A treadmill-mounted force platform

Comparison of muscle activity of the lower limbs while running on different treadmill models

Treadmill running is a common method of exercise and to study human locomotion. Research has examined the kinematics and kinetics of overground and treadmill running, but there has been less focus on the levels of muscle activity during treadmill running. We investigated if muscle activity is different while running overground compared to running on a variety of treadmills. A total of 11 healthy individuals ran at 3 speeds (2.6, 3.6, 4.5 m/s) under 4 different running conditions (3 treadmills, overground). The three treadmills included a typical home exercise treadmill, a midsize commercial research treadmill, and a large, instrumented research treadmill. Surface EMG of the tibialis anterior (TA), gastrocnemius medialis (GM), rectus femoris (RF) and biceps femoris (BF) muscles were measured for each running condition. The integrated EMG was computed for each running condition for the stance and swing phase, as well as 100 ms before and after the heel-strike. Friedman analysis revealed significant effects during the stance phase for GM and RF at all speeds, such that muscle activation was lower on the treadmills relative to overground. During the stance phase at faster speeds, the muscle activity was higher for the TA and lower for the BF while running on the different treadmills compared to overground running. Before heel-strike, the TA was significantly less active during treadmill compared to overground running at 2.6 m/s and the RF showed significantly higher activity at 3.6 m/s and 4.5 m/s while running on the different treadmills. Summarizing, differences were mainly observed between the different treadmill conditions relative to overground running. Muscle activation differences between the different treadmill conditions were observed at faster running speeds for RF during the pre-heel-strike phase only. Different types of treadmills with different mechanical properties affects the muscle activity during stance phase as well as in preparation to heel-strike. Additionally, the muscle activity is greater during overground compared to treadmill running during the stance phase for the GM, BF, and RF.

Fifty years of performance-related sports biomechanics research

Over the past fifty years there has been considerable development in motion analysis systems and in computer simulation modelling of sports movements while the relevance and importance of functional variability of sports technique has become increasingly recognised. Technical developments for experimental work have led to increased, and still increasing, subject numbers. Increased subjects per study give better statistical power, the ability to utilise different data analyses, and thus the determination of more subtle and nuanced factors. The overall number of studies has also increased massively. Most actions in sport can, and have, been studied at some level with even the more challenging ones, such as player on player impacts, having some developing research. Computer simulation models of sports movements have ranged from simple (one or two segment) models to very complex musculoskeletal models and have used parameters ranging from the generic to individual-specific. Simple models have given insights into the key mechanics of movement while individual-specific model optimisations have been used to improve athlete performance. Our depth of understanding of the mechanics of sports techniques has increased across a wide range of sports. In the future there is likely to be more development and use of markerless motion capture, individual-specific model parameters, and more consideration of motor control aspects in the analysis of sports technique.

Force Plate with Simple Mechanical Springs and Separated Noncontact Sensor Elements

This paper reports on a force plate (FP) using mechanical springs and noncontact distance sensors. The ground reaction force (GRF) is one of the factors for clarify biomechanics, and FPs are widely used to measure it. The sensor elements of conventional FPs are mainly strain gauges. Thus, the mechanical properties of FP depend on the sensor element performance. If the FP performance must change, we must redesign the FP, including changing the sensor elements. Here, we proposed an FP that uses a measuring principle based on simple springs and noncontact sensors. The shape and performance of the proposed FP are expected to change easily. As a prototype device, we designed and fabricated an FP installed with 12 springs and four sensors for human walking. A planar coil and magnet were used as the sensor elements, and the sensor output was proportional to the vertical and horizontal displacements. The FP resonance frequency was 123 Hz, which was larger than the required specification. The calibration experiments showed that vertical and horizontal forces and moments could be measured independently. The FP’s resolutions were 1.9 N and 1.4 N in the anterior–posterior and vertical directions, respectively. Furthermore, the fabricated FP measured GRF similarly to the commercial FP when a human walked on the plate. These results suggest that the proposed method will be helpful for FPs with custom-made requirements.

Evaluation of the repeatability of kinetic and temporospatial gait variables measured with a pressure-sensitive treadmill for dogs

OBJECTIVE

To evaluate intrasession and intersession repeatability of measurements for temporospatial and kinetic variables obtained with a pressure-sensitive treadmill designed for gait analysis of dogs.

ANIMALS

16 client-owned dogs.

PROCEDURES

The influence of treadmill speed on accuracy of ground reaction force (GRF) measurements was assessed by simulated gait analysis at 0 to 7.5 km/h with a custom test device. A similar test was performed with 1 client-owned dog ambulating on the treadmill at 5 speeds (3 to 7 km/h) for GRF calculations. Fifteen client-owned dogs were then walked on the treadmill at 3 km/h for collection of temporospatial and kinetic data. Intrasession repeatability was determined by comparing 2 sets of measurements obtained ≤ 2 hours apart. Intersession repeatability was determined by comparing the first set of these measurements with those for a second session ≥ 4 days later. Intraclass correlation coefficients (ICCs; consistency test) and difference ratios were calculated to assess repeatability.

RESULTS

Increases in treadmill speed yielded a mean 9.1% decrease in weight-normalized force data at belt speeds of up to 7.5 km/h for the test device, compared with the value when the treadmill belt was stationary. Results were similar for the dog at increasing treadmill speeds (mean decrease, 12.4%). For temporospatial data, intrasession ICCs were > 0.9 and intersession ICCs ranged from 0.75 to 0.9; for GRFs, intrasession and intersession ICCs ranged from 0.68 to 0.97 and from 0.35 to 0.78, respectively.

CONCLUSIONS AND CLINICAL RELEVANCE

Repeatability of temporospatial data for healthy dogs was good to excellent; results for kinetic data varied. Further research is needed to investigate use of this system for gait analysis with larger samples of dogs and dogs with lameness.

Force measurements during running on different instrumented treadmills

One method to determine the forces produced during running is to conduct extensive kinematic and kinetic analysis. These analyses can be performed by having an individual perform repeated over-ground running trials or simply run continuously on an instrumented treadmill. The forces produced during over-ground running may not be the same as the forces during treadmill running and these differences could be attributed to a number of factors, including the design of the instrumented treadmill. The purpose of this paper was to determine whether there are differences in force measurements on different instrumented treadmill setups in comparison to over-ground running and to correct for any of these differences using a theoretical model. 11 participants ran on three different treadmills and performed over-ground running at 2.7, 3.6, and 4.5 m/s. Ground reaction forces were measured via force plates and an instrumented pressure insole. We found that the magnitude of the vertical ground reaction force differed between the three treadmills and over-ground running. The difference in ground reaction forces estimated by the pressure insole and the treadmill-force-plate system or instrumented treadmill can be explained by a three degree of freedom mechanical model of a person running on a treadmill and this model could potentially be used to correct for errors in force measurement from instrumented treadmills. The model included a force plate, a treadmill, and a wobbling mass with varying natural frequencies and damping characteristics, and constant masses. These findings provide researchers a method to correct forces from an instrumented treadmill set-up to determine a close approximation of the actual forces experienced by a participant during treadmill running.

Developing a Low-Cost Force Treadmill via Dynamic Modeling

By incorporating force transducers into treadmills, force platform-instrumented treadmills (commonly called force treadmills) can collect large amounts of gait data and enable the ground reaction force (GRF) to be calculated. However, the high cost of force treadmills has limited their adoption. This paper proposes a low-cost force treadmill system with force sensors installed underneath a standard exercise treadmill. It identifies and compensates for the force transmission dynamics from the actual GRF applied on the treadmill track surface to the force transmitted to the force sensors underneath the treadmill body. This study also proposes a testing procedure to assess the GRF measurement accuracy of force treadmills. Using this procedure in estimating the GRF of “walk-on-the-spot motion,” it was found that the total harmonic distortion of the tested force treadmill system was about 1.69%, demonstrating the effectiveness of the approach.

Characterization and validation of a split belt treadmill for measuring hindlimb ground-reaction forces in able-bodied and spinalized felines

BACKGROUND

The measurement of ground reaction forces (GRFs) in animals trained to locomote on a treadmill after spinal cord injury (SCI) could prove valuable for evaluating training outcomes; however, quantitative measures of the GRFs in spinal felines are limited.

NEW METHOD

A split belt treadmill was designed and constructed to measure the GRFs of feline hindlimbs during stepping. The treadmill consists of two independent treadmill assemblies, each mounted on a force plate. The design allows measurements of the vertical (Fz), fore-aft (Fy) and mediolateral (Fx) ground-reaction forces for both hindlimbs while the forelimbs are resting on a platform.

RESULTS

Static and dynamic noise tests revealed little to no noise at frequencies below 6Hz. Validation of the force plate measurements with a hand-held force sensor force showed good agreement between the two force readings. Peak normalized (to body mass) vertical GRFs for intact cats were 4.89±0.85N/kg for the left hindlimb and 4.79±0.97N/kg for the right. In comparison, trained spinalized cats peak normalized vertical GRFs were 2.20±0.94N/kg for the left hindlimb and 2.85±0.99N/kg for the right.

COMPARISON WITH OTHER EXISTING METHODS

Previous methods of measuring GRFs used stationary single force plates or treadmill mounted to single force plate. Using independent treadmills for each hindlimb allows measurement of the individual hindlimb's GRFs in spinalized cats following body-weight supported treadmill training.

CONCLUSIONS

The split belt force treadmill enables the simultaneous recording of ground-reaction forces for both hindlimbs in cats prior to spinalization, and following spinalization and body-weight-supported treadmill training (BWST).

Dynamic assessment of center of pressure measurements from an instrumented AMTI treadmill with controlled precision

With the increasing use of instrumented force treadmills in biomechanical research, it is imperative that the validity of center of pressure (COP) measurements is established. The study aims were to compare an instrumented treadmill's static-belt COP accuracy to that of a floor-embedded platform, develop a novel method to quantify dynamic-belt COP accuracy with controlled precision and perform an initial investigation of how dynamic COP accuracy changes with weight and velocity. Static COP accuracy was assessed by applying a force while moving a rigid rod in a circular clockwise motion at nine positions of interest on the two treadmill and two ground-embedded force plates. Dynamic COP accuracy was assessed for weights (68.0, 102.1, and 136.1kg), applied through a ball bearing of 2.54cm circumference, with peak treadmill belt speeds of 0.5, 0.75, and 1.0m/s. COP accuracy was assessed relative to motion capture marker trajectories. Statically, treadmill COP error was similar to that of the ground-embedded force plates and that reported for other treadmills. Dynamically, COP error appeared to vary systematically with weight and velocity and in the case of anteroposterior COP error, shear force, although testing with a larger number of weights and velocities is needed to fully define the relationship. This novel method can be used to assess any instrumented treadmill's dynamic COP accuracy with controlled precision.

The preferred walk to run transition speed in actual lunar gravity

Quantifying the preferred transition speed (PTS) from walking to running has provided insight into the underlying mechanics of locomotion. The dynamic similarity hypothesis suggests that the PTS should occur at the same Froude number across gravitational environments. In normal Earth gravity, the PTS occurs at a Froude number of 0.5 in adult humans, but previous reports found the PTS occurred at Froude numbers greater than 0.5 in simulated lunar gravity. Our purpose was to (1) determine the Froude number at the PTS in actual lunar gravity during parabolic flight and (2) compare it with the Froude number at the PTS in simulated lunar gravity during overhead suspension. We observed that Froude numbers at the PTS in actual lunar gravity (1.39±0.45) and simulated lunar gravity (1.11±0.26) were much greater than 0.5. Froude numbers at the PTS above 1.0 suggest that the use of the inverted pendulum model may not necessarily be valid in actual lunar gravity and that earlier findings in simulated reduced gravity are more accurate than previously thought.

An algorithm to decompose ground reaction forces and moments from a single force platform in walking gait

In walking experimental conditions, subjects are sometimes unable to perform two steps on two different forceplates. This leads the authors to develop methods for discerning right and left ground reaction data while they are summed during the double support in walking. The aim of this study is to propose an adaptive transition function that considers the walking speed and ground reaction forces (GRF). A transition function is used to estimate left and right side GRF signals in double support. It includes a shape coefficient adjusted using single support GRF parameters. This shape coefficient is optimized by a non-linear least-square curve-fitting procedure to match the estimated signals with real GRF. A multiple regression is then performed to identify GRF parameters of major importance selected to compute the right and left GRF of the double support. Relative RMSE (RMSER), maximum GRF differences normalized to body mass and differences of center of pressure (CoP) are computed between real and decomposed signals. During double support, RMSER are 6%, 18%, 3.8%, 4.3%, 3%, and 12.3% for anterior force, lateral force, vertical force, frontal moment, sagittal moment and transverse moment, respectively. Maximum GRF differences normalized to body mass are lower than 1N/kg and mean CoP difference is 0.0135 m, when comparing real to decomposed signals during double support. This work shows the accuracy of an adaptive transition function to decompose GRF and moment of right and left sides. This method is especially useful to accurately discern right and left GRF data in single force platform configurations.

Does an instrumented treadmill correctly measure the ground reaction forces?

Since the 1990s, treadmills have been equipped with multi-axis force transducers to measure the three components of the ground reaction forces during walking and running. These measurements are correctly performed if the whole treadmill (including the motor) is mounted on the transducers. In this case, the acceleration of the treadmill centre of mass relative to the reference frame of the laboratory is nil. The external forces exerted on one side of the treadmill are thus equal in magnitude and opposite in direction to the external forces exerted on the other side. However, uncertainty exists about the accuracy of these measures: due to friction between the belt and the tread-surface, due to the motor pulling the belt, some believe that it is not possible to correctly measure the horizontal components of the forces exerted by the feet on the belt. Here, we propose a simple model of an instrumented treadmill and we demonstrate (1) that the forces exerted by the subject moving on the upper part of the treadmill are accurately transmitted to the transducers placed under it and (2) that all internal forces – including friction – between the parts of the treadmill are cancelling each other.

Reliability of spatiotemporal and kinetic gait parameters determined by a new instrumented treadmill system

Background

Despite the emerging use of treadmills integrated with pressure platforms as outcome tools in both clinical and research settings, published evidence regarding the measurement properties of these new systems is limited. This study evaluated the within– and between–day repeatability of spatial, temporal and vertical ground reaction force parameters measured by a treadmill system instrumented with a capacitance–based pressure platform.

Methods

Thirty three healthy adults (mean age, 21.5 ± 2.8 years; height, 168.4 ± 9.9 cm; and mass, 67.8 ± 18.6 kg), walked barefoot on a treadmill system (FDM–THM–S, Zebris Medical GmbH) on three separate occasions. For each testing session, participants set their preferred pace but were blinded to treadmill speed. Spatial (foot rotation, step width, stride and step length), temporal (stride and step times, duration of stance, swing and single and double support) and peak vertical ground reaction force variables were collected over a 30–second capture period, equating to an average of 52 ± 5 steps of steady–state walking. Testing was repeated one week following the initial trial and again, for a third time, 20 minutes later. Repeated measures ANOVAs within a generalized linear modelling framework were used to assess between–session differences in gait parameters. Agreement between gait parameters measured within the same day (session 2 and 3) and between days (session 1 and 2; 1 and 3) were evaluated using the 95% repeatability coefficient.

Results

There were statistically significant differences in the majority (14/16) of temporal, spatial and kinetic gait parameters over the three test sessions (P < .01). The minimum change that could be detected with 95% confidence ranged between 3% and 17% for temporal parameters, 14% and 33% for spatial parameters, and 4% and 20% for kinetic parameters between days. Within–day repeatability was similar to that observed between days. Temporal and kinetic gait parameters were typically more consistent than spatial parameters. The 95% repeatability coefficient for vertical force peaks ranged between ± 53 and ± 63 N.

Conclusions

The limits of agreement in spatial parameters and ground reaction forces for the treadmill system encompass previously reported changes with neuromuscular pathology and footwear interventions. These findings provide clinicians and researchers with an indication of the repeatability and sensitivity of the Zebris treadmill system to detect changes in common spatiotemporal gait parameters and vertical ground reaction forces.

Comparison of vertical ground reaction forces during overground and treadmill running. A validation study

BACKGROUND

One major drawback in measuring ground-reaction forces during running is that it is time consuming to get representative ground-reaction force (GRF) values with a traditional force platform. An instrumented force measuring treadmill can overcome the shortcomings inherent to overground testing. The purpose of the current study was to determine the validity of an instrumented force measuring treadmill for measuring vertical ground-reaction force parameters during running.

METHODS

Vertical ground-reaction forces of experienced runners (12 male, 12 female) were obtained during overground and treadmill running at slow, preferred and fast self-selected running speeds. For each runner, 7 mean vertical ground-reaction force parameters of the right leg were calculated based on five successful overground steps and 30 seconds of treadmill running data. Intraclass correlations (ICC₃,₁) and ratio limits of agreement (RLOA) were used for further analysis.

RESULTS

Qualitatively, the overground and treadmill ground-reaction force curves for heelstrike runners and non-heelstrike runners were very similar. Quantitatively, the time-related parameters and active peak showed excellent agreement (ICCs between 0.76 and 0.95, RLOA between 5.7% and 15.5%). Impact peak showed modest agreement (ICCs between 0.71 and 0.76, RLOA between 19.9% and 28.8%). The maximal and average loading-rate showed modest to excellent ICCs (between 0.70 and 0.89), but RLOA were higher (between 34.3% and 45.4%).

CONCLUSIONS

The results of this study demonstrated that the treadmill is a moderate to highly valid tool for the assessment of vertical ground-reaction forces during running for runners who showed a consistent landing strategy during overground and treadmill running. The high stride-to-stride variance during both overground and treadmill running demonstrates the importance of measuring sufficient steps for representative ground-reaction force values. Therefore, an instrumented treadmill seems to be suitable for measuring representative vertical ground-reaction forces during running.

A Wolff in sheep's clothing: trabecular bone adaptation in response to changes in joint loading orientation

This study tests Wolff's law of trabecular bone adaptation by examining if induced changes in joint loading orientation cause corresponding adjustments in trabecular orientation. Two groups of sheep were exercised at a trot, 15 min/day for 34 days on an inclined (7°) or level (0°) treadmills. Incline trotting caused the sheep to extend their tarsal joints by 3-4.5° during peak loading (P<0.01) but has no effect on carpal joint angle (P=0.984). Additionally, tarsal joint angle in the incline group sheep were maintained more extended throughout the day using elevated platform shoes on their forelimbs. A third "sedentary group" group did not run but wore platform shoes throughout the day. As predicted by Wolff's law, trabecular orientation in the distal tibia (tarsal joint) were more obtuse by 2.7 to 4.3° in the incline group compared to the level group; trabecular orientation was not significantly different in the sedentary and level groups. In addition, trabecular orientations in the distal radius (carpal joint) of the sedentary, level and incline groups did not differ between groups, and were aligned almost parallel to the radius long axis, corresponding to the almost straight carpal joint angle at peak loading. Measurements of other trabecular bone parameters revealed additional responses to loading, including significantly higher bone volume fraction (BV/TV), Trabecular number (Tb.N) and trabecular thickness (Tb.Th), lower trabecular spacing (Tb.Sp), and less rod-shaped trabeculae (higher structure model index, SMI) in the exercised than sedentary sheep. Overall, these results demonstrate that trabecular bone dynamically adjusts and realigns itself in very precise relation to changes in peak loading direction, indicating that Wolff's law is not only accurate but also highly sensitive.

The biological limits to running speed are imposed from the ground up

Running speed is limited by a mechanical interaction between the stance and swing phases of the stride. Here, we tested whether stance phase limitations are imposed by ground force maximums or foot-ground contact time minimums. We selected one-legged hopping and backward running as experimental contrasts to forward running and had seven athletic subjects complete progressive discontinuous treadmill tests to failure to determine their top speeds in each of the three gaits. Vertical ground reaction forces [in body weights (Wb)] and periods of ground force application (Tc; s) were measured using a custom, high-speed force treadmill. At top speed, we found that both the stance-averaged (Favg) and peak (Fpeak) vertical forces applied to the treadmill surface during one-legged hopping exceeded those applied during forward running by more than one-half of the body's weight (Favg = 2.71 ± 0.15 vs. 2.08 ± 0.07 Wb; Fpeak = 4.20 ± 0.24 vs. 3.62 ± 0.24 Wb; means ± SE) and that hopping periods of force application were significantly longer (Tc = 0.160 ± 0.006 vs. 0.108 ± 0.004 s). Next, we found that the periods of ground force application at top backward and forward running speeds were nearly identical, agreeing to within an average of 0.006 s (Tc = 0.116 ± 0.004 vs. 0.110 ± 0.005 s). We conclude that the stance phase limit to running speed is imposed not by the maximum forces that the limbs can apply to the ground but rather by the minimum time needed to apply the large, mass-specific forces necessary.

A kinematic and kinetic comparison of overground and treadmill walking in healthy subjects

INTRODUCTION

Gait evaluation protocols using instrumented treadmills will be increasingly used in the near future. For this reason, it must be shown that using instrumented treadmills will produce measures of the ground reaction force adequate for inverse dynamic analysis, and differences between treadmill and overground gait must be well characterized.

METHODS

Overground walking kinetics were estimated with the subjects walking at their self-selected comfortable walking speed. For the treadmill gait trials, the subjects walked on two treadmills, such that heel-strike occurred on the forward treadmill and toe-off occurred on the trailing treadmill. The treadmill was set to the average overground walking speed. Overground and treadmill data were evaluated using Vicon Plug-in Gait. The differences between the maxima and minima of kinematic and kinetic parameters for overground and treadmill gait were evaluated.

RESULTS

The kinematics of treadmill and overground gait were very similar. Twelve of 22 kinematic parameter maxima were statistically significantly different (p<0.05), but the magnitude of the difference was generally less than 2 degrees . All GRF maxima were found to be statistically significantly smaller for treadmill versus overground gait (p<0.05) as were 15 of 18 moment, and 3 of 6 power maxima. However, the magnitude of the differences was comparable to the variability in normal gait parameters. The sagittal plane ankle moments were not statistically different for treadmill and overground gait.

DISCUSSION

We have shown that treadmill gait is qualitatively and quantitatively similar to overground gait. Differences in kinematic and kinetic parameters can be detected in matched comparisons, particularly in the case of kinetic parameters. However, the magnitudes of these differences are all within the range of repeatability of measured kinematic parameters. Thus, the mechanics of treadmill and overground gait are very similar.

CLINICAL SIGNIFICANCE

Having demonstrated the essential equivalence of treadmill and overground gait, it is now possible for clinical movement analysis to take advantage of treadmill-based protocols.

Testing of a tri-instrumented-treadmill unit for kinetic analysis of locomotion tasks in static and dynamic loading conditions

In this study, we present a multi-treadmill system instrumented with three force platforms capable of measuring vertical and shear ground reaction forces and moments during both walking and running. Linearity, belts speed variations, repeatability of the measures, cross-talk, natural frequency, instrumental noise, moving part induced noise and drift were investigated. The noise due to vibrations and to moving parts was also investigated having a subject walking and running on the treadmill. The linearity test results showed a high linearity of all three treadmill force platforms, and vertical force natural frequency values of 219, 308, 307Hz, obtained for the three force platforms, were considered appropriate for the investigation of walking and running. The instrumental noise did not appear to be a significant source of error. The characteristics of the noise due to vibrations and moving parts changed when in the presence of a subject walking and running on the treadmill. For walking trials, averaging of gait cycles led to a systematic improvement of the signal to noise ratio, particularly for the medio-lateral component of the force. For running trials, even though averaging was not as beneficial as for walking trials, the greater force amplitude led to a better signal to noise ratio value. This instrumented treadmill demonstrated acceptable accuracy and signal to noise ratios for all ground reaction force components such that it can be useful for a variety of research and clinical gait analysis applications.

Predicting the energy cost of terrestrial locomotion: a test of the LiMb model in humans and quadrupeds

The energy cost of terrestrial locomotion has been linked to the muscle forces generated to support body weight and swing the limbs. The LiMb model predicts these forces, and hence locomotor cost, as a function of limb length and basic kinematic variables. Here, I test this model in humans, goats and dogs in order to assess the performance of the LiMb model in predicting locomotor cost for bipeds and quadrupeds. Model predictions were compared to observed locomotor cost, measured via oxygen consumption, during treadmill trials performed over a range of speeds for both walking and running gaits. The LiMb model explained more of the variation in locomotor cost than other predictors, including contact time, Froude number and body mass. The LiMb model also accurately predicted the magnitude of vertical ground forces. Results suggest the LiMb model reliably links locomotor anatomy to force production and locomotor cost. Further, these data support the idea that limb length may underlie the scaling of locomotor cost for terrestrial animals.

Inverse dynamics calculations during gait with restricted ground reaction force information from pressure insoles

The number of consecutive strides that can be recorded in measurements of gait have been limited due to the number of force plates and dimensions of the measurement field. In addition, the feet are constrained to land on the force plates. A method to calculate the inverse dynamics from the motion and incomplete information from the ground reaction forces (GRF), vertical component and its application point, is presented and compared to the calculations based on force plate measurements. This method is based on the estimation of the three-dimensional GRF during walking with pressure insoles. RMS errors were lower than 20 W for knee joint power compared to those derived from force plate measurements. The errors were larger during double stance phase due to errors in the application point measured with the insoles. This method, with some technical improvement, could be implemented in new gait analysis protocols measuring several consecutive steps either on a treadmill or over ground, depending on the motion-measurement system, without constraining foot placement.

Determining the centre of pressure during walking and running using an instrumented treadmill

In this paper, a new method of determining spatial and temporal gait parameters by using centre of pressure (CoP) data is presented. A treadmill is used which was developed to overcome limitations of regular methods for the analysis of spatio-temporal gait parameters and ground reaction forces during walking and running. The design of the treadmill is based on the use of force transducers underneath a separate left and right plate, which together form the treadmill walking surface. The results of test procedures and measurements show that accurate recordings of vertical ground reaction force can be obtained. These recordings enable a separate analysis of vertical ground reaction forces during double support phases in walking, and the analysis of changes in the centre of pressure (CoP) position during subsequent foot placements. From the CoP data, temporal gait parameters (e.g. duration of left/right support and swing phases) and spatial gait parameters (i.e. left/right step lengths and widths) can be derived.

A force measuring treadmill in clinical gait analysis

This preliminary study presents the development and testing of an instrumented treadmill device measuring the ground reaction forces (GRFs) and the feasibility of using this force measuring treadmill (FMT) in clinical gait analysis. A commercially available treadmill was modified and fitted out with three-dimensional strain-gauge force transducers. Tests of linearity, centre of pressure position (CoP), cross talk, natural frequency, background noises, and belt speed were undertaken in order to assess the performance of the FMT. In addition, the GRFs and segmental kinematics were recorded while healthy subjects and patients walked on the FMT, in order to compute the net ankle joint moments and the body centre of mass (CMb) kinematics and mechanics. The preliminary results of technical tests were satisfactory with an error less than 10% and dynamic tests in healthy subjects corresponded to the literature. The results of patients were clearly disturbed, demonstrating the ability of the FMT to discriminate pathological gaits from normal ones. We concluded that the GRFs measurements obtained from the FMT seem valid and the clinical assessment of net joint moments and CMb kinematics and mechanics seem feasible. The FMT could be useful device for clinical research and routine gait analysis since it allows gaining some extra room and quickly collecting the GRFs during a large number of successive gait cycles and over a wide range of steady-state gait speeds. However, more work is needed in this area in order to confirm the present results, collect reference data and validate the methodology across pathologies.

Progression of human body sway during successive walking studied by recording sole–floor reaction forces

Strain gauge transducers were firmly attached to five points of the human sole: calcaneus, 1st, 3rd, and 5th metatarsals and great toe. Forces from these five points were recorded during treadmill walking at different speeds. With this method it is possible to obtain data of several dozen steps successively. Lateral-medial force change (x-vector) during progression was obtained from the 5th and 1st metatarsals and posterior-anterior force change (y-vector) was obtained from the calcaneus and 3rd metatarsal. Lateral balance and medial balance were differentiated in x-vector and rearfoot phase and forefoot phase were distinguished in y-vector. The percentage of the forefoot phase among the stance period shows a linear increase with speed of progression. It was concluded that the phase of body sway forward is regulated by walking speeds.

Techniques for measuring weight bearing during standing and walking

OBJECTIVE

To classify and assess techniques for measuring the amount of weight bearing during standing and walking.

BACKGROUND

A large variety of weight bearing measuring techniques exists. This review describes their advantages and limitations to assist clinicians and researchers in selecting a technique for their specific application in measuring weight bearing.

METHODS

A literature search was performed in Pubmed-Medline, CINAHL, and EMBASE. Measurement techniques were classified in 'clinical examination', 'scales', 'biofeedback systems', 'ambulatory devices' and 'platforms', and assessed on aspects of methodological quality, application, and feasibility.

RESULTS

A total of 68 related articles was evaluated. The clinical examination technique is a crude method to estimate the amount of weight bearing. Scales are useful for static measurements to evaluate symmetry in weight bearing. Biofeedback systems give more reliable, accurate and objective data on weight bearing compared to clinical examination and scales, but the high costs could limit their use in physical therapy departments. The ambulatory devices can measure weight bearing with good accuracy and reliability in the hospital and at home. Platforms have the best methodological quality, but are mostly restricted to a gait laboratory, need trained personnel, and are expensive.

CONCLUSIONS

The choice of a technique largely depends upon the criteria discussed in this review; however the clinical utilisation, the research question posed, and the available budget also play a role. The new developments seen in the field of 'ambulatory devices' are aimed at extending measuring time, and improved practicality in data collection and data analysis. For these latter devices, however, mainly preliminary studies have been published about devices that are not (yet) commercially available.

Variability of ground reaction forces during treadmill walking

The purpose of this study was to investigate whether or not the neuromuscular locomotor system is optimized at a unique speed by examining the variability of the ground reaction force (GRF) pattern during walking in relation to different constant speeds. Ten healthy male subjects were required to walk on a treadmill at 3.0, 4.0, 5.0, 6.0, 7.0, and 8.0 km/h. Three components [vertical (F(z)), anteroposterior (F(y)), and mediolateral (F(x)) force] of the GRF were independently measured for approximately 35 steps consecutively for each leg. To quantify the GRF pattern, five indexes (first and second peaks of F(z), first and second peaks of F(y), and F(x) peak) were defined. Coefficients of variation were calculated for these five indexes to evaluate the GRF variability for each walking speed. It became clear for first and second peaks of F(z) and F(x) peak that index variabilities increased in relation to increments in walking speed, whereas there was a speed (5.5-5.8 km/h) at which variability was minimum for first and second peaks of F(y), which were related to forward propulsion of the body. These results suggest that there is "an optimum speed" for the neuromuscular locomotor system but only for the propulsion control mechanism.

Energetics and mechanics of human running on surfaces of different stiffnesses

Mammals use the elastic components in their legs (principally tendons, ligaments, and muscles) to run economically, while maintaining consistent support mechanics across various surfaces. To examine how leg stiffness and metabolic cost are affected by changes in substrate stiffness, we built experimental platforms with adjustable stiffness to fit on a force-plate-fitted treadmill. Eight male subjects [mean body mass: 74.4 +/- 7.1 (SD) kg; leg length: 0.96 +/- 0.05 m] ran at 3.7 m/s over five different surface stiffnesses (75.4, 97.5, 216.8, 454.2, and 945.7 kN/m). Metabolic, ground-reaction force, and kinematic data were collected. The 12.5-fold decrease in surface stiffness resulted in a 12% decrease in the runner's metabolic rate and a 29% increase in their leg stiffness. The runner's support mechanics remained essentially unchanged. These results indicate that surface stiffness affects running economy without affecting running support mechanics. We postulate that an increased energy rebound from the compliant surfaces studied contributes to the enhanced running economy.

Ambulatory estimates of maximal aerobic power from foot -ground contact times and heart rates in running humans

Seeking to develop a simple ambulatory test of maximal aerobic power (VO(2 max)), we hypothesized that the ratio of inverse foot-ground contact time (1/t(c)) to heart rate (HR) during steady-speed running would accurately predict VO(2 max). Given the direct relationship between 1/t(c) and mass-specific O(2) uptake during running, the ratio 1/t(c). HR should reflect mass-specific O(2) pulse and, in turn, aerobic power. We divided 36 volunteers into matched experimental and validation groups. VO(2 max) was determined by a treadmill test to volitional fatigue. Ambulatory monitors on the shoe and chest recorded foot-ground contact time (t(c)) and steady-state HR, respectively, at a series of submaximal running speeds. In the experimental group, aerobic fitness index (1/t(c). HR) was nearly constant across running speed and correlated with VO(2 max) (r = 0.90). The regression equation derived from data from the experimental group predicted VO(2 max) from the 1/t(c). HR values in the validation group within 8.3% and 4.7 ml O(2) x kg(-1) x min(-1) (r = 0.84) of measured values. We conclude that simultaneous measurements of foot-ground constant times and heart rates during level running at a freely chosen constant speed can provide accurate estimates of maximal aerobic power.

The application of ground force explains the energetic cost of running backward and forward

We compared backward with forward running to test the idea that the application of ground force to support the weight of the body determines the energetic cost of running. We hypothesized that higher metabolic rates during backward versus forward running would be directly related to greater rates of ground force application and the volume of muscle activated to apply support forces to the ground. Four trained males ran backward and forward under steady-state conditions at eight treadmill speeds from 1.75 to 3.50 m s(−)(1). Rates of oxygen uptake were measured to determine metabolic rates, and inverse periods of foot-ground contact (1/t(c)) were measured to estimate rates of ground force application. As expected, at all eight speeds, both metabolic rates and estimated rates of ground force application were greater for backward than for forward running. At the five slowest speeds, the differences in rates of ground force application were directly proportional to the differences in metabolic rates between modes (paired t-test, P&lt;0.05), but at the three highest speeds, small but significant differences in proportionality were present in this relationship. At one of these three higher speeds (3.0 m s(−)(1)), additional measurements to estimate muscle volumes were made using a non-invasive force plate/video technique. These measurements indicated that the volume of muscle active per unit of force applied to the ground was 10+/−3 % greater when running backward than forward at this speed. The product of rates of ground force application and estimated muscle volumes predicted a difference in metabolic rate that was indistinguishable from the difference we measured (34+/−6 % versus 35+/−6 %; means +/− s.e.m., N=4). We conclude that metabolic rates during running are determined by rates of ground force application and the volume of muscle activated to apply support forces to the ground.

Kinetic and kinematic gait analysis in dogs

Kinetic and kinematic gait analysis provides objective, quantifiable, and repeatable information on normal and abnormal gait in dogs. Data collection requires specialized equipment, and techniques must be carefully controlled to ensure that accurate measurements are obtained. Force-plate and kinematic analysis is currently used primarily as a research tool to study various gait abnormalities and objectively assess treatment efficacy. As future research identifies characteristic changes associated with specific types of lameness, the use of gait analysis to evaluate individual clinical patients with lameness should become more valuable. Specialized gait analysis techniques may eventually enable veterinarians to accurately diagnose subtle lameness, better evaluate dogs with resolving lameness, and accurately select the appropriate time to return an athletic dog to exercise after recovery from an injury.

A treadmill ergometer for three-dimensional ground reaction forces measurement during walking

This report describes new treadmill ergometer designed to measure the vertical and horizontal ground reaction forces produced by the left and right legs during walking. It was validated by static and dynamic tests. Non-linearity was from 0.2% (left vertical force) to 1.4% (right antero-posterior force). The resonance frequency was from 219 (right vertical direction) to 58 Hz (left medio-lateral direction). A calibration "leg", an air jack in series with a strain gauge, was developed and used to produce force signals comparable to those obtained during human locomotion. The mean differences between the force measured by the calibration leg and treadmill ergometer at 5 km h(-1) were 3.7 N (0.7%) for the left side and 6.5 N (1.2%) for the right. Measurements obtained during human walking showed that the treadmill ergometer has considerable potential for analysing human gait.

Faster top running speeds are achieved with greater ground forces not more rapid leg movements

We twice tested the hypothesis that top running speeds are determined by the amount of force applied to the ground rather than how rapidly limbs are repositioned in the air. First, we compared the mechanics of 33 subjects of different sprinting abilities running at their top speeds on a level treadmill. Second, we compared the mechanics of declined (-6 degrees ) and inclined (+9 degrees ) top-speed treadmill running in five subjects. For both tests, we used a treadmill-mounted force plate to measure the time between stance periods of the same foot (swing time, t(sw)) and the force applied to the running surface at top speed. To obtain the force relevant for speed, the force applied normal to the ground was divided by the weight of the body (W(b)) and averaged over the period of foot-ground contact (F(avge)/W(b)). The top speeds of the 33 subjects who completed the level treadmill protocol spanned a 1.8-fold range from 6.2 to 11.1 m/s. Among these subjects, the regression of F(avge)/W(b) on top speed indicated that this force was 1.26 times greater for a runner with a top speed of 11.1 vs. 6.2 m/s. In contrast, the time taken to swing the limb into position for the next step (t(sw)) did not vary (P = 0.18). Declined and inclined top speeds differed by 1.4-fold (9.96+/-0.3 vs. 7.10+/-0.3 m/s, respectively), with the faster declined top speeds being achieved with mass-specific support forces that were 1.3 times greater (2.30+/- 0.06 vs. 1.76+/-0.04 F(avge)/ W(b)) and minimum t(sw) that were similar (+8%). We conclude that human runners reach faster top speeds not by repositioning their limbs more rapidly in the air, but by applying greater support forces to the ground.

A treadmill-based system for measuring symmetry of gait

It has been recognised for centuries that various conditions will lead to asymmetries in gait and several researchers have analysed symmetry of gait. However, in general such analyses are based on five steps or fewer. A new system has been designed and manufactured that is based on a motorised treadmill with forceplates (errors +3. 2% and -4.3%) that quickly gathers information on larger numbers of steps. It automatically records the data and then performs a semi automatic analysis to calculate various parameters from each of the measured steps, including: heel strike, toe off, stance phase, swing phase, peak forces and loading and unloading rates. Other parameters can also be easily incorporated into the analysis such as double support time. Student's t tests are performed comparing the means of these parameters. The ratios of the parameters, left to right (or uninvolved to involved limbs), are then quoted as Symmetry Indices. It has been found to be quick and easy to use and produces results that are both readily understood and clinically relevant.

Comparison of vertical ground reaction forces during overground and treadmill walking

PURPOSE

The purpose of this study was to compare vertical ground reaction forces walking overground with vertical foot-belt forces for treadmill gait.

METHODS

Twenty-four subjects walked overground and on a treadmill at three speeds (slow, normal, and fast), and at comparable cadences and stride length at each of the speeds. Treadmill and overground vertical force curves were normalized to 100% of stance time and compared using Person's product moment correlation. Selected measures from vertical force records were compared between the two modes of locomotion via repeated measures ANOVA (P < 0.05). Post-hoc analysis consisted of paired t-tests with Bonferroni correction. All comparisons were made across conditions (treadmill vs overground) at each of the three walking speeds.

RESULTS

The pattern of reaction forces were similar. Correlation between curves were 0.998, 0.983, and 0.983 for the slow (1.03-1.05 m.s-1), normal (1.40-1.44 m.s-1) and fast (1.65-1.71 m.s-1) walking trials. Small (5-9%) but significant differences in force magnitude for the two forms of locomotion were evident during mid-stance for normal (P = 0.00009) and fast (P = 0.0007) walking speeds and in late stance for normal (P = 0.0014) and fast (P = 0.0005) trials.

CONCLUSIONS

Although the patterns of the vertical reaction forces for the two forms of locomotion were nearly identical, small but significant differences in selected force magnitudes were evident. The interpretation of locomotion data collected on a treadmill should consider that forces during mid- and late-stance may be different than if the subject walked overground.

Force treadmill for measuring vertical and horizontal ground reaction forces

We constructed a force treadmill to measure the vertical, horizontal and lateral components of the ground-reaction forces (Fz, Fy, Fx, respectively) and the ground-reaction force moments (Mz, My, Mx), respectively exerted by walking and running humans. The chassis of a custom-built, lightweight (90 kg), mechanically stiff treadmill was supported along its length by a large commercial force platform. The natural frequencies of vibration were >178 Hz for Fz and >87 Hz for Fy, i.e., well above the signal content of these ground-reaction forces. Mechanical tests and comparisons with data obtained from a force platform runway indicated that the force treadmill recorded Fz, Fy, Mx and My ground-reaction forces and moments accurately. Although the lowest natural frequency of vibration was 88 Hz for Fx, the signal-to-noise ratios for Fx and Mz were unacceptable. This device greatly decreases the time and laboratory space required for locomotion experiments and clinical evaluations. The modular design allows for independent use of both treadmill and force platform.

Measuring changes in step parameters during an exhausting running exercise

A treadmill with four force transducers was used to analyze gait during running. 39 volunteers ran on a treadmill until they were exhausted. The step parameter variances showed a very distinct change in time. 17 subjects showed a sudden increase in variance. The other 22 subjects did not show such an effect, probably because they stopped too soon. This was confirmed by lactate measurements. In conclusion, the described treadmill is able to register continuously the running pattern of healthy volunteers. During an exhausting exercise, the running pattern becomes irregular in the last phase of the exercise. Copyright 1998 Elsevier Science B.V.

Use of an instrumented treadmill for real-time gait symmetry evaluation and feedback in normal and trans-tibial amputee subjects

The purpose of this research was to evaluate a newly developed system for assessing and providing feedback of gait symmetry information in real time to subjects walking on a motorised treadmill (the CCF Treadmill). The advantages of the system are that it allows the rapid collection and comparison of temporal and kinetic parameters of gait for multiple successive strides, at a constant known speed, without forcing subjects to target their footsteps. Gait asymmetries of six normal (mean age 42.7 years) and six unilateral transtibial amputee subjects (mean age 41.7, and average 6.0 years using a prosthesis) were quantified. The amputee group was the reevaluated after receiving five minutes of training with each of three different types of real-time visual feedback (RTVF). Asymmetries in the measured parameters before feedback were 4.6 times greater in the amputee population than in the normal group, and were consistent with the finding of previous authors. Significant decreases in gait asymmetry were demonstrated for all forms of feedback after amputees received feedback training. Results, however, indicated that gait asymmetries for different variables are not necessarily related, and that more work needs to be done to identify those variables for which attaining a more symmetrical gait pattern is most beneficial. Further work also needs to be done to determine the long term effects of such RTVF training. The CCF Treadmill and RTVF were shown to be potentially useful tools both for defining rehabilitation targets and for quantifying patients' progress towards those goals.

Leg stiffness and stride frequency in human running

When humans and other mammals run, the body's complex system of muscle, tendon and ligament springs behaves like a single linear spring ('leg spring'). A simple spring-mass model, consisting of a single linear leg spring and a mass equivalent to the animal's mass, has been shown to describe the mechanics of running remarkably well. Force platform measurements from running animals, including humans, have shown that the stiffness of the leg spring remains nearly the same at all speeds and that the spring-mass system is adjusted for higher speeds by increasing the angle swept by the leg spring. The goal of the present study is to determine the relative importance of changes to the leg spring stiffness and the angle swept by the leg spring when humans alter their stride frequency at a given running speed. Human subjects ran on treadmill-mounted force platform at 2.5ms-1 while using a range of stride frequencies from 26% below to 36% above the preferred stride frequency. Force platform measurements revealed that the stiffness of the leg spring increased by 2.3-fold from 7.0 to 16.3 kNm-1 between the lowest and highest stride frequencies. The angle swept by the leg spring decreased at higher stride frequencies, partially offsetting the effect of the increased leg spring stiffness on the mechanical behavior of the spring-mass system. We conclude that the most important adjustment to the body's spring system to accommodate higher stride frequencies is that leg spring becomes stiffer.

Human locomotion and workload for simulated lunar and Martian environments

Human locomotion in simulated lunar and Martian environments is investigated. A unique human-rated underwater treadmill and an adjustable ballasting harness simulate partial gravity in order to better understand how gravity determines the biomechanics and energetics of human locomotion. This study has two research aspects, biomechanics and energetics. The fundamental biomechanics measurements are continuously recorded vertical forces as exerted by subjects of the treadmill which is instrumented with a force platform. Experimental results indicate that peak vertical force and stride frequency decrease as the gravity level is reduced. Foot contact time is independent of gravity level. Oxygen uptake measurements, VO2, constitute the energetics, or workload, data for this study. As theory predicts, locomotion energy requirements for lunar (1/6-g) and Martian (3/8-g) gravity levels are significantly less than at 1-g. The observed variation in workload with gravity level is nonmonotonic, however, in over half the subject population. The hypothesis is offered that energy expenditure increases for lunar, as compared with Martian, locomotion due to the subject "wasting energy" for stability and posture control in simulated lunar gravity. Biomechanics data could influence advanced spacesuit design and planetary habitat design, while workload data will help define oxygen requirements for planetary life support systems.

Decomposition of superimposed ground reaction forces into left and right force profiles

The process of collecting ground reaction force data by mounting a forceplate beneath a treadmill belt has the advantage that numerous walking trials can be analyzed without the problem of subjects 'targeting' their footsteps. However, a potential problem is that the measured forces represent a summation of bilateral force profiles during the double support phase of walking. To address this issue, an algorithm is described for decomposing superimposed ground reaction force data into individual left and right profiles. It is based on an examination of the side-to-side oscillations of the measured center of pressure (CoP). Whenever the measured CoP exceeds a certain threshold, it is assumed that the person is being supported by a single limb, and the measured GRF data reflect the forces under that limb. Conversely, when the measured CoP indicates that both feet are on the treadmill, it is assumed that the location of the individual CoP under each foot is given by wL2 and wR2. These quantities reflect the greatest excursion of the measured CoP towards the left and right sides of the forceplate, respectively. With this assumption, individual GRF profiles can be calculated by means of solving two simultaneous equations--one describing the equilibrium of forces in the vertical direction, and one describing the equilibrium of moments about an antero-posterior axis of the forceplate. The algorithm describing this procedure is simple enough to be implemented on a spreadsheet and yields estimates for average force, impulse, peak force and stance time that are typically within 3% of the true values.

A mechanical trigger for the trot-gallop transition in horses

It is widely thought that animals switch gaits at speeds that minimize energetic cost. Horses naturally switched from a trot to a gallop at a speed where galloping required more energy than trotting, and thus, the gait transition actually increased the energetic cost of running. However, by galloping at this speed, the peak forces on the muscles, tendons, and bones, and presumably the chance of injury, are reduced. When the horses carried weights, they switched from a trot to a gallop at a lower speed but at the same critical level of force. These findings suggest that the trot-gallop transition is triggered when musculoskeletal forces reach a critical level.