Symmetrical gaits of horses

Limb phase flexibility in walking: a test case in the squirrel monkey (Saimiri sciureus)

BACKGROUND

Previous analyses of factors influencing footfall timings and gait selection in quadrupeds have focused on the implications for energetic cost or gait mechanics separately. Here we present a model for symmetrical walking gaits in quadrupedal mammals that combines both factors, and aims to predict the substrate contexts in which animals will select certain ranges of footfall timings that (1) minimize energetic cost, (2) minimize rolling and pitching moments, or (3) balance the two. We hypothesize that energy recovery will be a priority on all surfaces, and will be the dominant factor determining footfall timings on flat, ground-like surfaces. The ability to resist pitch and roll, however, will play a larger role in determining footfall choice on narrower and more complex branch-like substrates. As a preliminary test of the expectations of the model, we collected sample data on footfall timings in a primate with relatively high flexibility in footfall timings - the squirrel monkey (Saimiri sciureus) - walking on a flat surface, straight pole, and a pole with laterally-projecting branches to simulate simplified ground and branch substrates. We compare limb phase values on these supports to the expectations of the model.

RESULTS

As predicted, walking steps on the flat surface tended towards limb phase values that promote energy exchange. Both pole substrates induced limb phase values predicted to favor reduced pitching and rolling moments.

CONCLUSIONS

These data provide novel insight into the ways in which animals may choose to adjust their behavior in response to movement on flat versus complex substrates and the competing selective factors that influence footfall timing in mammals. These data further suggest a pathway for future investigations using this perspective.

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.

Bipedal gait versatility in the Japanese macaque (Macaca fuscata)

It was previously believed that, among primates, only humans run bipedally. However, there is now growing evidence that at least some non-human primates can not only run bipedally but can also generate a running gait with an aerial phase. Japanese macaques trained for bipedal performances have been known to exhibit remarkable bipedal locomotion capabilities, but no aerial-phase running has previously been reported. In the present study, we investigated whether Japanese macaques could run with an aerial phase by collecting bipedal gait sequences from three macaques on a level surface at self-selected speeds (n = 188). During our experiments, body kinematics and ground reaction forces were recorded by a motion-capture system and two force plates installed within a wooden walkway. Our results demonstrated that macaques were able to utilize a variety of bipedal gaits including grounded running, skipping, and even running with an aerial phase. The self-selected bipedal locomotion speed of the macaques was fast, with Froude speed ranging from 0.4 to 1.3. However, based on congruity, no single trial that could be categorized as a pendulum-like walking gait was observed. The parameters describing the temporal, kinematic, and dynamic characteristics of macaque bipedal running gaits follow the patterns previously documented for other non-human primates and terrestrial birds that use running gaits, but are different from those of humans and from birds' walking gaits. The present study confirmed that when a Japanese macaque engages in bipedal locomotion, even without an aerial phase, it generally utilizes a spring-like running mechanism because the animals have a limited ability to stiffen their legs. That limitation is due to anatomical restrictions determined by the morphology and structure of the macaque musculoskeletal system. The general adoption of grounded running in macaques and other non-human primates, along with its absence in human bipedal locomotion, suggests that abandonment of compliant gait was a critical transition in the evolution of human obligatory bipedalism.

Body and tail-assisted pitch control facilitates bipedal locomotion in Australian agamid lizards

Certain lizards are known to run bipedally. Modelling studies suggest bipedalism in lizards may be a consequence of a caudal shift in the body centre of mass, combined with quick bursts of acceleration, causing a torque moment at the hip lifting the front of the body. However, some lizards appear to run bipedally sooner and for longer than expected from these models, suggesting positive selection for bipedal locomotion. While differences in morphology may contribute to bipedal locomotion, changes in kinematic variables may also contribute to extended bipedal sequences, such as changes to the body orientation, tail lifting and changes to the ground reaction force profile. We examined these mechanisms among eight Australian agamid lizards. Our analysis revealed that angular acceleration of the trunk about the hip, and of the tail about the hip were both important predictors of extended bipedal running, along with increased temporal asymmetry of the ground reaction force profile. These results highlight important dynamic movements during locomotion, which may not only stabilize bipedal strides, but also to de-stabilize quadrupedal strides in agamid lizards, in order to temporarily switch to, and extend a bipedal sequence.

Leg force interference in polypedal locomotion

The examination of gaits and gait changes has been the focus of movement physiology and legged robot engineering since the first emergence of the fields. While most examinations have focused on bipedal and quadrupedal designs, many robotic implementations rely on the higher static stability of three or more pairs of legs. Thus far, however, the effect of number of pairs of legs on locomotion dynamics has not been examined. Accordingly, the present approach aims to extend available theory to polypedal designs and examines how the number of active walking legs affects body dynamics when combined with changing duty factors and phase relations. The model shows that ground force interference of higher numbers of active pairs of walking legs can prevent effective use of bouncing gaits, such as trot, and their associated advantages, such as energy efficiency, because significantly higher degrees of leg synchronization are required. It also shows that small changes in the leg coordination pattern have a much higher impact on the center-of-mass dynamics in locomotor systems with many legs than in those with fewer legs. In this way, the model reveals coordinative constraints for specific gaits facilitating the assessment of animal locomotion and economization of robotic locomotion.

Effect of three types of horseshoes and unshod feet on selected non-podal forelimb kinematic variables measured by an extremity mounted inertial measurement unit sensor system in sound horses at the trot under conditions of treadmill and soft geotextile surface exercise

Therapeutic farriery is part of the management of certain orthopaedic conditions. Non-podal parameters are important as most horses shod with therapeutic shoes are expected to perform again and the choice of shoe type may be influenced by the effects they may have on gait. The aim of this prospective study was to evaluate the effects of three different shoe designs and unshod front feet on forelimb non-podal kinematic variables using an extremity mounted inertial measurement unit (IMU) system under conditions of treadmill and overground exercise on a soft geotextile surface at the trot. Ten sound horses with no underlying orthopaedic problem were instrumented with eight IMUs at distal radii, tibia and third metacarpal/tarsal regions. Measurements were performed during four consecutive days. During the first three days, the three shoe types were randomly selected per horse and day. On the fourth day, all horses were tested unshod. Data were collected at the trot on a treadmill, and on a soft geotextile surface. Specifically designed software and a proprietary algorithm processed the accelerometer and gyroscope signals to obtain orientation and temporal data to describe selected kinematic variables predetermined by the system. Repeated-measures analysis of variance (ANOVA) was used to assess differences between shoe type and surface. The presence of shoes produced significant changes in spatiotemporal variables which seemed to be related to shoe mass rather than shoe design as there were no significant differences found between different shoe types. Shod horses showed a gait characterised by an increased range of motion (ROM) of the fore limbs. Previously reported effects of the investigated shoes on podal kinematics do not seem to affect the investigated kinematic variables indicating perhaps a compensatory effect occurring at some level in the extremity.

The grazing gait, and implications of toppling table geometry for primate footfall sequences

Many medium and large herbivores locomote forwards very slowly and intermittently when grazing. While the footfall order during grazing is the same as for walking, the relative fore-hind timing-phasing-is quite different. Extended periods of static stability are clearly required during grazing; however, stability requirements are insufficient to account for the timing. Aspects of relatively rapid rolling and pitching-toppling due to the resistance of the back to bending and twisting-can be included in a simplifying geometric model to explain the observation that, in grazing livestock, a step forward with a forefoot is consistently and immediately followed by a step forward from the hind; but not vice versa. The same principles and geometry, but applied to the footfall pattern of walking primates, show that toppling would occur at a different point in the gait cycle. This provides a potential account for the distinctive diagonal-sequence footfall pattern of primates, as it prevents the instant of toppling from being at forefoot placement. Careful and controlled hand positioning would thus be facilitated, presumably beneficial to walking on top of branches, despite a slight energetic cost compared with the usual lateral sequence pattern of horses.

Treadmill locomotion of the mouse lemur (Microcebus murinus); kinematic parameters during symmetrical and asymmetrical gaits

The gaits of the adult grey mouse lemur Microcebus murinus were studied during treadmill locomotion over a large range of velocities. The locomotion sequences were analysed to determine the gait and the various spatiotemporal gait parameters of the limbs. We found that velocity adjustments are accounted for differently by stride frequency and stride length depending on whether the animal showed a symmetrical or an asymmetrical gait. When using symmetrical gaits the increase in velocity is associated with a constant contribution of the stride length and stride frequency; the increase of the stride frequency being always lower. When using asymmetrical gaits, the increase in velocity is mainly assured by an increase in the stride length which tends to decrease with increasing velocity. A reduction in both stance time and swing time contributed to the increase in stride frequency for both gaits, though with a major contribution from the decrease in stance time. The pattern of locomotion obtained in a normal young adult mouse lemurs can be used as a template for studying locomotor control deficits during aging or in different environments such as arboreal ones which likely modify the kinematics of locomotion.

Quadrupedal locomotor simulation: producing more realistic gaits using dual-objective optimization

In evolutionary biomechanics it is often considered that gaits should evolve to minimize the energetic cost of travelling a given distance. In gait simulation this goal often leads to convincing gait generation. However, as the musculoskeletal models used get increasingly sophisticated, it becomes apparent that such a single goal can lead to extremely unrealistic gait patterns. In this paper, we explore the effects of requiring adequate lateral stability and show how this increases both energetic cost and the realism of the generated walking gait in a high biofidelity chimpanzee musculoskeletal model. We also explore the effects of changing the footfall sequences in the simulation so it mimics both the diagonal sequence walking gaits that primates typically use and also the lateral sequence walking gaits that are much more widespread among mammals. It is apparent that adding a lateral stability criterion has an important effect on the footfall phase relationship, suggesting that lateral stability may be one of the key drivers behind the observed footfall sequences in quadrupedal gaits. The observation that single optimization goals are no longer adequate for generating gait in current models has important implications for the use of biomimetic virtual robots to predict the locomotor patterns in fossil animals.

Effect of trotting speed on kinematic variables measured by use of extremity-mounted inertial measurement units in nonlame horses performing controlled treadmill exercise

OBJECTIVE To assess effects of speed on kinematic variables measured by use of extremity-mounted inertial measurement units (IMUs) in nonlame horses performing controlled exercise on a treadmill. ANIMALS 10 nonlame horses. PROCEDURES 6 IMUs were attached at predetermined locations on 10 nonlame Franches Montagnes horses. Data were collected in triplicate during trotting at 3.33 and 3.88 m/s on a high-speed treadmill. Thirty-three selected kinematic variables were analyzed. Repeated-measures ANOVA was used to assess the effect of speed. RESULTS Significant differences between the 2 speeds were detected for most temporal (11/14) and spatial (12/19) variables. The observed spatial and temporal changes would translate into a gait for the higher speed characterized by increased stride length, protraction and retraction, flexion and extension, mediolateral movement of the tibia, and symmetry, but with similar temporal variables and a reduction in stride duration. However, even though the tibia coronal range of motion was significantly different between speeds, the high degree of variability raised concerns about whether these changes were clinically relevant. For some variables, the lower trotting speed apparently was associated with more variability than was the higher trotting speed. CONCLUSIONS AND CLINICAL RELEVANCE At a higher trotting speed, horses moved in the same manner (eg, the temporal events investigated occurred at the same relative time within the stride). However, from a spatial perspective, horses moved with greater action of the segments evaluated. The detected changes in kinematic variables indicated that trotting speed should be controlled or kept constant during gait evaluation.

Skipping on uneven ground: trailing leg adjustments simplify control and enhance robustness

It is known that humans intentionally choose skipping in special situations, e.g. when descending stairs or when moving in environments with lower gravity than on Earth. Although those situations involve uneven locomotion, the dynamics of human skipping on uneven ground have not yet been addressed. To find the reasons that may motivate this gait, we combined experimental data on humans with numerical simulations on a bipedal spring-loaded inverted pendulum model (BSLIP). To drive the model, the following parameters were estimated from nine subjects skipping across a single drop in ground level: leg lengths at touchdown, leg stiffness of both legs, aperture angle between legs, trailing leg angle at touchdown (leg landing first after flight phase), and trailing leg retraction speed. We found that leg adjustments in humans occur mostly in the trailing leg (low to moderate leg retraction during swing phase, reduced trailing leg stiffness, and flatter trailing leg angle at lowered touchdown). When transferring these leg adjustments to the BSLIP model, the capacity of the model to cope with sudden-drop perturbations increased.

The comeback of hand drawing in modern life sciences

Scientific manuscripts are full of images. Since the birth of the life sciences, these images were in a form of hand drawings, with great examples from da Vinci, Hooke, van Leeuwenhoek, Remak, Buffon, Bovery, Darwin, Huxley, Haeckel and Gray's Anatomy to name a few. However, in the course of the past century, photographs and simplified schematics have gradually taken over as a way of illustrating scientific data and concepts, assuming that these are 'accurate' representations of the truth. Here, we argue for the importance of reviving the art of scientific drawings as a way of effectively communicating complex scientific ideas to both specialists and the general public.

Repeatability of gait pattern variables measured by use of extremity-mounted inertial measurement units in nonlame horses during trotting

OBJECTIVE To determine repeatability of gait variables measured by use of extremity-mounted inertial measurement units (IMUs) in nonlame horses during trotting under controlled conditions of treadmill exercise. ANIMALS 10 horses. PROCEDURES Six IMUs were strapped to the metacarpal, metatarsal, and distal tibial regions of each horse. Data were collected in a standardized manner (3 measurements/d on 3 d/wk over a 3-week period) while each horse was trotted on a treadmill. Every measurement consisted of a minimum of 20 strides from which a minimum of 10 strides was selected for analysis. Spatial and temporal variables were derived from the IMUs. Repeatability coefficients based on the within-subject SD were computed for each gait analysis variable at each week. RESULTS Most of the temporal and spatial variables had high repeatability (repeatability coefficients < 10), and the repeatability coefficients were consistent among the 3 weeks of data collection. Some spatial variables, specifically the symmetry variables (which were calculated from other variables), had somewhat higher repeatability coefficients (ie, lower repeatability) only in the last week. CONCLUSIONS AND CLINICAL RELEVANCE With the exceptions of some symmetry variables, which may reflect individual variations during movement, the extremity-mounted IMUs provided data with high repeatability for nonlame horses trotting under controlled conditions of treadmill exercise. Repeatability was achieved for each instrumented limb segment with regard to the spatial relationship between 2 adjacent segments (joint angles) and the temporal relationship among all segments (limb phasing). Extremity-mounted IMUs could have the potential to become a method for gait analysis in horses.

Reversible silencing of lumbar spinal interneurons unmasks a task-specific network for securing hindlimb alternation

Neural circuitry in the lumbar spinal cord governs two principal features of locomotion, rhythm and pattern, which reflect intra- and interlimb movement. These features are functionally organized into a hierarchy that precisely controls stepping in a stereotypic, speed-dependent fashion. Here, we show that a specific component of the locomotor pattern can be independently manipulated. Silencing spinal L2 interneurons that project to L5 selectively disrupts hindlimb alternation allowing a continuum of walking to hopping to emerge from the otherwise intact network. This perturbation, which is independent of speed and occurs spontaneously with each step, does not disrupt multi-joint movements or forelimb alternation, nor does it translate to a non-weight-bearing locomotor activity. Both the underlying rhythm and the usual relationship between speed and spatiotemporal characteristics of stepping persist. These data illustrate that hindlimb alternation can be manipulated independently from other core features of stepping, revealing a striking freedom in an otherwise precisely controlled system.

Intra- and interlimb coordination during locomotion is governed by hierarchically organized lumbar spinal networks. Here, the authors show that reversible silencing of spinal L2–L5 interneurons specifically disrupts hindlimb alternation leading to a continuum of walking to hopping.

Work minimization accounts for footfall phasing in slow quadrupedal gaits

Quadrupeds, like most bipeds, tend to walk with an even left/right footfall timing. However, the phasing between hind and forelimbs shows considerable variation. Here, we account for this variation by modeling and explaining the influence of hind-fore limb phasing on mechanical work requirements. These mechanics account for the different strategies used by: (1) slow animals (a group including crocodile, tortoise, hippopotamus and some babies); (2) normal medium to large mammals; and (3) (with an appropriate minus sign) sloths undertaking suspended locomotion across a range of speeds. While the unusual hind-fore phasing of primates does not match global work minimizing predictions, it does approach an only slightly more costly local minimum. Phases predicted to be particularly costly have not been reported in nature.

Interactive locomotion: Investigation and modeling of physically-paired humans while walking

In spite of extensive studies on human walking, less research has been conducted on human walking gait adaptation during interaction with another human. In this paper, we study a particular case of interactive locomotion where two humans carry a rigid object together. Experimental data from two persons walking together, one in front of the other, while carrying a stretcher-like object is presented, and the adaptation of their walking gaits and coordination of the foot-fall patterns are analyzed. It is observed that in more than 70% of the experiments the subjects synchronize their walking gaits; it is shown that these walking gaits can be associated to quadrupedal gaits. Moreover, in order to understand the extent by which the passive dynamics can explain this synchronization behaviour, a simple 2D model, made of two-coupled spring-loaded inverted pendulums, is developed, and a comparison between the experiments and simulations with this model is presented, showing that with this simple model we are able to reproduce some aspects of human walking behaviour when paired with another human.

Adaptive Control Strategies for Interlimb Coordination in Legged Robots: A Review

Walking animals produce adaptive interlimb coordination during locomotion in accordance with their situation. Interlimb coordination is generated through the dynamic interactions of the neural system, the musculoskeletal system, and the environment, although the underlying mechanisms remain unclear. Recently, investigations of the adaptation mechanisms of living beings have attracted attention, and bio-inspired control systems based on neurophysiological findings regarding sensorimotor interactions are being developed for legged robots. In this review, we introduce adaptive interlimb coordination for legged robots induced by various factors (locomotion speed, environmental situation, body properties, and task). In addition, we show characteristic properties of adaptive interlimb coordination, such as gait hysteresis and different time-scale adaptations. We also discuss the underlying mechanisms and control strategies to achieve adaptive interlimb coordination and the design principle for the control system of legged robots.

Three-dimensional kinematic and kinetic analysis of quadrupedal walking in the common marmoset (Callithrix jacchus)

The common marmoset has recently gained a great deal of attention as an experimental primate model for biological science and medical research. To use the common marmoset for development of novel treatments and rehabilitation for locomotor disorders, it is crucial to understand fundamental baseline characteristics of locomotion in this species. Therefore, in the present study we performed kinematic and kinetic analyses of quadrupedal locomotion in this animal. A total of 14 common marmosets walking quadrupedally along a walkway were analyzed using synchronized high-speed cameras, with two force platforms set in the walkway. Our results demonstrated that the marmoset uses a lateral sequence walking pattern, in contrast to the macaque and other primates, which usually adopt a diagonal sequence pattern. Furthermore, peak vertical ground reaction force on the forelimb was larger than that on the hindlimb. The rate of energy recovery for quadrupedal walking in the common marmoset was much smaller than that in the macaque, indicating that the marmoset generally utilizes bouncing mechanics in locomotion, even though the duty factor is >0.5. This description of locomotor characteristics of intact marmosets may serve as a basis for comparative analyses of changes in gait due to rehabilitation and regenerative treatments.

Investigation on Inter-Limb Coordination and Motion Stability, Intensity and Complexity of Trunk and Limbs during Hands-Knees Crawling in Human Adults

This study aimed to investigate the inter-limb coordination pattern and the stability, intensity, and complexity of the trunk and limbs motions in human crawling under different speeds. Thirty healthy human adults finished hands-knees crawling trials on a treadmill at six different speeds (from 1 km/h to 2.5 km/h). A home-made multi-channel acquisition system consisting of five 3-axis accelerometers (ACC) and four force sensors was used for the data collection. Ipsilateral phase lag was used to represent inter-limb coordination pattern during crawling and power, harmonic ratio, and sample entropy of acceleration signals were adopted to depict the motion intensity, stability, and complexity of trunk and limbs respectively. Our results revealed some relationships between inter-limb coordination patterns and the stability and complexity of trunk movement. Trot-like crawling pattern was found to be the most stable and regular one at low speed in the view of trunk movement, and no-limb-pairing pattern showed the lowest stability and the greatest complexity at high speed. These relationships could be used to explain why subjects tended to avoid no-limb-pairing pattern when speed was over 2 km/h no matter which coordination type they used at low speeds. This also provided the evidence that the central nervous system (CNS) chose a stable inter-limb coordination pattern to keep the body safe and avoid tumbling. Although considerable progress has been made in the study of four-limb locomotion, much less is known about the reasons for the variety of inter-limb coordination. The research results of the exploration on the inter-limb coordination pattern choice during crawling from the standpoint of the motion stability, intensity, and complexity of trunk and limbs sheds light on the underlying motor control strategy of the human CNS and has important significance in the fields of clinical diagnosis, rehabilitation engineering, and kinematics research.

The effect of rider weight and additional weight in Icelandic horses in tölt: part II. Stride parameters responses

This study investigated the effects of rider weight in the BW ratio (BWR) range common for Icelandic horses (20% to 35%), on stride parameters in tölt in Icelandic horses. The kinematics of eight experienced Icelandic school horses were measured during an incremental exercise test using a high-speed camera (300 frames/s). Each horse performed five phases (642 m each) in tölt at a BWR between rider (including saddle) and horse starting at 20% (BWR20) and increasing to 25% (BWR25), 30% (BWR30), 35% (BWR35) and finally 20% (BWR20b) was repeated. One professional rider rode all horses and weight (lead) was added to saddle and rider as needed. For each phase, eight strides at speed of 5.5 m/s were analyzed for stride duration, stride frequency, stride length, duty factor (DF), lateral advanced placement, lateral advanced liftoff, unipedal support (UPS), bipedal support (BPS) and height of front leg action. Stride length became shorter (Y=2.73-0.004x; P0.05). In conclusion, increased BWR decreased stride length and increased DF proportionally to the same extent in all limbs, whereas BPS increased at the expense of decreased UPS. These changes can be expected to decrease tölt quality when subjectively evaluated according to the breeding goals for the Icelandic horse. However, beat, symmetry and height of front leg lifting were not affected by BWR.

The neural control of interlimb coordination during mammalian locomotion

Neuronal networks within the spinal cord directly control rhythmic movements of the arms/forelimbs and legs/hindlimbs during locomotion in mammals. For an effective locomotion, these networks must be flexibly coordinated to allow for various gait patterns and independent use of the arms/forelimbs. This coordination can be accomplished by mechanisms intrinsic to the spinal cord, somatosensory feedback from the limbs, and various supraspinal pathways. Incomplete spinal cord injury disrupts some of the pathways and structures involved in interlimb coordination, often leading to a disruption in the coordination between the arms/forelimbs and legs/hindlimbs in animal models and in humans. However, experimental spinal lesions in animal models to uncover the mechanisms coordinating the limbs have limitations due to compensatory mechanisms and strategies, redundant systems of control, and plasticity within remaining circuits. The purpose of this review is to provide a general overview and critical discussion of experimental studies that have investigated the neural mechanisms involved in coordinating the arms/forelimbs and legs/hindlimbs during mammalian locomotion.

Automated Gait Analysis Through Hues and Areas (AGATHA): A Method to Characterize the Spatiotemporal Pattern of Rat Gait

While rodent gait analysis can quantify the behavioral consequences of disease, significant methodological differences exist between analysis platforms and little validation has been performed to understand or mitigate these sources of variance. By providing the algorithms used to quantify gait, open-source gait analysis software can be validated and used to explore methodological differences. Our group is introducing, for the first time, a fully-automated, open-source method for the characterization of rodent spatiotemporal gait patterns, termed Automated Gait Analysis Through Hues and Areas (AGATHA). This study describes how AGATHA identifies gait events, validates AGATHA relative to manual digitization methods, and utilizes AGATHA to detect gait compensations in orthopaedic and spinal cord injury models. To validate AGATHA against manual digitization, results from videos of rodent gait, recorded at 1000 frames per second (fps), were compared. To assess one common source of variance (the effects of video frame rate), these 1000 fps videos were re-sampled to mimic several lower fps and compared again. While spatial variables were indistinguishable between AGATHA and manual digitization, low video frame rates resulted in temporal errors for both methods. At frame rates over 125 fps, AGATHA achieved a comparable accuracy and precision to manual digitization for all gait variables. Moreover, AGATHA detected unique gait changes in each injury model. These data demonstrate AGATHA is an accurate and precise platform for the analysis of rodent spatiotemporal gait patterns.

Climbing favours the tripod gait over alternative faster insect gaits

To escape danger or catch prey, running vertebrates rely on dynamic gaits with minimal ground contact. By contrast, most insects use a tripod gait that maintains at least three legs on the ground at any given time. One prevailing hypothesis for this difference in fast locomotor strategies is that tripod locomotion allows insects to rapidly navigate three-dimensional terrain. To test this, we computationally discovered fast locomotor gaits for a model based on Drosophila melanogaster. Indeed, the tripod gait emerges to the exclusion of many other possible gaits when optimizing fast upward climbing with leg adhesion. By contrast, novel two-legged bipod gaits are fastest on flat terrain without adhesion in the model and in a hexapod robot. Intriguingly, when adhesive leg structures in real Drosophila are covered, animals exhibit atypical bipod-like leg coordination. We propose that the requirement to climb vertical terrain may drive the prevalence of the tripod gait over faster alternative gaits with minimal ground contact.

Numerous selective forces shape animal locomotion patterns and as a result, different animals evolved to use different gaits. Here, Ramdya et al. use live and in silico Drosophila, as well as an insect-model robot, to gain insights into the conditions that promote the ubiquitous tripod gait observed in most insects.

A sensory-driven controller for quadruped locomotion

Locomotion of quadruped robots has not yet achieved the harmony, flexibility, efficiency and robustness of its biological counterparts. Biological research showed that spinal reflexes are crucial for a successful locomotion in the most varied terrains. In this context, the development of bio-inspired controllers seems to be a good way to move toward an efficient and robust robotic locomotion, by mimicking their biological counterparts. This contribution presents a sensory-driven controller designed for the simulated Oncilla quadruped robot. In the proposed reflex controller, movement is generated through the robot's interactions with the environment, and therefore, the controller is solely dependent on sensory information. The results show that the reflex controller is capable of producing stable quadruped locomotion with a regular stepping pattern. Furthermore, it is capable of dealing with slopes without changing the parameters and with small obstacles, overcoming them successfully. Finally, system robustness was verified by adding noise to sensors and actuators and also delays.

Thoracolumbar movement in sound horses trotting in straight lines in hand and on the lunge and the relationship with hind limb symmetry or asymmetry

Equine movement symmetry is changed when turning, which may induce alterations in thoracolumbosacral kinematics; however, this has not previously been investigated. Our objectives were to document thoracolumbar movement in subjectively sound horses comparing straight lines with circles on both reins and to relate these observations to the objectively determined symmetry/asymmetry of hindlimb gait. Fourteen non-lame horses were assessed prospectively in a non-random, cross-sectional survey. The horses were trotted in straight lines and lunged on both reins and inertial sensor data collected at landmarks: withers, T13 and T18, L3, tubera sacrale, and left and right tubera coxae. Data were processed using published methods; angular motion range of motion (ROM; flexion-extension, axial rotation, lateral bending) and translational ROM (dorsoventral and lateral) and symmetry within each stride were assessed. The dorsoventral movement of the back exhibited a sinusoidal pattern with two oscillations per stride. Circles induced greater asymmetry in dorsoventral movement within each stride (mean ± standard deviation, up to 9 ± 6%) compared with straight lines (up to 6 ± 6%). The greatest amplitude of dorsoventral movement (119 ± 14 mm in straight lines vs. 126 ± 20 mm in circles) occurred at T13. Circles induced greater flexion-extension ROM (>1.3°; P = 0.002), lateral bending (>16°; P <0.001), and lateral motion (>16 mm; P = 0.002) compared with straight lines. Circles induced a movement pattern similar to an inside hindlimb lameness, which was significantly associated with the circle-induced greater asymmetry of dorsoventral movement of the thoracolumbar region (P = 0.03). Moving in a circle induces measurable changes in thoracolumbar movement compared with moving in straight lines, associated with alterations in the hindlimb gait.

Swimming with multiple propulsors: measurement and comparison of swimming gaits in three species of neotropical cichlids

Comparative studies of fish swimming have been limited by the lack of quantitative definitions of fish gaits. Traditionally, steady swimming gaits have been defined categorically by the fin or region of the body that is used as the main propulsor and named after major fish clades (e.g. carangiform, anguilliform, balistiform, labriform). This method of categorization is limited by lack of explicit measurements, the inability to incorporate contributions of multiple propulsors, and the inability to compare gaits across different categories. I propose an alternative framework for the definition and comparison of fish gaits based on the propulsive contribution of each structure (body and/or fin) being used as a propulsor relative to locomotor output, and demonstrate the effectiveness of this framework by comparing three species of neotropical cichlids with different body shapes. This approach is modular with respect to the number of propulsors considered, flexible with respect to the definition of the propulsive inputs and the locomotor output of interest, and designed explicitly to handle combinations of propulsors. Using this approach, gait can be defined as a trajectory through propulsive space, and gait-transitions can be defined as discontinuities in the gait trajectory. By measuring and defining gait in this way, patterns of clustering corresponding to existing categorical definitions of gait may emerge, and gaits can be rigorously compared across categories.

An online gait generator for quadruped walking using motor primitives

This article presents implementation of an online gait generator on a quadruped robot. Firstly, the design of a quadruped robot is presented. The robot contains four leg modules each of which is constructed by a 2 degrees of freedom (2-DOF) five-bar parallel linkage mechanism. Together with other two rotational DOF, the leg module is able to perform 4-DOF movement. The parallel mechanism of the robot allows all the servos attached on the body frame, so that the leg mass is decreased and motor load can be balanced. Secondly, an online gait generator based on dynamic movement primitives for the walking control is presented. Dynamic movement primitives provide an approach to generate periodic trajectories and they can be modulated in real time, which makes the online adjustment of walking gaits possible. This gait controller is tested by the quadruped robot in regulating walking speed, switching between forward\backward movements and steering. The controller is easy to apply, expand and is quite effective on phase coordination and online trajectory modulation. Results of simulated experiments are presented.

The private life of echidnas: using accelerometry and GPS to examine field biomechanics and assess the ecological impact of a widespread, semi-fossorial monotreme

The short-beaked echidna (Tachyglossus aculeatus) is a monotreme and therefore provides a unique combination of phylogenetic history, morphological differentiation and ecological specialisation for a mammal. The echidna has a unique appendicular skeleton, a highly specialised myrmecophagous lifestyle and a mode of locomotion that is neither typically mammalian nor reptilian, but has aspects of both lineages. We therefore were interested in the interactions of locomotor biomechanics, ecology and movements for wild, free-living short-beaked echidnas. To assess locomotion in its complex natural environment, we attached both GPS and accelerometer loggers to the back of echidnas in both spring and summer. We found that the locomotor biomechanics of echidnas is unique, with lower stride length and stride frequency than reported for similar-sized mammals. Speed modulation is primarily accomplished through changes in stride frequency, with a mean of 1.39 Hz and a maximum of 2.31 Hz. Daily activity period was linked to ambient air temperature, which restricted daytime activity during the hotter summer months. Echidnas had longer activity periods and longer digging bouts in spring compared with summer. In summer, echidnas had higher walking speeds than in spring, perhaps because of the shorter time suitable for activity. Echidnas spent, on average, 12% of their time digging, which indicates their potential to excavate up to 204 m3 of soil a year. This information highlights the important contribution towards ecosystem health, via bioturbation, of this widespread Australian monotreme.

Optimal Gait Selection for Nonholonomic Locomotion Systems

This paper addresses the optimal control and selection of gaits in a class of nonholonomic locomotion systems that exhibit group symmetries. We study optimal gaits for the snakeboard, a representative example of this class of systems. We employ Lagrangian reduction techniques to simplify the optimal control problem and describe a general framework and an algorithm to obtain numerical solutions to this problem. This work employs optimal control techniques to study the optimality of gaits and issues involving gait transitions. The general framework provided in this paper can easily be applied to other examples of biological and robotic locomotion.

Running With Symmetry

Symmetry can simplify the control of dynamic legged sys tems. In this paper, the symmetries studied describe motion of the body and legs in terms of even and odd functions of time. A single set of equations describes symmetric running for systems with any number of legs and for a wide range of gaits. Techniques based on symmetry have been used in laboratory experiments to control machines that run on one, two, and four legs. In addition to simplifying the control of legged machines, symmetry may help us to understand legged locomotion in animals. Data from a cat trotting and galloping on a treadmill and from a human running on a track conform reasonably well to the predicted symmetries.

The PVT, an Elastic Conservative Transmission

This paper presents an innovative transmission called the passively variable transmission (PVT) that has a high torque ratio for large loads and a low velocity ratio for small loads. The change in these ratios depends passively on the load, in contrast to the continuous variable transmission (CVT), where the transmission ratio is controlled explicitly. Another difference from the CVT is that the PVT is elastic and the term transmission ratio is therefore not applicable. A theory section formulates alternative ways of describing the torque and velocity relations for elastic conservative transmisions as well as other important properties.

This theory is used to analyze and illustrate the characteristics of a PVT. The theory is also used to compare the PVT with another novel elastic conservative transmission, called load sensitive CVT.

The nonlinearities and elasticity of the PVT make it difficult to control using linear control theory. Feedback linearization was therefore used to design a torque controller, and experimental results show low impedance at small loads. Further, the controller tracks a reference torque well as long as the reference rate does not cause motor saturation. The abilities of the PVT are also illustrated by comparing it with an actuator having a traditional transmission. The load case is recorded joint torques and angles from the carpus joint of a walking horse. Simulation show that the required peak power is reduced by more than 20% and the product of the maximum torque and the maximum angular velocity is reduced by approximately 30%.

On-Line Stability Margin and Attitude Estimation for Dynamic Articulating Mobile Robots

Stability is an important concern for vehicles which move heavy loads, accelerate or brake aggressively, turn at speed, or operate on sloped terrain. In many cases, vehicles face more than one of these challenges simultaneously. Some are obliged to execute these maneuvers when their high centers of gravity leave them particularly vulnerable to tipover or rollover. A methodology is presented to estimate proximity to tipover for autonomous field robots that must be productive, effective, and self-reliant under such challenging circumstances. While the physical principles governing the computation of stability margin have been known for some time, the realization of these principles in practice raises issues which are at once similar to those of attitude estimation while contrasting heavily with inertial guidance. The problem of stability margin estimation is posed in the fairly general case of accelerated articulating motion over rough terrain. Compatibility with and distinctions from attitude estimation lead to a proposed integrated solution to both problems based on the fusion of inertial, articulation, and terrain relative velocity sensing in an optimal estimation framework. An implementation of a device targeted to an industrial lift truck is presented.

An exploration of the influence of diagonal dissociation and moderate changes in speed on locomotor parameters in trotting horses

Background. Although the trot is described as a diagonal gait, contacts of the diagonal pairs of hooves are not usually perfectly synchronized. Although subtle, the timing dissociation between contacts of each diagonal pair could have consequences on gait dynamics and provide insight into the functional strategies employed. This study explores the mechanical effects of different diagonal dissociation patterns when speed was matched between individuals and how these effects link to moderate, natural changes in trotting speed. We anticipate that hind-first diagonal dissociation at contact increases with speed, diagonal dissociation at contact can reduce collision-based energy losses and predominant dissociation patterns will be evident within individuals. Methods. The study was performed in two parts: in the first 17 horses performed speed-matched trotting trials and in the second, five horses each performed 10 trotting trials that represented a range of individually preferred speeds. Standard motion capture provided kinematic data that were synchronized with ground reaction force (GRF) data from a series of force plates. The data were analyzed further to determine temporal, speed, GRF, postural, mass distribution, moment, and collision dynamics parameters. Results. Fore-first, synchronous, and hind-first dissociations were found in horses trotting at (3.3 m/s ± 10%). In these speed-matched trials, mean centre of pressure (COP) cranio-caudal location differed significantly between the three dissociation categories. The COP moved systematically and significantly (P = .001) from being more caudally located in hind-first dissociation (mean location = 0.41 ± 0.04) through synchronous (0.36 ± 0.02) to a more cranial location in fore-first dissociation (0.32 ± 0.02). Dissociation patterns were found to influence function, posture, and balance parameters. Over a moderate speed range, peak vertical forelimb GRF had a strong relationship with dissociation time (R = .594; P < .01) and speed (R = .789; P < .01), but peak vertical hindlimb GRF did not have a significant relationship with dissociation time (R = .085; P > 0.05) or speed (R = .223; P = .023). Discussion. The results indicate that at moderate speeds individual horses use dissociation patterns that allow them to maintain trunk pitch stability through management of the cranio-caudal location of the COP. During the hoof-ground collisions, reduced mechanical energy losses were found in hind-first dissociations compared to fully synchronous contacts. As speed increased, only forelimb vertical peak force increased so dissociations tended towards hind-first, which shifted the net COP caudally and balanced trunk pitching moments.

Selecting gaits for economical locomotion of legged robots

This paper explores the benefits of using multiple gaits in a single robot. Inspired by nature, where humans and animals use different gaits to increase their energetic economy, we analyzed how increasing speed affects the choice of gait, and how the choice of gait influences optimal speed. To this end, we used optimal control as a tool to identify motions that minimize the cost of transport of two detailed models: a planar biped and a planar quadruped. Both of these models are actuated with high compliance series elastic actuators that enable a rich set of natural dynamics. These models have damping in their springs, feet with mass, and realistic limitations on actuator torques and velocities. They therefore serve as an intermediary between past simpler models and hardware. We discovered optimal motions with an established multiple shooting implementation that relies on pre-defined contact sequences, and with a direct collocation implementation in which the footfall pattern was an outcome of the optimization. Both algorithms confirmed findings from biology. For both models, changing gaits as speed varies leads to greatly increased energetic economy. For bipeds, the optimal gaits were walking at low speeds, grounded running at intermediate speeds, and running at high speeds. For quadrupeds, the optimal gaits were four-beat walking at low speeds and trotting at intermediate speeds. At high speeds, galloping and trotting were the best gaits, with nearly equal performance. We found that the transition between gaits was primarily driven by damping losses and negative actuator work, with collisions playing a relatively small role.

Phase coordination and phase-velocity relationship in metameric robot locomotion

This research proposes a new approach for the control of metameric robot locomotion via phase coordination. Unlike previous studies where global wave-like rules were pre-specified to construct the actuation sequence of segments, this phase coordination method generates robot locomotion by assigning the actuation phase differences between adjacent segments without any global prerequisite rules. To effectively coordinate the phase differences, different symmetry properties are introduced. Optimization is then carried out on various symmetrically coordinated phase-difference patterns to maximize the average steady-state velocity of the robot. It is shown that the maximum average velocity is always achieved when the reflectional symmetry is included in the phase-difference pattern, and the identical-phase-difference (IPD) pattern is preferred for implementation because it reduces the number of independent phase variables to only one without significant loss in locomotion performance. Extensive analytical investigations on the IPD pattern reveal the relationship between the average locomotion velocity and some important parameters. Theoretical findings on the relationship between the average velocity and the phase difference in the IPD pattern are verified via experimental investigations on an 8-segment earthworm-like metameric robot prototype. Finally, this paper reveals an interesting result that the optimized phase-difference pattern can naturally generate peristalsis waves in metameric robot locomotion without global prerequisite wave-like rules.

A comparison of the physiological response to tölt and trot in the Icelandic horse

This study compared the effect of ridden tölt and trot at 3 speeds on physiological responses in trained adult (15.3 ± 1.6 yr) Icelandic horses. The experiment had a crossover design with 8 horses, 2 treatments (incremental exercise test in tölt and trot), and 2 riders. Each horse performed 2 tests per day (1 gait with 2 riders, minimum 4.5 h between) on 2 separate days, with 1 d of rest in between. The exercise test consisted of three 642-m phases at 3.0 m/s (Speed), 4.0 m/s (Speed), and 5.0 m/s (Speed) and was performed outdoors on a 300-m oval gravel riding track in northern Iceland in May 2012. Heart rate (HR) was measured during warm-up, the exercise test, and after 5, 15, and 30 min of recovery. Blood samples were taken at rest, after warm-up, after each phase of the exercise test, and after 5, 15, and 30 min of recovery. Respiratory rate was counted for at least 15 s at rest, at the end of the exercise test, and at the end of the 30-min recovery, and rectal temperature was measured on these occasions. There were no differences in HR between tölt and trot at any time point ( > 0.05). At Speed, hematocrit and plasma lactate concentration were greater ( < 0.05) in tölt (40% ± 1%, 1.1 ± 0.06 mmol/L) than in trot (39% ± 1%; 0.9 ± 0.06 mmol/L). There was a prolonged recovery of hematocrit and respiratory rate, a slower decrease in rectal temperature, and a tendency of a prolonged recovery of plasma lactate concentration ( = 0.0675) after tölt. In conclusion, there were only minor differences in physiological responses to tölt and trot in this selected group of experienced adult Icelandic horses and the biological and practical significance of the slightly elevated physiological responses to tölt and the slower recovery remains to be determined.

Mixed gaits in small avian terrestrial locomotion

Scientists have historically categorized gaits discretely (e.g. regular gaits such as walking, running). However, previous results suggest that animals such as birds might mix or regularly or stochastically switch between gaits while maintaining a steady locomotor speed. Here, we combined a novel and completely automated large-scale study (over one million frames) on motions of the center of mass in several bird species (quail, oystercatcher, northern lapwing, pigeon, and avocet) with numerical simulations. The birds studied do not strictly prefer walking mechanics at lower speeds or running mechanics at higher speeds. Moreover, our results clearly display that the birds in our study employ mixed gaits (such as one step walking followed by one step using running mechanics) more often than walking and, surprisingly, maybe as often as grounded running. Using a bio-inspired model based on parameters obtained from real quails, we found two types of stable mixed gaits. In the first, both legs exhibit different gait mechanics, whereas in the second, legs gradually alternate from one gait mechanics into the other. Interestingly, mixed gaits parameters mostly overlap those of grounded running. Thus, perturbations or changes in the state induce a switch from grounded running to mixed gaits or vice versa.

A novel biomechanical analysis of gait changes in the MPTP mouse model of Parkinson's disease

Parkinson's disease (PD) is an age-associated neurodegenerative disorder hallmarked by a loss of mesencephalic dopaminergic neurons. Accurate recapitulation of the PD movement phenotype in animal models of the disease is critical for understanding disease etiology and developing novel therapeutic treatments. However, most existing behavioral assays currently applied to such animal models fail to adequately detect and subsequently quantify the subtle changes associated with the progressive stages of PD. In this study, we used a video-based analysis system to develop and validate a novel protocol for tracking locomotor performance in the 1-methyl-4-phenyl-1,2,3,6-tetrahydropyridine (MPTP) mouse model of PD. We anticipated that (1) treated mice should use slower, shorter, and less frequent strides and (2) that gait deficits should monotonically increase following MPTP administration, as the effects of neurodegeneration become manifest. Video-based biomechanical analyses, utilizing behavioral measures motivated by the comparative biomechanics literature, were used to quantify gait dynamics over a seven-day period following MPTP treatment. Analyses revealed shuffling behaviors consistent with the gait symptoms of advanced PD in humans. Here we also document dramatic gender-based differences in locomotor performance during the progression of the MPTP-induced lesion, despite male and female mice showing similar losses of striatal dopaminergic cells following MPTP administration. Whereas female mice appeared to be protected against gait deficits, males showed multiple changes in gait kinematics, consistent with the loss of locomotor agility and stability. Overall, these data show that the novel video analysis protocol presented here is a robust method capable of detecting subtle changes in gait biomechanics in a mouse model of PD. Our findings indicate that this method is a useful means by which to easily and economically screen preclinical therapeutic compounds for protecting against or reversing neuropathology associated with PD neurodegeneration.

Quantification of gait parameters in freely walking rodents

Background

Qualitative and quantitative measurements of motor performance are essential for characterizing perturbations of motor systems. Although several methods exist for analyzing specific motor tasks, few behavioral assays are readily available to researchers that provide a complete set of kinematic parameters in rodents.

Results

Here we present MouseWalker, an integrated hardware and software system that provides a comprehensive and quantitative description of kinematic features in freely walking rodents. Footprints are visualized with high spatial and temporal resolution by a non-invasive optical touch sensor coupled to high-speed imaging. A freely available and open-source software package tracks footprints and body features to generate a comprehensive description of many locomotion features, including static parameters such as footprint position and stance patterns and dynamic parameters, such as step and swing cycle duration, and inter-leg coordination. Using this method, we describe walking by wild-type mice including several previously undescribed parameters. For example, we demonstrate that footprint touchdown occurs instantaneously by the entire paw with no obvious rostral–caudal or lateral–medial bias.

Conclusions

The readily available MouseWalker system and the large set of readouts it generates greatly increases the currently available toolkit for the analysis of wild type and aberrant locomotion in rodents.

Electronic supplementary material

The online version of this article (doi:10.1186/s12915-015-0154-0) contains supplementary material, which is available to authorized users.

Identification of mouse gaits using a novel force-sensing exercise wheel

The gaits that animals use can provide information on neurological and musculoskeletal disorders, as well as the biomechanics of locomotion. Mice are a common research model in many fields; however, there is no consensus in the literature on how (and if) mouse gaits vary with speed. One of the challenges in studying mouse gaits is that mice tend to run intermittently on treadmills or overground; this paper attempts to overcome this issue with a novel exercise wheel that measures vertical ground reaction forces. Unlike previous instrumented wheels, this wheel is able to measure forces continuously and can therefore record data from consecutive strides. By concatenating the maximum limb force at each time point, a force trace can be constructed to quantify and identify gaits. The wheel was three dimensionally printed, allowing the design to be shared with other researchers. The kinematic parameters measured by the wheel were evaluated using high-speed video. Gaits were classified using a metric called "3S" (stride signal symmetry), which quantifies the half wave symmetry of the force trace peaks. Although mice are capable of using both symmetric and asymmetric gaits throughout their speed range, the continuum of gaits can be divided into regions based on the frequency of symmetric and asymmetric gaits; these divisions are further supported by the fact that mice run less frequently at speeds near the boundaries between regions. The boundary speeds correspond to gait transition speeds predicted by the hypothesis that mice move in a dynamically similar fashion to other legged animals.