Adaptation of neuromuscular synergies during intentional constraints of space-time relationships in human gait

The combined effects of body weight support and gait speed on gait related muscle activity: a comparison between walking in the Lokomat exoskeleton and regular treadmill walking

Background

For the development of specialized training protocols for robot assisted gait training, it is important to understand how the use of exoskeletons alters locomotor task demands, and how the nature and magnitude of these changes depend on training parameters. Therefore, the present study assessed the combined effects of gait speed and body weight support (BWS) on muscle activity, and compared these between treadmill walking and walking in the Lokomat exoskeleton.

Methods

Ten healthy participants walked on a treadmill and in the Lokomat, with varying levels of BWS (0% and 50% of the participants’ body weight) and gait speed (0.8, 1.8, and 2.8 km/h), while temporal step characteristics and muscle activity from Erector Spinae, Gluteus Medius, Vastus Lateralis, Biceps Femoris, Gastrocnemius Medialis, and Tibialis Anterior muscles were recorded.

Results

The temporal structure of the stepping pattern was altered when participants walked in the Lokomat or when BWS was provided (i.e. the relative duration of the double support phase was reduced, and the single support phase prolonged), but these differences normalized as gait speed increased. Alternations in muscle activity were characterized by complex interactions between walking conditions and training parameters: Differences between treadmill walking and walking in the exoskeleton were most prominent at low gait speeds, and speed effects were attenuated when BWS was provided.

Conclusion

Walking in the Lokomat exoskeleton without movement guidance alters the temporal step regulation and the neuromuscular control of walking, although the nature and magnitude of these effects depend on complex interactions with gait speed and BWS. If normative neuromuscular control of gait is targeted during training, it is recommended that very low speeds and high levels of BWS should be avoided when possible.

Rhythmic performance during a whole body movement: dynamic analysis of force-time curves

The purpose of this study was to investigate rhythmic performance during two-legged hopping in place. In particular, it was tested whether (a) timing control is independent of force control, (b) a dynamic timer model explains rhythmic performance, and (c) it is a force related parameter that carries the timing information. Eleven participants performed two-legged hopping at their preferred hopping frequency (PHF) and at two hopping frequencies set by an external rhythmic stimulus as lower (LHF) and higher (HHF) than their PHF, respectively. A force plate was used to record the ground reaction force (GRF) time curves during two-legged hopping. The primary temporal and force related parameters determined from the GRF-time curves were the durations of the cycle of movement (t(cycle)), of the contact phase (t(contact)), of the flight phase (t(flight)), the magnitude of peak force (Fz(peak)) and the rate of peak force development (RFD). Control of t(cycle) was independent of force control as shown by the non-significant correlations between t(cycle) and the force parameters of the GRF-time curve. Lag 1 autocorrelations of t(cycle) were not significant in any of the HF, thereby a dynamic timer model is considered to explain the timing of t(cycle) during two-legged hopping. RFD varied more than any other GRF-time curve parameter, exhibited consistent significant strong correlations with the GRF-time curve parameters and significant negative lag 1 autocorrelations in PHF, thus, it was highlighted as the potent timing control parameter. Finally, we provide a practical application for the optimization of rhythmic performance.

Stride variability in human gait: the effect of stride frequency and stride length

This study focused on spatial and temporal variability of the stride in human gait. We determined the role of stride frequency (F) and stride length (L) on those parameters. Eight healthy subjects walked on a treadmill using 25 different FL combinations (0.95<L<1.5 m, and 0.8<F<1.26 Hz). The results showed that spatial and temporal variabilities tend to increase in concert with respect to change in stride parameters. In addition, stride variability was found (1) to be minimal at F=1 Hz; and (2) to increase with smaller L. During additional trials, subjects walked freely at various speeds. Although it is generally hypothesized that freely chosen behaviors are optimal in terms of variability, our data show that this is not always the case in human gait.