Look out: an exploratory study assessing how gaze (eye angle and head angle) and gait speed are influenced by surface complexity

An Experimental Setup to Test Obstacle-Dealing Capabilities of Prosthetic Feet

Small obstacles on the ground often lead to a fall when caught with commercial prosthetic feet. Despite some recently developed feet can actively control the ankle angle, for instance over slopes, their flat and rigid sole remains a cause of instability on uneven grounds. Soft robotic feet were recently proposed to tackle that issue; however, they lack consistent experimental validation. Therefore, this paper describes the experimental setup realized to test soft and rigid prosthetic feet with lower-limb prosthetic users. It includes a wooden walkway and differently shaped obstacles. It was preliminary validated with an able-bodied subject, the same subject walking on commercial prostheses through modified walking boots, and with a prosthetic user. They performed walking firstly on even ground, and secondly on even ground stepping on one of the obstacles. Results in terms of vertical ground reaction force and knee moments in both the sagittal and frontal planes show how the poor performance of commonly used prostheses is exacerbated in case of obstacles. The prosthetic user, indeed, noticeably relies on the sound leg to compensate for the stiff and unstable interaction of the prosthetic limb with the obstacle. Therefore, since the limitations of non-adaptive prosthetic feet in obstacle-dealing emerge from the experiments, as expected, this study justifies the use of the setup for investigating the performance of soft feet on uneven grounds and obstacle negotiation.

A Multi-Modal Gait Database of Natural Everyday-Walk in an Urban Environment

Human gait data have traditionally been recorded in controlled laboratory environments focusing on single aspects in isolation. In contrast, the database presented here provides recordings of everyday walk scenarios in a natural urban environment, including synchronized IMU−, FSR−, and gaze data. Twenty healthy participants (five females, fifteen males, between 18 and 69 years old, 178.5 ± 7.64 cm, 72.9 ± 8.7 kg) wore a full-body Lycra suit with 17 IMU sensors, insoles with eight pressure sensing cells per foot, and a mobile eye tracker. They completed three different walk courses, where each trial consisted of several minutes of walking, including a variety of common elements such as ramps, stairs, and pavements. The data is annotated in detail to enable machine-learning-based analysis and prediction. We anticipate the data set to provide a foundation for research that considers natural everyday walk scenarios with transitional motions and the interaction between gait and gaze during walking.

Measurement(s)	Full-body motion data including positional skeleton data, joint angles, acceleration and velocity of 23 body segments • Foot pressure • Eye gaze position including first-person scene video
Technology Type(s)	Xsens body suit with 17 IMU sensors • IEE ActiSense Smart Footwear Sensor with 8 sensor segments per foot • Pupil Invisible Glasses Eyetracker
Independent variable(s)	pressure values per foot • eye gaze X, Y position

Altered Spatiotemporal Gaze Dynamics During Unexpected Obstacle Negotiation in a Fatigued State

Humans use their peripheral vision during locomotion to perceive an approaching obstacle in their path, while also focusing central gaze on steps ahead of them. However, certain physiological and psychological factors may change this strategy, such as when a walker is physically fatigued. In this study, 21 healthy participants walked through a dark room while wearing eye tracking glasses before and following intense exercise. Obstacles were placed in random locations along their path and became illuminated when participants approached them. Results indicate that, when fatigued, participants had altered spatial gaze strategies, including more frequent use of central gaze to perceive obstacles and an increased gaze angular displacement. However, there were no changes in temporal gaze strategies following exercise. These findings reveal how physical fatigue alters one's visual perception of their environment during locomotion, and may partially explain why people are at greater risk of trips and falls while fatigued.

Adapting the coordination of eyes and head to differences in task and environment during fully-mobile visual exploration

How are eyes and head adapted to meet the demands of visual exploration in different tasks and environments? In two studies, we measured the horizontal movements of the eyes (using mobile eye tracking in Studies 1 and 2) and the head (using inertial sensors in Study 2) while participants completed a walking task and a search and retrieval task in a large, outdoor environment. We found that the spread of visual exploration was greater while searching compared with walking, and this was primarily driven by increased movement of the head as opposed to the eyes. The contributions of the head to gaze shifts of different eccentricities was greater when searching compared to when walking. Findings are discussed with respect to understanding visual exploration as a motor action with multiple degrees of freedom.

Looking for Image Statistics: Active Vision With Avatars in a Naturalistic Virtual Environment

The efficient coding hypothesis posits that sensory systems are tuned to the regularities of their natural input. The statistics of natural image databases have been the topic of many studies, which have revealed biases in the distribution of orientations that are related to neural representations as well as behavior in psychophysical tasks. However, commonly used natural image databases contain images taken with a camera with a planar image sensor and limited field of view. Thus, these images do not incorporate the physical properties of the visual system and its active use reflecting body and eye movements. Here, we investigate quantitatively, whether the active use of the visual system influences image statistics across the visual field by simulating visual behaviors in an avatar in a naturalistic virtual environment. Images with a field of view of 120° were generated during exploration of a virtual forest environment both for a human and cat avatar. The physical properties of the visual system were taken into account by projecting the images onto idealized retinas according to models of the eyes' geometrical optics. Crucially, different active gaze behaviors were simulated to obtain image ensembles that allow investigating the consequences of active visual behaviors on the statistics of the input to the visual system. In the central visual field, the statistics of the virtual images matched photographic images regarding their power spectra and a bias in edge orientations toward cardinal directions. At larger eccentricities, the cardinal bias was superimposed with a gradually increasing radial bias. The strength of this effect depends on the active visual behavior and the physical properties of the eye. There were also significant differences between the upper and lower visual field, which became stronger depending on how the environment was actively sampled. Taken together, the results show that quantitatively relating natural image statistics to neural representations and psychophysical behavior requires not only to take the structure of the environment into account, but also the physical properties of the visual system, and its active use in behavior.