Biomechanical locomotion adaptations on uneven surfaces can be simulated with a randomly deforming shoe midsole

Legged locomotion over irregular terrains: state of the art of human and robot performance

Legged robotic technologies have moved out of the lab to operate in real environments, characterized by a wide variety of unpredictable irregularities and disturbances, all this in close proximity with humans. Demonstrating the ability of current robots to move robustly and reliably in these conditions is becoming essential to prove their safe operation. Here, we report an in-depth literature review aimed at verifying the existence of common or agreed protocols and metrics to test the performance of legged system in realistic environments. We primarily focused on three types of robotic technologies, i.e., hexapods, quadrupeds and bipeds. We also included a comprehensive overview on human locomotion studies, being it often considered the gold standard for performance, and one of the most important sources of bioinspiration for legged machines. We discovered that very few papers have rigorously studied robotic locomotion under irregular terrain conditions. On the contrary, numerous studies have addressed this problem on human gait, being nonetheless of highly heterogeneous nature in terms of experimental design. This lack of agreed methodology makes it challenging for the community to properly assess, compare and predict the performance of existing legged systems in real environments. On the one hand, this work provides a library of methods, metrics and experimental protocols, with a critical analysis on the limitations of the current approaches and future promising directions. On the other hand, it demonstrates the existence of an important lack of benchmarks in the literature, and the possibility of bridging different disciplines, e.g., the human and robotic, towards the definition of standardized procedures that will boost not only the scientific development of better bioinspired solutions, but also their market uptake.

Gait Variability and Complexity during Single and Dual-Task Walking on Different Surfaces in Outdoor Environment

Nowadays, gait assessment in the real life environment is gaining more attention. Therefore, it is desirable to know how some factors, such as surfaces (natural, artificial) or dual-tasking, influence real life gait pattern. The aim of this study was to assess gait variability and gait complexity during single and dual-task walking on different surfaces in an outdoor environment. Twenty-nine healthy young adults aged 23.31 ± 2.26 years (18 females, 11 males) walked at their preferred walking speed on three different surfaces (asphalt, cobbles, grass) in single-task and in two dual-task conditions (manual task-carrying a cup filled with water, cognitive task-subtracting the number 7). A triaxial inertial sensor attached to the lower trunk was used to record trunk acceleration during gait. From 15 strides, sample entropy (SampEn) as an indicator of gait complexity and root mean square (RMS) as an indicator of gait variability were computed. The findings demonstrate that in an outdoor environment, the surfaces significantly impacted only gait variability, not complexity, and that the tasks affected both gait variability and complexity in young healthy adults.

Effects of acute wearable resistance loading on overground running lower body kinematics

Field-based sports require athletes to run sub-maximally over significant distances, often while contending with dynamic perturbations to preferred coordination patterns. The ability to adapt movement to maintain performance under such perturbations appears to be trainable through exposure to task variability, which encourages movement variability. The aim of the present study was to investigate the extent to which various wearable resistance loading magnitudes alter coordination and induce movement variability during running. To investigate this, 14 participants (three female and 11 male) performed 10 sub-maximal velocity shuttle runs with either no weight, 1%, 3%, or 5% of body weight attached to the lower limbs. Sagittal plane lower limb joint kinematics from one complete stride cycle in each run were assessed using functional data analysis techniques, both across the participant group and within-individuals. At the group-level, decreases in ankle plantarflexion following toe-off were evident in the 3% and 5% conditions, while increased knee flexion occurred during weight acceptance in the 5% condition compared with unloaded running. At the individual-level, between-run joint angle profiles varied, with six participants exhibiting increased joint angle variability in one or more loading conditions compared with unloaded running. Loading of 5% decreased between-run ankle joint variability among two individuals, likely in accordance with the need to manage increased system load or the novelty of the task. In terms of joint coordination, the most considerable alterations to coordination occurred in the 5% loading condition at the hip-knee joint pair, however, only a minority of participants exhibited this tendency. Coaches should prescribe wearable resistance individually to perturb preferred coordination patterns and encourage movement variability without loading to the extent that movement options become limited.

The effect of shoe and floor characteristics on walking kinematics

It is common sense that walking on sand poses challenges to postural control. However, there are no studies quantifying the kinematics of sand walking compared to other types of postural perturbations such as unstable shoes. The aim of the study was to investigate differences in walking kinematics during walking on solid ground, in unstable shoes and on unstable surfaces. Nineteen healthy young adults (23.5 ± 1.5 years) performed three different walking tasks: 1) walking at preferred speed while wearing regular shoes; 2) Walking at preferred speed wearing Masai Barefoot Technology shoes and 3) barefoot walking at preferred speed on a large sand grave. Full-body kinematics were recorded during all conditions using an inertial motion capture system. Basic gait parameters (walking speed, stride length and duration), relative vertical center-of-mass position (rvCOM), and ankle, knee and hip joint angles in the sagittal plane were compared across the tasks through statistical parametric mapping over the course of full walking cycles. Participants presented similar walking speed, as well as stride length and duration across different conditions (p > 0.05). However, walking on sand reduced the rvCOM (p < 0.05), while also requiring greater ankle plantarflexion during stance phase (p < 0.05), as well as greater knee and hip flexion during leg swing and initial contact when compared to the other conditions (p < 0.05). It was concluded that walking on sand substantially changes walking kinematics, and may cause greater postural instability than unstable shoes. Therefore, walking on sand can be an alternative to improve postural control in patients undergoing walking rehabilitation.

Unpredictable shoe midsole perturbations provide an instability stimulus to train ankle posture and motion during forward and lateral gym lunges

Unstable footwear may enhance training effects to the lower-limb musculature and sensorimotor system during dynamic gym movements. This study compared the instability of an unstable shoe with irregular midsole deformations (IM) and a control shoe (CS) during forward and lateral lunges. Seventeen female gym class participants completed two sets of ten forward and lateral lunges in CS and IM. Ground reaction forces, lower-limb kinematics and ankle muscle activations were recorded. Variables around initial ground contact, toe-off, descending and ascending lunge phases were compared statistically (p < .05). Responses to IM compared to CS were similar across lunge directions. The IM induced instability by increasing the vertical loading rate (p < .001, p = .009) and variability of frontal ankle motion during descending (p = .001, p < .001) and ascending phases (p = .150, p = .003), in forward and lateral lunges, respectively. At initial ground contact, ankle adjustments enhanced postural stability in IM. Across muscles, there were no activation increases, although results indicate peroneus longus activations increased in IM during the ascending phase. As expected, IM provided a more demanding training stimulus during lunge exercises and has potential to reduce ankle injuries by training ankle positioning for unpredictable instability.

The effect of unstable shoe designs on the variability of gait measures

BACKGROUND

Unstable footwear designs are popular as training devices to strengthen human neuromuscular control, and many studies have evaluated their effect on gait parameters in comparison to conventional footwear designs. However, there is minimal research on variability of gait measures during walking with unstable shoes. Therefore, the study objective was to compare variability of gait measures between stable and unstable shoe configurations, in conjunction with kinematic and kinetic changes.

METHODS

Fifteen healthy male subjects walked in both a stable and unstable footwear device configuration while full-body gait kinematic and kinetic data was collected. Averages and standard deviations of gait trials were compared between the two configurations at different stages of each step.

RESULTS

Comparison of gait variability between both footwear configurations revealed that variability of frontal-plane foot center of pressure offset, transverse-plane ankle moment, and frontal-plane shoulder angle decreased significantly while walking in the unstable configuration, while transverse-plane spine angle variability increased. No changes in variability of gait measures at the knee, hip, or pelvis were observed. Kinematic and kinetic changes were observed throughout the whole body with the unstable shoe.

CONCLUSION

Our findings suggest that the unstable device used in the study may reduce gait variability at the two extremes of the kinematic chain (i.e., foot, ankle, and shoulders), but increase variability of spine rotation angle. This may suggest a compensatory mechanism to maintain both stability and adaptability, and may have potential clinical implications for gait retraining and enhancing dynamic gait stability and joint stability, pending further investigation.