Determinants of the center of mass trajectory in human walking and running

End-stage ankle arthritis alters dynamic stability during gait as measured by margin of stability between limbs and compared to healthy controls

OBJECTIVE

This study aimed to assess dynamic stability in individuals with end-stage ankle arthritis compared to healthy controls by evaluating the margin of stability (MoS) during gait.

DESIGN

A cohort of 50 participants with end-stage ankle arthritis (AA) and 50 matched healthy controls (HC) were analyzed from an IRB approved database. Kinematic data were collected using an eight-camera motion analysis system, and MoS was calculated based on the extrapolated center of mass (XCoM) and the base of support (BoS). Statistical analysis was performed using a linear mixed effects model with gait speed as a covariate.

RESULTS

The analysis revealed a significant interaction between the group (AA vs. HC) and limb (arthritic vs. non-arthritic) at heel-strike and midstance. The non-arthritic limb demonstrated a significantly smaller AP MoS during heel-strike compared to the arthritic limb and either of the limbs of the HC group (p < 0.001). The arthritic limb demonstrated a significantly greater ML MoS during midstance compared to the non-arthritic limb and either of the limbs of the HC group (p < 0.001). AA group had significant slower gait speed (p < 0.001), smaller step length (p = 0.015) and smaller locomotor rehabilitation index (p < 0.001) than HC.

CONCLUSION

Individuals with end-stage ankle arthritis exhibit altered dynamic stability during gait, with a significantly smaller AP MoS on the non-arthritic limb at heel-strike and greater ML MoS on the arthritic limb at midstance compared to healthy controls. Our results suggest that individuals with ankle arthritis are less stable when navigating single limb support of the arthritic limb. Further research should further examine the associations with fall risk in patients with ankle arthritis and evaluate the effectiveness of therapeutic interventions targeting these factors.

The biomechanics of running and running styles: a synthesis

Running movements are parametrised using a wide variety of devices. Misleading interpretations can be avoided if the interdependencies and redundancies between biomechanical parameters are taken into account. In this synthetic review, commonly measured running parameters are discussed in relation to each other, culminating in a concise, yet comprehensive description of the full spectrum of running styles. Since the goal of running movements is to transport the body centre of mass (BCoM), and the BCoM trajectory can be derived from spatiotemporal parameters, we anticipate that different running styles are reflected in those spatiotemporal parameters. To this end, this review focuses on spatiotemporal parameters and their relationships with speed, ground reaction force and whole-body kinematics. Based on this evaluation, we submit that the full spectrum of running styles can be described by only two parameters, namely the step frequency and the duty factor (the ratio of stance time and stride time) as assessed at a given speed. These key parameters led to the conceptualisation of a so-called Dual-axis framework. This framework allows categorisation of distinctive running styles (coined 'Stick', 'Bounce', 'Push', 'Hop', and 'Sit') and provides a practical overview to guide future measurement and interpretation of running biomechanics.

Comparative kinetics of humans and non-human primates during vertical climbing

Climbing represents a critical behavior in the context of primate evolution. However, anatomically modern human populations are considered ill-suited for climbing. This adaptation can be attributed to the evolution of striding bipedalism, redirecting anatomical traits away from efficient climbing. Although prior studies have speculated on the kinetic consequences of this anatomical reorganization, there is a lack of data on the force profiles of human climbers. This study utilized high-speed videography and force plate analysis to assess single limb forces during climbing from 44 human participants of varying climbing experience and compared these data with climbing data from eight species of non-human primates (anthropoids and strepsirrhines). Contrary to expectations, experience level had no significant effect on the magnitude of single limb forces in humans. Experienced climbers did, however, demonstrate a predictable relationship between center of mass position and peak normal forces, suggesting a better ability to modulate forces during climbing. Humans exhibited significantly higher peak propulsive forces in the hindlimb compared with the forelimb and greater hindlimb dominance overall compared with non-human primates. All species sampled demonstrated exclusively tensile forelimbs and predominantly compressive hindlimbs. Strepsirrhines exhibited a pull-push transition in normal forces, while anthropoid primates, including humans, did not. Climbing force profiles are remarkably stereotyped across humans, reflecting the universal mechanical demands of this form of locomotion. Extreme functional differentiation between forelimbs and hindlimbs in humans may help to explain the evolution of bipedalism in ancestrally climbing hominoids.

Neuromechanical stabilisation of the centre of mass during running

BACKGROUND

Stabilisation of the centre of mass (COM) trajectory is thought to be important during running. There is emerging evidence of the importance of leg length and angle regulation during running, which could contribute to stability in the COM trajectory The present study aimed to understand if leg length and angle stabilises the vertical and anterior-posterior (AP) COM displacements, and if the stability alters with running speeds.

METHODS

Data for this study came from an open-source treadmill running dataset (n = 28). Leg length (m) was calculated by taking the resultant distance of the two-dimensional sagittal plane leg vector (from pelvis segment to centre of pressure). Leg angle was defined by the angle subtended between the leg vector and the horizontal surface. Leg length and angle were scaled to a standard deviation of one. Uncontrolled manifold analysis (UCM) was used to provide an index of motor abundance (IMA) in the stabilisation of the vertical and AP COM displacement.

RESULTS

IMAAP and IMAvertical were largely destabilising and always stabilising, respectively. As speed increased, the peak destabilising effect on IMAAP increased from -0.66(0.18) at 2.5 m/s to -1.12(0.18) at 4.5 m/s, and the peak stabilising effect on IMAvertical increased from 0.69 (0.19) at 2.5 m/s to 1.18 (0.18) at 4.5 m/s.

CONCLUSION

Two simple parameters from a simple spring-mass model, leg length and angle, can explain the control behind running. The variability in leg length and angle helped stabilise the vertical COM, whilst maintaining constant running speed may rely more on inter-limb variation to adjust the horizontal COM accelerations.

Quantifying changes in individual-specific template-based representations of center-of-mass dynamics during walking with ankle exoskeletons using Hybrid-SINDy

Ankle exoskeletons alter whole-body walking mechanics, energetics, and stability by altering center-of-mass (CoM) motion. Controlling the dynamics governing CoM motion is, therefore, critical for maintaining efficient and stable gait. However, how CoM dynamics change with ankle exoskeletons is unknown, and how to optimally model individual-specific CoM dynamics, especially in individuals with neurological injuries, remains a challenge. Here, we evaluated individual-specific changes in CoM dynamics in unimpaired adults and one individual with post-stroke hemiparesis while walking in shoes-only and with zero-stiffness and high-stiffness passive ankle exoskeletons. To identify optimal sets of physically interpretable mechanisms describing CoM dynamics, termed template signatures, we leveraged hybrid sparse identification of nonlinear dynamics (Hybrid-SINDy), an equation-free data-driven method for inferring sparse hybrid dynamics from a library of candidate functional forms. In unimpaired adults, Hybrid-SINDy automatically identified spring-loaded inverted pendulum-like template signatures, which did not change with exoskeletons (p > 0.16), except for small changes in leg resting length (p < 0.001). Conversely, post-stroke paretic-leg rotary stiffness mechanisms increased by 37-50% with zero-stiffness exoskeletons. While unimpaired CoM dynamics appear robust to passive ankle exoskeletons, how neurological injuries alter exoskeleton impacts on CoM dynamics merits further investigation. Our findings support Hybrid-SINDy's potential to discover mechanisms describing individual-specific CoM dynamics with assistive devices.

A model for calculating the mechanical demands of overground running

An energy-based approach to quantifying the mechanical demands of overground, constant velocity and/or intermittent running patterns is presented. Total mechanical work done (Wtotal) is determined from the sum of the four sub components: work done to accelerate the centre of mass horizontally (Whor), vertically (Wvert), to overcome air resistance (Wair) and to swing the limbs (Wlimbs). These components are determined from established relationships between running velocity and running kinematics; and the application of work-energy theorem. The model was applied to constant velocity running (2-9 m/s), a hard acceleration event and a hard deceleration event. The estimated Wtotal and each sub component were presented as mechanical demand (work per unit distance) and power (work per unit time), for each running pattern. The analyses demonstrate the model is able to produce estimates that: 1) are principally determined by the absolute running velocity and/or acceleration; and 2) can be attributed to different mechanical demands given the nature of the running bout. Notably, the proposed model is responsive to varied running patterns, producing data that are consistent with established human locomotion theory; demonstrating sound construct validity. Notwithstanding several assumptions, the model may be applied to quantify overground running demands on flat surfaces.

Mobility of the human foot's medial arch helps enable upright bipedal locomotion

Developing the ability to habitually walk and run upright on two feet is one of the most significant transformations to have occurred in human evolution. Many musculoskeletal adaptations enabled bipedal locomotion, including dramatic structural changes to the foot and, in particular, the evolution of an elevated medial arch. The foot's arched structure has previously been assumed to play a central role in directly propelling the center of mass forward and upward through leverage about the toes and a spring-like energy recoil. However, it is unclear whether or how the plantarflexion mobility and height of the medial arch support its propulsive lever function. We use high-speed biplanar x-ray measurements of foot bone motion on seven participants while walking and running and compare their motion to a subject-specific model without arch recoil. We show that regardless of intraspecific differences in medial arch height, arch recoil enables a longer contact time and favorable propulsive conditions at the ankle for walking upright on an extended leg. The generally overlooked navicular-medial cuneiform joint is primarily responsible for arch recoil in human arches. The mechanism through which arch recoil enables an upright ankle posture may have helped drive the evolution of the longitudinal arch after our last common ancestor with chimpanzees, who lack arch plantarflexion mobility during push-off. Future morphological investigations of the navicular-medial cuneiform joint will likely provide new interpretations of the fossil record. Our work further suggests that enabling medial arch recoil in footwear and surgical interventions may be critical for maintaining the ankle's natural propulsive ability.

Effect of IMU location on estimation of vertical ground reaction force during jumping

Introduction: Several investigations have examined utilizing inertial measurement units (IMU) to estimate ground reaction force (GRF) during exercise. The purpose of this investigation was to determine the effect of inertial measurement units location on the estimation of ground reaction force during vertical jumping. Methods: Eight male subjects completed a series of ten countermovement jumps on a force plate (FP). The subjects had an inertial measurement units attached to the sacrum, back and chest. Ground reaction force was estimated from data from the individual inertial measurement units and by using a two-segment model and combined sensor approach. Results: The peak ground reaction force values for the sacrum, back, chest and combined inertial measurement units were 1,792 ± 278 N, 1,850 ± 341 N, 2,054 ± 346 N and 1,812 ± 323 N, respectively. The sacral inertial measurement units achieved the smallest differences for ground reaction force estimates providing a root mean square error (RMSE) between 88 N and 360 N. The inertial measurement units on the sacrum also showed significant correlations in peak ground reaction force (p < 0.001) and average ground reaction force (p < 0.001) using the Bland-Altman 95% Limits of Agreement (LOA) when in comparison to the force plate. Discussion: Based on assessment of bias, Limits of Agreement, and RMSE, the inertial measurement units located on the sacrum appears to be the best placement to estimate both peak and average ground reaction force during jumping.

Foot function enabled by human walking dynamics

Bipedal walking, the habitual gait for man, is rather unique in nature and poses particular challenges for balance and propulsion. The characteristic double-humped ground reaction force profile has been widely observed but not put into functional context. We propose a mathematical model that captures the dynamics of the human foot in walking including the characteristic motion of the center of pressure. Using this model, we analyze the functional interplay of all essential biomechanical contributors to foot dynamics in walking. Our results demonstrate the intricate interplay of a self-stabilizing mechanism which allows extending a leg's stance phase while simultaneously powering rapid swing by condensing the essentials of foot dynamics into a reductionist, biomechanical model. A theory is presented which identifies the foot to be the key functional element and which explains the global dynamics of human walking. The provided insights will impact gait therapy and rehabilitation, the development of assistive devices, such as leg prostheses and exoskeletons, and provide guidelines for the design and control of versatile humanoid robots.

Adaptive locomotion: Foot strike pattern and limb mechanical stiffness while running over an obstacle

Previous studies of level running suggest runners adjust foot strike to control leg stiffness. This study aimed to determine how runners adjusted mechanical stiffness and foot strike prior to, during, and after a drop in surface height. Ten healthy subjects (5 male, 5 female; 24.32 ± 5.0 years) were video recorded as they ran on an outdoor path with a single drop in surface height (12.5 cm). Foot strike was recorded, while subject velocity, duty factor (DF), normalized maximum ground reaction force (GRF_bw), vertical hip displacement (Δy), leg compression (ΔL), vertical (K_vert) and leg stiffness (K_leg), touchdown (TD) and takeoff angle (TO), and flight (T_f) and contact time (T_c) were calculated. Compared to the step before the drop, T_f, GRF_bw, K_vert, K_leg, and TO increased, while T_c, DF, Δy, ΔL, and TD decreased in the step after the drop. Across trials, runners had either consistent or variable foot strike patterns. Runners using a consistent pattern most often shifted from rear to fore-foot strike in the steps before and after the drop, while those with a variable pattern showed less dramatic shifts. All parameters, except TD, were significantly different (p < 0.04) based on foot strike pattern, and comparisons between steps before and after the drop (except TD) were significantly different (p < 0.004). Runners with a variable foot strike pattern experienced smaller shifts within mechanical parameters when traveling over the drop, suggesting these runners may be able to stabilize limb mechanics on interrupted surfaces.

Predicting ground reaction forces of human gait using a simple bipedal spring-mass model

Aircraft design must be lightweight and cost-efficient on the condition of aircraft certification. In addition to standard load cases, human-induced loads can occur in the aircraft interior. These are crucial for optimal design but difficult to estimate. In this study, a simple bipedal spring-mass model with roller feet predicted human-induced loads caused by human gait for use within an end-to-end design process. The prediction needed no further experimental data. Gait movement and ground reaction force (GRF) were simulated by means of two parameter constraints with easily estimable input variables (gait speed, body mass, body height). To calibrate and validate the prediction model, experiments were conducted in which 12 test persons walked in an aircraft mock-up under different conditions. Additional statistical regression models helped to compensate for bipedal model limitations. Direct regression models predicted single GRF parameters as a reference without a bipedal model. The parameter constraint with equal gait speed in experiment and simulation yielded good estimates of force maxima (error 5.3%), while equal initial GRF gave a more reliable prediction. Both parameter constraints predicted contact time very well (error 0.9%). Predictions with the bipedal model including full GRF curves were overall as reliable as the reference.

Kinematic trajectories in response to speed perturbations in walking suggest modular task-level control of leg angle and length

Navigating complex terrains requires dynamic interactions between the substrate, musculoskeletal and sensorimotor systems. Current perturbation studies have mostly used visible terrain height perturbations, which do not allow us to distinguish among the neuromechanical contributions of feedforward control, feedback-mediated and mechanical perturbation responses. Here, we use treadmill belt speed perturbations to induce a targeted perturbation to foot speed only, and without terrain-induced changes in joint posture and leg loading at stance onset. Based on previous studies suggesting a proximo-distal gradient in neuromechanical control, we hypothesized that distal joints would exhibit larger changes in joint kinematics, compared to proximal joints. Additionally, we expected birds to use feedforward strategies to increase the intrinsic stability of gait. To test these hypotheses, seven adult guinea fowl were video recorded while walking on a motorized treadmill, during both steady and perturbed trials. Perturbations consisted of repeated exposures to a deceleration and acceleration of the treadmill belt speed. Surprisingly, we found that joint angular trajectories and center of mass fluctuations remain very similar, despite substantial perturbation of foot velocity by the treadmill belt. Hip joint angular trajectories exhibit the largest changes, with the birds adopting a slightly more flexed position across all perturbed strides. Additionally, we observed increased stride duration across all strides, consistent with feedforward changes in the control strategy. The speed perturbations mainly influenced the timing of stance and swing, with the largest kinematic changes in the strides directly following a deceleration. Our findings do not support the general hypothesis of a proximo-distal gradient in joint control, as distal joint kinematics remain largely unchanged. Instead, we find that leg angular trajectory and the timing of stance and swing are most sensitive to this specific perturbation, and leg length actuation remains largely unchanged. Our results are consistent with modular task-level control of leg length and leg angle actuation, with different neuromechanical control and perturbation sensitivity in each actuation mode. Distal joints appear to be sensitive to changes in vertical loading but not foot fore-aft velocity. Future directions should include in vivo studies of muscle activation and force-length dynamics to provide more direct evidence of the sensorimotor control strategies for stability in response to belt speed perturbations.

The choice of reference point for computing sagittal plane angular momentum affects inferences about dynamic balance

Background

Measures of whole-body angular momentum in the sagittal plane are commonly used to characterize dynamic balance during human walking. To compute angular momentum, one must specify a reference point about which momentum is calculated. Although biomechanists primarily compute angular momentum about the center of mass (CoM), momentum-based controllers for humanoid robots often use the center of pressure. Here, we asked if the choice of the reference point influences interpretations of how dynamic balance is controlled in the sagittal plane during perturbed walking.

Methods

Eleven healthy young individuals walked on a dual-belt treadmill at their self-selected speed. Balance disturbances were generated by treadmill accelerations of varying magnitudes and directions. We computed angular momentum about two reference points: (1) the CoM or (2) the leading edge of the base of support and then projected it along the mediolateral axes that pass through either of the reference points as the sagittal plane angular momentum. We also performed principal component analysis to determine if the choice of reference point influences our interpretations of how intersegmental coordination patterns contribute to perturbation recovery.

Results

We found that the peak angular momentum was correlated with perturbation amplitude and the slope of this relationship did not differ between reference points. One advantage of using a reference point at the CoM is that one can easily determine how the momenta from contralateral limbs, such as the left and right legs, offset one another to regulate the whole-body angular momentum. Alternatively, analysis of coordination patterns referenced to the leading edge of the base of support may provide more insight into the inverted-pendulum dynamics of walking during responses to sudden losses of balance.

Identification of a Step-And-Brake Controller of a Human Based on Prediction of Capturability

An explicit mathematical form of a human’s step-and-brake controller is identified through motion measurement of the human subject. The controller was originally designed for biped robots based on the reduced-order dynamics and the model predictive control scheme with the terminal capturability condition, and is compatible with both stand-still and stepping motions. The minimal number of parameters facilitates the identification from measured trajectories of the center of mass and the zero-moment point of the human subject. In spite of the minimality, the result only suited the human’s behaviors well with slight modifications of the model by taking direction-dependency of the natural falling speed and the inertial torque about the center of mass into account. Furthermore, the parameters are successfully identified even from the first half of motion sequence, which means that the proposed method is available in designing on-the-fly systems to evaluate balancing abilities of humans and to assist balances of humans in walking.

Uncertainty analysis for stride-time-derived modelling of lower limb stiffness: applying Taylor series expansion for error propagation on Monte-Carlo simulated data

Knowledge of uncertainty is valuable mainly in correctly appraising measured effects. In lower limb stiffness, which affects injury risk and athletic performance, uncertainty is often related to vertical (Kvert) and leg (Kleg) stiffness. Imprecisions in measurements of body mass (M), leg length (L), contact (tc) and flight (tf) time propagate through the calculations, augment stiffness uncertainty and inflate relevant effects. This study estimated the limits of this uncertainty as probable (Eprob) and upper bound (Eupper) errors by applying Taylor series expansion on Monte-Carlo simulated data. Eprob and Eupper were 1285 ± 221 N/m (3.9 ± 0.2%) and 1441 ± 248 N/m (4.4 ± 0.3%) in Kvert, and 222 ± 61 N/m (2.1 ± 0.1%) and 375 ± 109 N/m (3.6 ± 0.3%) in Kleg, respectively. To avoid the complexities of full Taylor series expansion, Eprob was predicted (R2 ≈ 1) more simply as 0.89Eupper in Kvert and 11 + 0.56Eupper in Kleg. These uncertainties reflect mostly errors in tc and tf, and uncertainty in Fmax, at kinematic sampling of 300 Hz and running at 4-5 m/s. With slower sampling or faster running these uncertainties rise, and their impact on similar lower limb stiffness effects could be substantial. Applying Taylor series expansion for error propagation on Monte-Carlo simulated data is valid for uncertainty analysis in any multivariable functional relationship.

A new energetics model for the assessment of the power-duration relationship during over-ground running

We evaluated the reliability of an over-ground running three-minute all-out test (3MT) and compared this to traditional multiple-visit testing to determine the critical speed (CS) and distance > CS (D´). Using a novel energetics model during the 3MT, critical power (CP) and work > CP (W´) were also evaluated for reliability and compared to the multiple-visit tests. Over-ground running speed was measured using Global Positioning Systems during fixed-speed trials on a 400 m track to exhaustion, at four intensities corresponding to: (i) maximal oxygen uptake (V˙O2max) (V_max), (ii) 110% V˙O2max(110%Vmax), (iii) Δ70% (i.e. 70% of the difference between gas exchange threshold and V_max) and (iv) Δ85%. The participants subsequently performed the 3MT across two days to determine its reliability. There were no differences between the multiple-visit testing and the 3MT for CS (P = 0.328) and D´ (P = 0.919); however, CP (P = 0.02) and W´ (P < 0.001) were higher in the 3MT. The reliability of the 3MT was stable (P > 0.05) between trials for all variables, with coefficient of variation ranging from 2.0-8.1%. The current over-ground energetics model can reliably estimate CP and W´ based on GPS speed data during the 3MT, which supports its use for most athletic training and monitoring purposes. The reliability of the over-ground running 3MT for power- and speed-related indices was sufficient to detect typical training adaptations; however, it may overestimate CP (∼ 25 W) and W´ (∼ 7 kJ) compared to multiple-visit tests.

Common kinematic synergies of various human locomotor behaviours

Humans show a variety of locomotor behaviours in daily living, varying in locomotor modes and interaction styles with the external environment. However, how this excellent motor ability is formed, whether there are some invariants underlying various locomotor behaviours and simplifying their generation, and what factors contribute to the invariants remain unclear. Here, we find three common kinematic synergies that form the six joint motions of one lower limb during walking, running, hopping and sitting-down-standing-up (movement variance accounted for greater than 90%), through identifying the coordination characteristics of 36 lower limb motor tasks in diverse environments. This finding supports the notion that humans simplify the generation of various motor behaviours through re-using several basic motor modules, rather than developing entirely new modules for each behaviour. Moreover, a potential link is also found between these synergies and the unique biomechanical characteristics of the human musculoskeletal system (muscular-articular connective architecture and bone shape), and the patterns of inter-joint coordination are consistent with the energy-saving mechanism in locomotion by using biarticular muscles as efficient mechanical energy transducers between joints. Altogether, our work helps understand the formation mechanisms of human locomotion from a holistic viewpoint and evokes inspirations for the development of artificial limbs imitating human motor ability.

A center of pressure progression model for walking with non heeled and heeled footwear

BACKGROUND

Heeled footwear benefits people with movement disorder in the form of shoe lifts, wedges and inserts while its prolonged use causes foot injury in healthy people. There lies a need to detect parameters that affect COP progression of the foot and gait stability due to footwear.

RESEARCH QUESTION

Do we have bipedal models that can estimate gait parameters corresponding to different center of pressure (COP) trajectories?

METHOD

In this study, we propose a COP translation model that can account for non heeled to heeled footwear. We describe the COP progression as a function of the center of mass (COM) state. This model is used to generate stable steady state walking solutions for different COP profiles. We compare these model solutions with experimental data on non-heeled and heeled-gait.

RESULTS

The bipedal model shows stability across different COP profiles. The model estimates GRF profile (R²=0.83 for 1.3 m/s ) for non heeled normal walking qualitatively and on the temporal scale. It estimates GRF due to heeled gait (R²=0.83 for 1.08 m/s) but is limited in estimation of heeled gait parameters.

SIGNIFICANCE

A bipedal model that can generate stable steady state walking solutions for different forward progressing COP profiles can help in design of foot orthotics for patients with gait disorder and understand injuries occurring due to prolonged wear of rigid heeled footwear.

Lower complexity of motor primitives ensures robust control of high-speed human locomotion

Walking and running are mechanically and energetically different locomotion modes. For selecting one or another, speed is a parameter of paramount importance. Yet, both are likely controlled by similar low-dimensional neuronal networks that reflect in patterned muscle activations called muscle synergies. Here, we challenged human locomotion by having our participants walk and run at a very broad spectrum of submaximal and maximal speeds. The synergistic activations of lower limb locomotor muscles were obtained through decomposition of electromyographic data via non-negative matrix factorization. We analyzed the duration and complexity (via fractal analysis) over time of motor primitives, the temporal components of muscle synergies. We found that the motor control of high-speed locomotion was so challenging that the neuromotor system was forced to produce wider and less complex muscle activation patterns. The motor modules, or time-independent coefficients, were redistributed as locomotion speed changed. These outcomes show that humans cope with the challenges of high-speed locomotion by adapting the neuromotor dynamics through a set of strategies that allow for efficient creation and control of locomotion.

Variant and Invariant Spatiotemporal Structures in Kinematic Coordination to Regulate Speed During Walking and Running

Humans walk, run, and change their speed in accordance with circumstances. These gaits are rhythmic motions generated by multi-articulated movements, which have specific spatiotemporal patterns. The kinematic characteristics depend on the gait and speed. In this study, we focused on the kinematic coordination of locomotor behavior to clarify the underlying mechanism for the effect of speed on the spatiotemporal kinematic patterns for each gait. In particular, we used seven elevation angles for the whole-body motion and separated the measured data into different phases depending on the foot-contact condition, that is, single-stance phase, double-stance phase, and flight phase, which have different physical constraints during locomotion. We extracted the spatiotemporal kinematic coordination patterns with singular value decomposition and investigated the effect of speed on the coordination patterns. Our results showed that most of the whole-body motion could be explained by only two sets of temporal and spatial coordination patterns in each phase. Furthermore, the temporal coordination patterns were invariant for different speeds, while the spatial coordination patterns varied. These findings will improve our understanding of human adaptation mechanisms to tune locomotor behavior for changing speed.

Paralysis of the gastrocnemius medial head differentially affects gait patterns and muscle activity during level and stair ascent locomotion

BACKGROUND

Prior studies have analyzed the activity of the gastrocnemius (GCM) medial and lateral heads as a single unit because it is technically challenging to separately analyze the function of each component in vivo. However, functional variation between the medial and lateral heads is expected due to their anatomical differences.

RESEARCH QUESTION

What is the independent function of the medial GCM? How does paralysis of the GCM medial head affect gait kinematics?.

METHODS

Twelve healthy adults (two males and ten females; age: 28.2 [±7.72] years) that were scheduled to undergo neurolysis of the tibial nerve branch supplying the medial head of the GCM for aesthetic calf reduction participated in the study. Gait analysis was performed using a computerized opto-electric gait analysis system to measure kinematic data. Surface electromyography (EMG) was recorded simultaneously during the gait analysis. Surface electrodes were placed on seven muscles. Pre-procedure and 1-week and 3-month post-procedure data were compared using a linear mixed model.

RESULTS

During level walking, decreased activity of the GCM medial head did not significantly change gait kinematics. However, a significant increase in GCM lateral head and hamstring activities occurred after a branch nerve block to the GCM medial head. During stair ascent, in contrast to level walking, changes in EMG activity only occurred in the GCM medial head, and post-procedure ankle dorsiflexion angles at the end of the terminal-stance phase significantly increased. Ankle plantarflexion angles during the push-off phase were also decreased when compared with pre-procedure values.

SIGNIFICANCE

The human body response to dysfunction of the GCM medial head depended on the type of locomotion.

Spring-loaded inverted pendulum goes through two contraction-extension cycles during the single-support phase of walking

Despite the overall complexity of legged locomotion, the motion of the center of mass (COM) itself is relatively simple, and can be qualitatively described by simple mechanical models. In particular, walking can be qualitatively modeled by a simple model in which each leg is described by a spring-loaded inverted pendulum (SLIP). However, SLIP has many limitations and is unlikely to serve as a quantitative model. As a first step to obtaining a quantitative model for walking, we explored the ability of SLIP to model the single-support phase of walking, and found that SLIP has two limitations. First, it predicts larger horizontal ground reaction forces (GRFs) than empirically observed. A new model – angular and radial spring-loaded inverted pendulum (ARSLIP) – can overcome this deficit. Second, although the leg spring (surprisingly) goes through contraction-extension-contraction-extensions (CECEs) during the single-support phase of walking and can produce the characteristic M-shaped vertical GRFs, modeling the single-support phase requires active elements. Despite these limitations, SLIP as a model provides important insights. It shows that the CECE cycling lengthens the stance duration allowing the COM to travel passively for longer, and decreases the velocity redirection between the beginning and end of a step.

Summary: We quantitatively evaluate a simple model for human walking based on two-spring and find that this model describes many features of human walking.

Locomotor pattern and mechanical exchanges during collective load transport

While the locomotor behavior of humans walking alone, loaded or unloaded, has been extensively studied, the locomotor behavior of humans transporting a load collectively is very poorly documented in the biomechanics literature. Yet, collective carriage is a task commonly performed in sport (CrossFit), military and health care (carriage of an injured person) activities and is a task that raises growing interest in robotics (Cobots). The primary aim of our research was to test the hypothesis that the mechanical cost of locomotion is comparable when two individuals are transporting an object collectively and when they are walking alone. To test this, the movements of ten pairs of individuals walking side by side, separately or while transporting collectively an object, were recorded with a three-dimensional motion analysis system (Vicon©). Our results show a similar pattern in the periodic displacement of the center of mass and in mechanical costs, between individuals walking alone and individuals carrying a load collectively. Moreover, a better pendulum-like behavior was found in the sagittal plane and in 3D for the pairs of individuals carrying an object, which suggests that the saving in mechanical exchanges is higher when two individuals are carrying an object collectively than when they are walking alone. The values of the parameters measured in our experiment could be used as a benchmark for the implementation of collective carriage tasks in robotics.

First metatarsal trabecular bone structure in extant hominoids and Swartkrans hominins

Changes in first metatarsal (MT1) morphology within the hominin clade are crucial for reconstructing the evolution of a forefoot adapted for human-like gait. Studies of the external morphology of the MT1 in humans, non-human apes, and fossil hominins have documented changes in its robusticity, epiphyseal shape and its articulation with the medial cuneiform. Here, we test whether trabecular structure in the MT1 reflects different loading patterns in the forefoot across extant large apes and humans, and within this comparative context, infer locomotor behavior in two fossil hominins from Swartkrans, South Africa. Microtomographic scans were collected from the MT1 of Pongo sp. (n = 6), Gorilla gorilla (n = 10), Pan troglodytes (n = 10), Homo sapiens (n = 11), as well as SKX 5017 (Paranthropus robustus), and SK 1813 (Hominin gen. sp. indet.). Trabecular structure was quantified within the head and base using a 'whole-epiphysis' approach with medtool 4.2. We found that modern humans displayed relatively higher bone volume fraction (BV/TV) in the dorsal region of each epiphysis and a higher overall degree of anisotropy (DA), whereas great apes showed higher BV/TV in the plantar regions, reflecting dorsiflexion at the metatarsophalangeal (MTP) joint in the former and plantarflexion in the latter. Both fossils displayed low DA, with SKX 5017 showing a hyper-dorsal concentration of trabecular bone in the head (similar to humans), while SK 1813 showed a more central trabecular distribution not seen in either humans or non-human apes. Additionally, we found differences between non-human apes, modern humans, and the fossil taxa in trabecular spacing (Tb.Sp.), number (Tb.N.), and thickness (Tb.th.). While low DA in both fossils suggests increased mobility of the MT1, differences in their trabecular distributions could indicate variable locomotion in these Pleistocene hominins (recognizing that the juvenile status of SK 1813 is a potential confounding factor). In particular, evidence for consistent loading in hyper-dorsiflexion in SKX 5017 would suggest locomotor behaviors beyond human-like toe off during terrestrial locomotion.

Neuromusculoskeletal model that walks and runs across a speed range with a few motor control parameter changes based on the muscle synergy hypothesis

Humans walk and run, as well as change their gait speed, through the control of their complicated and redundant musculoskeletal system. These gaits exhibit different locomotor behaviors, such as a double-stance phase in walking and flight phase in running. The complex and redundant nature of the musculoskeletal system and the wide variation in locomotion characteristics lead us to imagine that the motor control strategies for these gaits, which remain unclear, are extremely complex and differ from one another. It has been previously proposed that muscle activations may be generated by linearly combining a small set of basic pulses produced by central pattern generators (muscle synergy hypothesis). This control scheme is simple and thought to be shared between walking and running at different speeds. Demonstrating that this control scheme can generate walking and running and change the speed is critical, as bipedal locomotion is dynamically challenging. Here, we provide such a demonstration by using a motor control model with 69 parameters developed based on the muscle synergy hypothesis. Specifically, we show that it produces both walking and running of a human musculoskeletal model by changing only seven key motor control parameters. Furthermore, we show that the model can walk and run at different speeds by changing only the same seven parameters based on the desired speed. These findings will improve our understanding of human motor control in locomotion and provide guiding principles for the control design of wearable exoskeletons and prostheses.

Vertical displacement of the centre of mass during walking in people with diabetes and diabetic neuropathy does not explain their higher metabolic cost of walking

People with diabetes display biomechanical gait alterations compared to controls and have a higher metabolic cost of walking (CoW), but it remains unknown whether differences in the vertical displacement of the body centre of mass (CoM) may play a role in this higher CoW. The aim of this study was to investigate vertical CoM displacement (and step length as a potential underpinning factor) as an explanatory factor in the previously observed increased CoW with diabetes. Thirty-one non-diabetic controls (Ctrl); 22 diabetic patients without peripheral neuropathy (DM) and 14 patients with moderate/severe Diabetic Peripheral Neuropathy (DPN), underwent gait analysis using a motion analysis system and force plates while walking at a range of matched speeds between 0.6 and 1.6 m/s. Vertical displacement of the CoM was measured over the gait cycle, and was not different in either diabetes patients with or without diabetic peripheral neuropathy compared to controls across the range of matched walking speeds examined (at 1 m/s: Ctrl: 5.59 (SD: 1.6), DM: 5.41 (1.63), DPN: 4.91 (1.66) cm; p > 0.05). The DPN group displayed significantly shorter steps (at 1 m/s: Ctrl: 69, DM: 67, DPN: 64 cm; p > 0.05) and higher cadence (at 1 m/s: Ctrl: 117 (SD1.12), DM: 119 (1.08), DPN: 122 (1.25) steps per minute; p > 0.05) across all walking speeds compared to controls. The vertical CoM displacement is therefore unlikely to be a factor in itself that contributes towards the higher CoW observed recently in people with diabetic neuropathy. The higher CoW in patients with diabetes may not be explained by the CoM displacement, but rather may be more related to shorter step lengths, increased cadence and the associated increased internal work and higher muscle forces developed by walking with more flexed joints.

Determinants of optimal leg use strategy: horizontal to vertical transition in the parkour wall climb

This study examined the mechanics of the horizontal to vertical transition used by parkour athletes in wall climbing. We used this task as an alternative to normal running - where the functional options differ substantially - exposing the movement control priorities required to successfully complete the task. Ground reaction forces were measured in several expert parkour athletes and centre of mass trajectory was calculated from force plates embedded in the ground and the wall. Empirical measures were compared with movements predicted by a work-based control optimization model. The model captured the fundamental dynamics of the transition and therefore allowed an exploration of parameter sensitivity for success at the manoeuvre (run-up speed, foot placement, etc.). The optimal transition of both the model and the parkour athletes used a common intermediate run-up speed and appears determined largely by a trade-off between positive and negative leg work that accomplishes the task with minimum overall work.

Linking Gait Dynamics to Mechanical Cost of Legged Locomotion

For millenia, legged locomotion has been of central importance to humans for hunting, agriculture, transportation, sport, and warfare. Today, the same principal considerations of locomotor performance and economy apply to legged systems designed to serve, assist, or be worn by humans in urban and natural environments. Energy comes at a premium not only for animals, wherein suitably fast and economical gaits are selected through organic evolution, but also for legged robots that must carry sufficient energy in their batteries. Although a robot's energy is spent at many levels, from control systems to actuators, we suggest that the mechanical cost of transport is an integral energy expenditure for any legged system—and measuring this cost permits the most direct comparison between gaits of legged animals and robots. Although legged robots have matched or even improved upon total cost of transport of animals, this is typically achieved by choosing extremely slow speeds or by using regenerative mechanisms. Legged robots have not yet reached the low mechanical cost of transport achieved at speeds used by bipedal and quadrupedal animals. Here we consider approaches used to analyze gaits and discuss a framework, termed mechanical cost analysis, that can be used to evaluate the economy of legged systems. This method uses a point mass perspective to evaluate the entire stride as well as to identify individual events that accrue mechanical cost. The analysis of gait began at the turn of the last century with spatiotemporal analysis facilitated by the advent of cine film. These advances gave rise to the “gait diagram,” which plots duty factors and phase separations between footfalls. This approach was supplanted in the following decades by methods using force platforms to determine forces and motions of the center of mass (CoM)—and analytical models that characterize gait according to fluctuations in potential and kinetic energy. Mechanical cost analysis draws from these approaches and provides a unified framework that interprets the spatiotemporal sequencing of leg contacts within the context of CoM dynamics to determine mechanical cost in every instance of the stride. Diverse gaits can be evaluated and compared in biological and engineered systems using mechanical cost analysis.

Ice hockey skating sprints: run to glide mechanics of high calibre male and female athletes

The skating acceleration to maximal speed transition (sprint) is an essential skill that involves substantial lower body strength and effective propulsion technique. Coaches and athletes strive to understand this optimal combination to improve performance and reduce injury risk. Hence, the purpose of this study was to compare body centre of mass and lower body kinematic profiles from static start to maximal speed of high calibre male and female ice hockey players on the ice surface. Overall, male and female skaters showed similar centre of mass trajectories, though magnitudes differed. The key performance difference was the male's greater peak forward skating speed (8.96 ± 0.44 m/s vs the females' 8.02 ± 0.36 m/s, p < 0.001), which was strongly correlated to peak leg strength (R ² = 0.81). Males generated greater forward acceleration during the initial accelerative steps, but thereafter, both sexes had similar stride-by-stride accelerations up to maximal speed. In terms of technique, males demonstrated greater hip abduction (p = 0.006) and knee flexion (p = 0.026) from ice contact to push off throughout the trials. For coaches and athletes, these findings underscore the importance of leg strength and widely planted running steps during the initial skating technique to achieve maximal skating speed over a 30 m distance.

A simple extension of inverted pendulum template to explain features of slow walking✰

Locomotion involves complex interactions between an organism and its environment. Despite these complex interactions, many characteristics of the motion of an animal's center of mass (COM) can be modeled using simple mechanical models such as inverted pendulum (IP) and spring-loaded inverted pendulum (SLIP) which employ a single effective leg to model an animal's COM. However, because these models are simple, they also have many limitations. We show that one limitation of IP and SLIP and many other simple mechanical models of locomotion is that they cannot model many observed features of locomotion at slow speeds. This limitation is due to the fact that the gravitational force is too strong, and, if unopposed, compels the animal to complete its stance in a relatively short time. We propose a new model, AS-IP (Angular Spring modulated Inverted Pendulum), in which the body is attached to the leg using springs which resist the leg's movement away from the vertical plane, and thus provides a means to model forces that effectively counter gravity. We show that AS-IP provides a mechanism by which an animal can tune its stance duration, and provide evidence that AS-IP is an excellent model for the motion of a fly's COM. More generally, we conclude that combining AS-IP with SLIP will greatly expand our ability to model legged locomotion over a range of speeds.

Effective leg stiffness of animal running and the co-optimization of energetic cost and stability

The relative leg stiffness of most running animals falls in a small range between 7 and 27. Here we present a theoretical study of an established running model, an actuated Spring Loaded Inverted Pendulum model, to determine if the energetic cost and stability of running might be co-optimized over this range of leg stiffness values. The energetic cost of the model is quantified as the energy spent to move a unit mass a unit distance. The stability of the model is based on the system response to perturbations with respect to periodic locomotion solutions, and uses the linearized dynamics of Poincaré return maps and the resulting maximum eigenvalue and singular value decomposition in order to analyze asymptotic stability and the overall system response to perturbations, respectively. We find that there exists a tradeoff between stability and energetic cost in the model with respect to variation in forcing (actuation) level: For a given leg stiffness, the energetic cost tends to be more optimal with smaller forcing, and the opposite for stability. We find that intermediate levels of forcing can achieve near asymptotic stability or complete asymptotic stability while remaining small enough to yield a relatively low energetic cost consistent with human-like values. We demonstrate that this outcome can be achieved in the model with a simple optimization function that balances stability and energetic cost. We then investigate the stability and energetic cost when both leg stiffness and forcing are varied. Overall, the analysis shows that leg stiffness values in or near the biological range offers a good chance of simultaneously achieving both reasonable energetic cost and stability in the model. The results of this study suggest that stability and energetic cost may be interacting factors that have a combined influence on the effective leg stiffness and actuation (forcing) used by running animals.

The goal of locomotion: Separating the fundamental task from the mechanisms that accomplish it

Human locomotion has been well described but is still not well understood. This is largely true because the observable aspects of locomotion-neuromuscular activity that generates forces and motions-relate to both the task solution and the problem being solved. Identifying the fundamental task achieved in locomotion makes it possible to critically evaluate the motor control strategy used to accomplish the task goal. We contend that the readily observed movements and activities of locomotion should be considered mechanism(s). Our proposal is that the fundamental task of walking and running is analogous to flight, and should be defined in terms of the interaction of the individual's mass with the medium in which it moves: a low-density fluid for flight, or the supporting substrate for legged locomotion. A rigorous definition of the fundamental task can help identify the constraints and opportunities that influence its solution and guide the selection of appropriate mechanisms to accomplish the task effectively. The results from robotics-based modeling studies have demonstrated how the interaction of the mass and substrate can be optimized, making the goal of movement a defined trajectory of the individual's mass. We assessed these concepts by evaluating the ground reaction forces generated by an optimization model that satisfies the task but uses none of the mechanisms that are available to the human leg. Then we compared this model to normal human walking. Although it is obvious that the specific task of locomotion changes with a variety of movement challenges, clearly identifying the fundamental task of locomotion puts all other features in an interpretable context.

Kinematic patterns while walking on a slope at different speeds

During walking, the elevation angles of the thigh, shank, and foot (i.e., the angle between the segment and the vertical) covary along a characteristic loop constrained on a plane. Here, we investigate how the shape of the loop and the orientation of the plane, which reflect the intersegmental coordination, change with the slope of the terrain and the speed of progression. Ten subjects walked on an inclined treadmill at different slopes (between -9° and +9°) and speeds (from 0.56 to 2.22 m/s). A principal component analysis was performed on the covariance matrix of the thigh, shank, and foot elevation angles. At each slope and speed, the variance accounted for by the two principal components was >99%, indicating that the planar covariation is maintained. The two principal components can be associated to the limb orientation (PC1*) and the limb length (PC2*). At low walking speeds, changes in the intersegmental coordination across slopes are characterized mainly by a change in the orientation of the covariation plane and in PC2* and to a lesser extent, by a change in PC1*. As speed increases, changes in the intersegmental coordination across slopes are more related to a change in PC1 *, with limited changes in the orientation of the plane and in PC 2*. Our results show that the kinematic patterns highly depend on both slope and speed. NEW & NOTEWORTHY In this paper, changes in the lower-limb intersegmental coordination during walking with slope and speed are linked to changes in the trajectory of the body center of mass. Modifications in the kinematic pattern with slope depend on speed: at slow speeds, the net vertical displacement of the body during each step is related to changes in limb length and orientation. When speed increases, the vertical displacement is mostly related to a change in limb orientation.

Coordination in gait: Demonstration of a spectral approach

Many important notions in Life Sciences are linked with the idea of cycles, periodicity, fluctuations and transitions. The aim of this paper is to use spectral analysis in a unique way to study and quantify whole body coordination during gait. A participant walked at 3 km/h and ran at 15 km/h on a treadmill for 2 minutes. Position of the approximate center of rotation of the toe, ankle, knee, hip, shoulder, elbow and wrist, heel, PSIS and head were collected (CODAmotion; 100 Hz). Fast Fourier Transform was performed on x-coordinate data of the 1) knee marker; 2) 4 markers attached to the free lower limb (toe, ankle, heel and knee); 3) left and right free lower limbs; 4) whole body (all markers). Gait is described by a largely harmonic and resonant oscillator that operates unilateral free limbs at the stride frequency, and axial regions at the step frequency. Running is described by a more harmonic and resonant oscillating structure than walking, with a 3 times higher Q factor and 47% lower Inharmonicity Index. This method is presented as a way to capture global dynamics of our complex multi-segment system, and presents a novel application of spectral analysis to study coordination.

Constraints on Stance-Phase Force Production during Overground Walking in Persons with Chronic Incomplete Spinal Cord Injury

Persons with incomplete spinal cord injury (iSCI) face ongoing struggles with walking, including reduced speed and increased reliance on assistive devices (ADs). The forces underlying body weight support and gait, as measured by ground reaction forces (GRFs), are likely altered after iSCI because of weakness and AD dependence but have not been studied. The purpose of this study was to examine GRF production during overground walking after iSCI, because greater insight into GRF constraints is important for refining therapeutic interventions. Because of reduced and discoordinated motor output after iSCI, we hypothesized that persons with iSCI would exert smaller GRFs and altered GRF modifications to increased cadence compared with able-bodied (AB) persons, especially when using an AD. Fifteen persons with chronic iSCI, stratified into no AD (n = 7) and AD (n = 8) groups, walked across an instrumented walkway at self-selected and fast (115% self-selected) cadences. Fifteen age-matched AB controls walked at their own cadences and iSCI-matched conditions (cadence and AD). Results showed fore-aft GRFs are reduced in persons with iSCI compared with AB controls, with reductions greatest in persons dependent on an AD. When controlling for cadence and AD, propulsive forces were still lower in persons with iSCI. Compared with AB controls, persons with iSCI demonstrated altered GRF modifications to increased cadence. Persons with iSCI exhibit different stance-phase forces compared with AB controls, which are impacted further by AD use and slower walking speed. Minimizing AD use and/or providing propulsive biofeedback during walking could enhance GRF production after iSCI.

Uncontrolled manifold hypothesis: Organization of leg joint variance in humans while walking in a wide range of speeds

This study aimed at investigating the organization of joint angle variability during walking by using the uncontrolled manifold (UCM) theory. We tested two hypotheses: i. the coordinative mechanism underlying joint angle variance during the stance phase is compatible with a kinematic synergy that stabilizes the centre of mass (CoM) position; ii. the walking speed affects the variance components onto and orthogonal to the UCM. Eight healthy subjects (26.0±2.0years old) steadily walked on a treadmill at five normalised speeds (from 0.62±0.03m/s to 1.15±0.07m/s). Joint angles and foot orientation, and components of the CoM position were, respectively, used as elemental variables and task performance for the UCM implementation. The effect of speed, time events, and variance components on the distribution of data variance in the space of joint angles was analyzed by the ANOVA test. Results corroborated the hypothesis that the variance of elemental variables is structured in order to minimize the stride-to-stride variability of the CoM position, at all speeds. Noticeably, both variance components increase during the propulsive phase, albeit that parallel to the UCM was always grater than the orthogonal one. Accordingly, the observed kinematic synergy is supposed to contribute to accomplishing an efficient transition between two steps. Results also revealed that the walking speed does not affect the partitioning of elemental variables-related variance onto and orthogonal to the UCM. Accordingly, the organization of leg joint variance underlying the stabilization of CoM position remains almost unaltered across speeds.

Kinematic response in limb and body posture to sensory feedback from carpal sinus hairs in the rat (Rattus norvegicus)

One of the most challenging adaptations within the therians has been to ensure dynamic stability of the trunk during rapid locomotion in highly structured environments. A reorganization of limb mechanics and development of new sensors has taken place within their stem lineage. Rats, which have a similar lifestyle to the first therians, possess sinus hairs specialized for tactile sensing. It is supposed that carpal sinus hairs have a role in sensing substrate properties and can thus induce adjustments in limb kinematics and body posture according to the different surface diameters and structures detected. This implies a shared sensorimotor control loop of sinus hairs and body posture. To investigate the role of the carpal sinus hairs during locomotion and to explore a possible interaction between limb and spine motion, spatiotemporal and kinematic parameters as well as the contact mechanics of the hairs with regard to the surface were quantified. Locomotion on a treadmill with continuous and discontinuous substrates was compared in the presence/absence of the carpal sinus hairs across a speed range from 0.2m/s to 0.6m/s. Recordings were taken synchronously using x-ray fluoroscopy and normal-light high-speed cameras. Our investigation revealed that the three tactile hairs made a triangle-like contact with the ground approximately 30ms before touchdown of the forelimb. Within that time, it is likely that both the body posture and its oscillation are adjusted according to the different surface textures. The sensory input of the carpal sinus hairs induces a stabilization of the trajectory of the center of mass and, therefore, improves the dynamic stability of the trunk; conversely, the absence of the sensors results in a more crouched frontal body posture, similar to that seen in rats when they are moving in an unknown terrain. The carpal sinus hairs also sense the animal's speed during surface contact. This implicates an adjustment of the limb and spine kinematics, by increasing the speed-dependent effect or by increasing the distance between the trunk and the ground when the rat is walking faster.

A modelling approach to the dynamics of gait initiation

Gait initiation is an integral and complex part of human locomotion. In this paper, we present a novel compliant-leg model-based approach to understanding the key phases of initiation, the nature of the effective forces involved in initiation, and the importance of the anticipatory postural adjustments (APAs). The results demonstrate that in the presence of APAs, we observe a change in the characteristic of forcing required for initiation, and the energetic cost of gait initiation is also reduced by approximately 58%. APAs also result in biologically relevant leg landing angles and trajectories of motion. Furthermore, we find that a sublinear functional relationship with the velocity error from steady state predicts the required force, consistent with an open loop control law basis for gait initiation.

The effect of unilateral arm swing motion on lower extremity running mechanics associated with injury risk

Many field sports involve equipment that restricts one or both arms from moving while running. Arm swing during running has been examined from a biomechanical and physiologic perspective but not from an injury perspective. Moreover, only bilateral arm swing suppression has been studied with respect to running. The purpose of this study was to determine the influence of running with one arm restrained on lower extremity mechanics associated with running or sport-related injury. Fifteen healthy participants ran at a self-selected speed with typical arm swing, with one arm restrained and with both arms restrained. Lower extremity kinematics and spatiotemporal measures were analysed for all arm swing conditions. Running with one arm restrained resulted in increased frontal plane knee and hip angles, decreased foot strike angle, and decreased centre of mass vertical displacement compared to typical arm swing or bilateral arm swing restriction. Stride length was decreased and step frequency increased when running with one or both arms restrained. Unilateral arm swing restriction induces changes in lower extremity kinematics that are not similar to running with bilateral arm swing restriction or typical arm swing motion. Running with one arm restrained increases frontal plane mechanics associated with risk of knee injury.