscles traditionally known as ACL unloaders may in certain conditions load the ACL. These results also suggest that future injury prevention protocols should target muscles specifically to mitigate the influence the vastus lateralis has on ACL loading.

The effect of chronic ankle instability on muscle activations in lower extremities

BACKGROUND/PURPOSE

Muscular reflex responses of the lower extremities to sudden gait disturbances are related to postural stability and injury risk. Chronic ankle instability (CAI) has shown to affect activities related to the distal leg muscles while walking. Its effects on proximal muscle activities of the leg, both for the injured- (IN) and uninjured-side (NON), remain unclear. Therefore, the aim was to compare the difference of the motor control strategy in ipsilateral and contralateral proximal joints while unperturbed walking and perturbed walking between individuals with CAI and matched controls.

MATERIALS AND METHODS

In a cross-sectional study, 13 participants with unilateral CAI and 13 controls (CON) walked on a split-belt treadmill with and without random left- and right-sided perturbations. EMG amplitudes of muscles at lower extremities were analyzed 200 ms after perturbations, 200 ms before, and 100 ms after (Post100) heel contact while walking. Onset latencies were analyzed at heel contacts and after perturbations. Statistical significance was set at alpha≤0.05 and 95% confidence intervals were applied to determine group differences. Cohen's d effect sizes were calculated to evaluate the extent of differences.

RESULTS

Participants with CAI showed increased EMG amplitudes for NON-rectus abdominus at Post100 and shorter latencies for IN-gluteus maximus after heel contact compared to CON (p<0.05). Overall, leg muscles (rectus femoris, biceps femoris, and gluteus medius) activated earlier and less bilaterally (d = 0.30-0.88) and trunk muscles (bilateral rectus abdominus and NON-erector spinae) activated earlier and more for the CAI group than CON group (d = 0.33-1.09).

CONCLUSION

Unilateral CAI alters the pattern of the motor control strategy around proximal joints bilaterally. Neuromuscular training for the muscles, which alters motor control strategy because of CAI, could be taken into consideration when planning rehabilitation for CAI.

Muscle Co-Activation around the Knee during Different Walking Speeds in Healthy Females

The purpose of this study was to examine the changes in co-activation around the knee joint during different walking speeds in healthy females using the co-activation index. Ten healthy females (age: 21.20 ± 7.21 years, height: 164.00 ± 4.00 cm, mass: 60.60 ± 4.99 kg) participated in this study and performed three walking speeds (slow, normal, and fast). A Qualisys 11-camera motion analysis system sampling at a frequency of 200 Hz was synchronized with a Trigno EMG Wireless system operating at a 2000 Hz sampling frequency. A significant decrease in the co-activation index of thigh muscles was observed between the slow and fast, and between the normal and fast, walking speeds during all walking phases. A non-significant difference was observed between the slow and normal walking speeds during most walking phases, except the second double support phase, during which the difference was significant. A negative relationship was found between walking speed and the co-activation index of thigh muscles in all speeds during walking phases: first double support (r = −0.3386, p < 0.001), single support (r = −0.2144, p < 0.01), second double support (r = −0.4949, p < 0.001), and Swing (r = −0.1639, p < 0.05). In conclusion, the results indicated high variability of thigh muscle co-activation in healthy females during the different walking speeds, and a decrease in the co-activation of the thigh muscles with the increase of speed.

Human myoelectric spatial patterns differ among lower limb muscles and locomotion speeds

The spatial distribution of myoelectric activity within lower limb muscles is often nonuniform and can change during different stationary tasks. Recent studies using high-density electromyography (EMG) have suggested that spatial muscle activity may also differ among muscles during locomotion, but contrasting electrode array sizes and experimental designs have limited cross-study comparisons. Here, we sought to determine if spatial EMG patterns differ among lower limb muscles and locomotion speeds. We recorded high-density EMG from the vastus medialis, tibialis anterior, biceps femoris, medial gastrocnemius, and lateral gastrocnemius muscles of 11 healthy subjects while they walked (1.2 and 1.6 m/s) and ran (2.0, 3.0, 4.0, and 5.0 m/s) on a treadmill. To overcome the detrimental effects of cable, electrode, and soft tissue movements on high-density EMG signal quality during locomotion, we applied multivariate signal cleaning methods. From these data, we computed the spatial entropy and center of gravity from the total myoelectric activity within each recording array during the stance or swing phases of the gait cycle. We found heterogeneous spatial EMG patterns evidenced by contrasting spatial entropy among lower limb muscles. As locomotion speed increased, mean entropy values decreased in four of the five recorded muscles, indicating that EMG signal amplitudes were more spatially heterogeneous, or localized, at faster speeds. The EMG center of gravity location also shifted in multiple muscles as locomotion speed increased. Contrasting myoelectric spatial distributions among muscles likely reflect differences in muscle architecture, but increasingly localized activity and spatial shifts in the center of gravity location at faster locomotion speeds could be influenced by preferential recruitment of faster motor units under greater loads.

Muscle Contributions to Balance Control During Amputee and Nonamputee Stair Ascent

Dynamic balance is controlled by lower-limb muscles and is more difficult to maintain during stair ascent compared to level walking. As a result, individuals with lower-limb amputations often have difficulty ascending stairs and are more susceptible to falls. The purpose of this study was to identify the biomechanical mechanisms used by individuals with and without amputation to control dynamic balance during stair ascent. Three-dimensional muscle-actuated forward dynamics simulations of amputee and nonamputee stair ascent were developed and contributions of individual muscles, the passive prosthesis, and gravity to the time rate of change of angular momentum were determined. The prosthesis replicated the role of nonamputee plantarflexors in the sagittal plane by contributing to forward angular momentum. The prosthesis largely replicated the role of nonamputee plantarflexors in the transverse plane but resulted in a greater change of angular momentum. In the frontal plane, the prosthesis and nonamputee plantarflexors contributed oppositely during the first half of stance while during the second half of stance, the prosthesis contributed to a much smaller extent. This resulted in altered contributions from the intact leg plantarflexors, vastii and hamstrings, and the intact and residual leg hip abductors. Therefore, prosthetic devices with altered contributions to frontal-plane angular momentum could improve balance control during amputee stair ascent and minimize necessary muscle compensations. In addition, targeted training could improve the force production magnitude and timing of muscles that regulate angular momentum to improve balance control.

Motor Impairment and Its Influence in Gait Velocity and Asymmetry in Community Ambulating Hemiplegic Individuals

Objectives

To determine the most important motor impairments that are predictors of gait velocity and spatiotemporal symmetrical ratio in patients with stroke.

Design

Cross-sectional, descriptive analysis study.

Setting

Human performance laboratory of the University of Santo Tomas.

Participants

Individuals with chronic stroke (N=55; 34 men, 21 women) who are community dwellers.

Interventions

Not applicable.

Main Outcome Measures

The gait velocity and spatiotemporal symmetrical ratio (step length; step, stance, swing, single-leg support, and double-leg support stance times) was determined using Vicon motion capture. We also calculated motor impairment of the leg and foot using Brunnstrom’s stages of motor recovery, evaluated muscle strength using the scoring system described by Collin and Wade, and assessed spasticity using by the modified Ashworth Scale.

Results

Regression analysis showed that plantarflexor strength is a predictor of gait velocity and all temporospatial symmetry ratio. Knee flexor and extensor strength are predictors in single-leg support time and double-leg support time symmetry ratio, respectively. On the other hand, hip adductor and quadriceps spasticity are predictors of swing time and step length symmetry ratio.

Conclusion

Different motor impairments are predictors of stroke gait abnormality. Interventions should be focused on these motor impairments to allow for optimal gait rehabilitation results.

Strength training to improve walking after stroke: how physiotherapist, patient and workplace factors influence exercise prescription

Background:Muscle weakness is well established as the primary impairment that affects walking after stroke and strength training is an effective intervention to improve this muscle weakness. Observation of clinical practice however has highlighted an evidence-practice gap in the implementation of evidence-based strength training guidelines. Objective: To explore perceived barriers and facilitators that influence Australian physiotherapy practices when prescribing strength training with stroke survivors undergoing gait rehabilitation. Methods: Semi-structured interviews were conducted with a convenience sample of physiotherapists currently providing rehabilitation services to patients following stroke in Australia. Interviews were transcribed verbatim and line-by-line thematic analysis was undertaken to create themes and sub-themes. Results: Participants were 16 physiotherapists (12 females) with 3 months - 42 years experience working with people after stroke. Major themes identified were1) patient factors influence the approach to strength training; 2) interpretation and implementation of strength training principles is diverse; and 3) workplace context affects the treatment delivered. Physiotherapists displayed wide variation in their knowledge, interpretation and implementation of strength training principles and strength training exercise prescription was seldom evidence or guideline based. Workplace factors included the clinical preference of colleagues, and the need to modify practice to align with workforce resources. Conclusions: Implementation of strength training to improve walking after stroke was diverse. Therapist-related barriers to the implementation of effective strength training programs highlight the need for improved knowledge, training and research engagement. Limited resourcing demonstrates the need for organizational prioritization of stroke education and skill development. Narrowing the evidence-practice gap remains a challenge.

Toe walking in children with cerebral palsy: a possible functional role for the plantar flexors

Equinus and toe walking are common locomotor disorders in children with cerebral palsy (CP) walking barefoot or with normal shoes. We hypothesized that, regardless of the type of footwear, the plantar flexors do not cause early equinus upon initial foot contact but decelerate ankle dorsiflexion during weight acceptance (WA). This latter action promoted by early flat-foot contact is hypothesized to be functional. Hence, we performed an instrumented gait analysis of 12 children with CP (Gross Motor Function Classification System class: I or II; mean age: 7.2 yr) and 11 age-matched typically developing children. The participants walked either barefoot, with unmodified footwear (4° positive-heel shoes), or with 10° negative-heel shoes (NHSs). In both groups, wearing NHSs was associated with greater ankle dorsiflexion upon initial foot contact, and greater tibialis anterior activity (but no difference in soleus activity) during the swing phase. However, the footwear condition did not influence the direction and amplitude of the first ankle movement during WA and the associated peak negative ankle power. Regardless of the footwear condition, the CP group displayed 1) early flattening of the foot and ample dorsiflexion (decelerated by the plantar flexors) during WA and 2) low tibialis anterior and soleus activities during the second half of the swing phase (contributing to passive equinus upon foot strike). In children with CP, the early action of plantar flexors (which typically decelerate the forward progression of the center of mass) may be a compensatory mechanism that contributes to the WA's role in controlling balance during gait.NEW & NOTEWORTHY Adaptation to walking in negative-heel shoes was similar in typically developing children and children with cerebral palsy: it featured ankle dorsiflexion upon initial contact, even though (in the latter group) the soleus was always spastic in a clinical examination. Hence, in children with cerebral palsy, the early deceleration of ankle dorsiflexion by the plantar flexors (promoted by early flattening of the foot, and regardless of the type of footwear) may have a functional role.

Mechanical and energetic determinants of impaired gait following stroke: segmental work and pendular energy transduction during treadmill walking

Systems biology postulates the balance between energy production and conservation in optimizing locomotion. Here, we analyzed how mechanical energy production and conservation influenced metabolic energy expenditure in stroke survivors during treadmill walking at different speeds. We used the body center of mass (BCoM) and segmental center of mass to calculate mechanical energy production: external and each segment's mechanical work (W_seg). We also estimated energy conservation by applying the pendular transduction framework (i.e. energy transduction within the step; R_int). Energy conservation was likely optimized by the paretic lower-limb acting as a rigid shaft while the non-paretic limb pushed the BCoM forward at the slower walking speed. W_seg production was characterized by greater movements between the limbs and body, a compensatory strategy used mainly by the non-paretic limbs. Overall, W_seg production following a stroke was characterized by non-paretic upper-limb compensation, but also by an exaggerated lift of the paretic leg. This study also highlights how post-stroke subjects may perform a more economic gait while walking on a treadmill at preferred walking speeds. Complex neural adaptations optimize energy production and conservation at the systems level, and may fundament new insights onto post-stroke neurorehabilitation.

This article has and associated First Person interview with the first author of the paper.

Summary: Walking after a stroke may be energetically consuming. Here, we show how compensations and asymmetries may contribute to increasing the amount of work needed to walk following a stroke.