Obstacle avoidance during locomotion using haptic information in normally sighted humans

Dynamic stability evaluation of trunk accelerations during walking in blind and sighted individuals

BACKGROUND

Dynamic stability is a fundamental goal in standing activities. In this regard, monitoring, analysis, and interventions made to improve stability is a research topic investigated in the biomechanics of human movements. Vision has a major role to play in controlling human movement. Nonetheless, little is known about the effects of visual deprivation, especially from birth on dynamic gait stability.

METHODS

The current study was conducted on 20 congenital blind and 10 sighted people (15-38 years). To evaluate the dynamic stability, descriptive data, harmonic ratio (HR), improved harmonic ratio (iHR), and root mean square (RMS), based on trunk acceleration data were measured in three axes: anteroposterior (AP), vertical (V), and mediolateral (ML) while participants walked an eight-meter straight path.

RESULTS

In the comparison of blind and sighted people (eyes open), standard deviation, HR, iHR, and RMS indices were found to be significantly different in both AP and V directions. All the mentioned parameters were significantly lower in blind than in sighted participants. In the comparison of blind people and sighted ones with closed eyes, changes were observed in the maximum, range, standard deviation, and RMS only in the AP axis. In the comparison between eyes open and closed in sighted people, a significant difference was found only in the harmonic ratio of the vertical axis.

CONCLUSION

Visual deprivation led to a decrease in dynamic stability parameters in the AP and V axes. Even the movement of sighted people in unchallenged conditions is dependent on visual information.

Increased Metabolic Demand During Outside Walking in Darkness With No Vision or With Visual Aid

INTRODUCTION

For tactical reasons, the foot-borne soldiers sometimes undertake nighttime operations. However, the metabolic demand during walking in complete darkness may be markedly increased. The purpose of this study was to investigate if metabolic demand and kinematics would change while walking on a gravel road and a slightly hilly trail in darkness with or without visual aid.

MATERIALS AND METHODS

Fourteen cadets (11 men and 3 women, age: 25 ± 7 years, height: 178 ± 8 cm, and weight: 78 ± 13 kg) walked at 4 km/h on a straight gravel road and on a slightly hilly forest trail (n = 9). Both trials were performed at nighttime under four different conditions, wearing a headlamp (Light), blindfold (Dark), monocular (Mono), or binocular (Bino) night vision goggles. During the 10-minute walks, oxygen uptake, heart rate, and kinematic data were assessed. Ratings of perceived exertion, discomfort, and mental stress were evaluated after each condition using a category ratio scale. Physiologic and kinematic variables were evaluated using repeated-measures analysis of variance, whereas ratings were evaluated using non-parametric Friedman analysis of variance.

RESULTS

Oxygen uptake was higher in all three conditions with no or limited vision (Dark, Mono, and Bino) than in the Light condition (P ≤ 0.02) when walking on both the gravel road (+5-8%) and the forest trail (+6-14%). Heart rate was higher during the Dark than during the Light condition when walking on the forest trail, whereas there was no difference between conditions on the gravel road. During both trials, gait frequency was higher during the Dark than during the Light, Mono, and Bino conditions. Ratings were generally low during all conditions.

CONCLUSIONS

Walking on a gravel road or a forest trail wearing a blindfold or visual aid increased the metabolic demand. Thus, it appears that the metabolic demand is higher during overground walking with night vision goggles than with full vision, which may influence the performance of nighttime operations.

Novel use of robot-assisted gait rehabilitation in a patient with stroke and blindness

Robot-assisted gait training (RAGT) is an effective adjunctive treatment for patients with stroke that helps to regain functional mobility and is applied in many rehabilitation units for poststroke neurorecovery. We discuss our successful attempt to apply RAGT in a patient with blindness that impeded his ability to maintain balance during gait training. He initially required two assistants to walk, but after undergoing conventional therapy with adjunctive RAGT, he improved to standby assistance for ambulation. There were also improvements in balance, activity tolerance and quality of life. Low-or-no vision states can affect the pace of recovery poststroke, but RAGT and conventional physiotherapy can possibly be combined in such patients to improve balance and motor outcomes. The Andago robot's safety features of weight support, harnessed suspension and walking mode selection supported our decision and enabled us to apply it safely for this patient.

Immersive Technology for Cognitive-Motor Training in Parkinson’s Disease

Background: Parkinson’s disease (PD) is a neurodegenerative disease in which the progressive loss of dopaminergic neurons (DA) leads to initially sporadic and eventually widespread damage of the nervous system resulting in significant musculoskeletal and cognitive deterioration. Loss of motor function alongside increasing cognitive impairment is part of the natural disease progression. Gait is often considered an automatic activity; however, walking is the result of a delicate balance of multiple systems which maintain the body’s center of mass over an ever-changing base of support. It is a complex motor behavior that requires components of attention and memory to prevent falls and injury. In addition, evidence points to the critical role of salient visual information to gait adaptability. There is a growing understanding that treatment for PD needs to address movement as it occurs naturally and walking needs to be practiced in more complex environments than traditional therapy has provided.

Comparison of forward versus backward walking on spatiotemporal and kinematic parameters on sand: A preliminary study

The purpose of this study was to investigate the spatiotemporal and kinematic parameters of backward walking (BW) and forward walking (FW) on sand. Randomly selected subjects (n = 28) were categorized into a sand group (SG, n = 14) and an overground group (OG, n = 14). SG was directed to perform both FW and BW on sand, while OG performed the same on the overground. Spatiotemporal and kinematic parameters were measured using the LegSys + device. The comparative findings of both the groups showed that the spatiotemporal parameters of SG varied significantly from those of OG in both FW and BW conditions (p < 0.05). The kinematic parameters varied significantly between the two groups only in the FW condition (p < 0.05). When compared within each group, spatiotemporal and kinematic parameters in the BW condition were significantly different from those in the FW condition. However, the percentages of stance, swing, and double support were not significantly different between FW and BW conditions (p > 0.05). This study suggests that sand walking is associated with a different gait pattern than overground walking, as evident from the analysis of the results of spatiotemporal and kinematic parameters in both FW and BW conditions. Therefore, sand walking can be used as a new approach to gait and balance training in clinical practice.

The relationship between the anteroposterior and mediolateral margins of stability in able-bodied human walking

BACKGROUND

Control of dynamic balance in human walking is essential to remain stable and can be parameterized by the margins of stability. While frontal and sagittal plane margins of stability are often studied in parallel, they may covary, where increased stability in one plane could lead to decreased stability in the other. Hypothetically, this negative covariation may lead to critically low lateral stability during step lengthening.

RESEARCH QUESTION

Is there a relationship between frontal and sagittal plane margins of stability in able-bodied humans, during normal walking and imposed step lengthening?

METHODS

Fifteen able-bodied adults walked on an instrumented treadmill in a normal walking and a step lengthening condition. During step lengthening, stepping targets were projected onto the treadmill in front of the participant to impose longer step lengths. Covariation between frontal and sagittal plane margins of stability was assessed with linear mixed-effects models for normal walking and step lengthening separately.

RESULTS

We found a negative covariation between frontal and sagittal plane margins of stability during normal walking, but not during step lengthening.

SIGNIFICANCE

These results indicate that while a decrease in anterior instability may lead to a decrease in lateral stability during normal walking, able-bodied humans can prevent lateral instability due to this covariation in critical situations, such as step lengthening. These findings improve our understanding of adaptive dynamic balance control during walking in able-bodied humans and may be utilized in further research on gait stability in pathological and aging populations.

Visuomotor control of leaping over a raised obstacle is sensitive to small baseline displacements

The limb kinematics used for stepping or leaping over an obstacle are determined primarily by visual sensing of obstacle position and geometry. In this study, we demonstrate that changes are induced in limb kinematics even when obstacle geometry is manipulated in a way that does not introduce a mechanical requirement for a change of limb trajectory nor increase risk of collision. Human participants performed a running leap over a single raised obstacle bar. Kinematic changes were measured when an identical second bar was introduced at a ground level underneath the obstacle and displaced by a functionally insignificant distance along the axis of travel. The presence or absence of a baseline directly beneath the highest extremity had no significant effect on limb kinematics. However, displacing the baseline horizontally induced a horizontal translation of limb trajectory in the direction of the displacement. These results show that systematic changes to limb trajectories can occur in the absence of a change in sensed mechanical constraints or optimization. The nature of visuomotor control of human leaping may involve a continuous mapping of sensory input to kinematic output rather than one responsive only to information perceived to be mechanically relevant.

Comparisons of Spatiotemporal and Ground Reaction Force Components of Gait Between Individuals with Congenital Vision Loss and Sighted Individuals

Introduction:

The understanding of abnormalities in biomechanical parameters of gait in individuals with vision loss (i.e., blindness or low vision) has clinical importance. The aims of this study were to compare the spatiotemporal and ground reaction force variables of sighted individuals with those with vision loss.

Methods:

Ten sighted males and 10 young males with congenital vision loss were recruited. A Vicon motion analysis system with four cameras and two Kistler force plates was used to quantify spatiotemporal and ground reaction force components of both groups during walking without shoes. Sighted individuals walked in eyes-open and eyes-closed conditions.

Results:

Results showed that the stride and step length, walking speed, the vertical and posterior–anterior reaction forces in heel contact and push-off phase, and the impulse of the control group during walking with the open- and closed-eyes conditions were significantly smaller than those in persons with vision loss ( p < .05).

Discussion:

Vision loss is associated with decreased step and stride length, slower walking, and smaller propulsive reaction force. These kinematic and kinetics alterations suggest an adaptation to a new neuromuscular response for dynamic postural control as a result of lack of vision. These alterations in the long term may result in rigidity and muscle weakness.

Implications for practitioners:

A rehabilitation program to enhance mobility and strength is suggested for individuals with vision loss.

Biomechanics of Long Cane Use

Introduction

The modern long cane has been used by people who are blind for traveling for decades. This article describes parameters surrounding the collection of over 10,000 trials of people walking with the long cane to detect drop-offs or obstacles.

Methods

The data include 10,069 trials representing 101 different participants in 366 conditions over 11 studies spanning the 9 years from 2007 to 2016. Each of the studies investigated different participant or cane characteristics or both in terms of their effect on either drop-off or obstacle detection. Results of detection performance in these studies appear in other articles. This article describes biomechanical measures derived from 3-D motion analysis equipment used during the studies.

Results

Initial treatment of the large data set indicated that participants tended to not center their cane arc laterally on their body, deviating up to about 20 centimeters from midline. Arc widths averaged almost a meter, and arcs were generally centered. Participants were generally poor at being in step or having consistent rhythm. Coverage rates averaged about 85%.

Discussion

Although participants might have demonstrated artificially high skill performance due to being in a research study, data do offer insights into mechanical performance of skills. This survey of the data set indicates that not centering the hand holding the cane does not decrease body coverage less than about 85%. However, further analyses will be conducted to delve more deeply into all aspects of the data.

Implications for practitioners

Basic cane skills can be taught with short sessions and massed practice. Novices can acquire basic cane skills on par with cane users who are blind, but individual differences exist and the interplay of biomechanical variables needs to more fully understood.

Walking with perturbations: a guide for biped humans and robots

This paper provides an update on the neural control of bipedal walking in relation to bioinspired models and robots. It is argued that most current models or robots are based on the construct of a symmetrical central pattern generator (CPG). However, new evidence suggests that CPG functioning is basically asymmetrical with its flexor half linked more tightly to the rhythm generator. The stability of bipedal gait, which is an important problem for robots and biological systems, is also addressed. While it is not possible to determine how biological biped systems guarantee stability, robot solutions can be useful to propose new hypotheses for biology. In the second part of this review, the focus is on gait perturbations, which is an important topic in robotics in view of the frequent falls of robots when faced with perturbations. From the human physiology it is known that the initial reaction often consists of a brief interruption followed by an adequate response. For instance, the successful recovery from a trip is achieved using some basic reactions (termed elevating and lowering strategies), that depend on the phase of the step cycle of the trip occurrence. Reactions to stepping unexpectedly in a hole depend on comparing expected and real feedback. Implementation of these ideas in models and robotics starts to emerge, with the most advanced robots being able to learn how to fall safely and how to deal with complicated disturbances such as provided by walking on a split-belt.

Gait adaptability

Our activities of daily living inherently involve interacting with the physical environment. This interaction involves both reactive (feedback) and proactive (feedforward) gait adaptations. Reactive adaptations involve responses to mechanical perturbations and occur, for instance, when we stumble over a doorstep or slip on an icy spot on the pavement. Examples of proactive adaptations in response to visual stimuli include stepping over an obstacle, targeting precise foot placements when walking on rough terrain, stepping up to the pavement, or making a turn for going around a corner. These adaptations have to be implemented in our steady-state gait pattern, thus posing a challenge to center-of-mass control and maintenance of forward progression. Yet, despite the apparent complexity of adaptive bipedal walking, we commonly do this with remarkable ease. This chapter will provide a comprehensive overview of the behavioral strategies and control mechanisms that we apply for executing these common, yet complex, gait adaptations. In addition, how we use visual information for guiding proactive gait adaptations and path selection will be discussed. Finally, cognitive involvement during gait adaptations will also be addressed.

The effects of haptic input on biomechanical and neurophysiological parameters of walking: A scoping review

Walking is an important component of daily life requiring sensorimotor integration to be successful. Adding haptic input via light touch or anchors has been shown to improve standing balance; however, the effect of adding haptic input on walking is not clear. This scoping review systematically summarizes the current evidence regarding the addition of haptic input on walking in adults. Following an established protocol, relevant studies were identified using indexed data bases (Medline, EMBASE, PsychINFO, Google Scholar) and hand searches of published review articles on related topics. 644 references were identified and screened by a minimum of two independent researchers before data was extracted from 17 studies. A modified TREND tool was used to assess quality of the references which showed that the majority of studies were of moderate or high quality. Results show that adding haptic input changes walking behaviour. In particular, there is an immediate reduction in variability of gait step parameters and whole body stability, as well as a decrease in lower limb muscle activity. The effect of added haptic input on reflex modulation may depend on the limb of interest (i.e., upper or lower limb). Many studies did not clearly describe the amount and/or direction of haptic input applied. This information is needed to replicate and/or advance their results. More investigations into the use and design of the haptic tools, the attentional demands of adding haptic input, and clarity on short-term effects are needed. In addition, more is research needed to determine whether adding haptic input has significant, lasting benefits that may translate to fall prevention efforts.

The effects of object height and visual information on the control of obstacle crossing during locomotion in healthy older adults

In order to safely avoid obstacles, humans must rely on visual information regarding the position and shape of the object obtained in advance. The present study aimed to reveal the duration of obstacle visibility necessary for appropriate visuomotor control during obstacle avoidance in healthy older adults. Participants included 13 healthy young women (mean age: 21.5±1.4years) and 15 healthy older women (mean age: 68.5±3.5years) who were instructed to cross over an obstacle along a pressure-sensitive pathway at a self-selected pace while wearing liquid crystal shutter goggles. Participants were evaluated during three visual occlusion conditions: (i) full visibility, (ii) occlusion at T-1 step (T: time of obstacle crossing), and (iii) occlusion at T-2 steps. Toe clearances of both the lead and trail limb (LTC and TTC) were calculated. LTC in the occlusion at T-2 steps condition was significantly greater than that in other conditions. Furthermore, a significant correlation was observed between LTC and TTC in both groups, regardless of the condition or obstacle height. In the older adult group alone, step width in the occlusion at T-2 steps condition increased relative to that in full visibility conditions. The results of the present study suggest that there is no difference in the characteristics of visuomotor control for appropriate obstacle crossing based on age. However, older adults may exhibit increased dependence on visual information for postural stability; they may also need an increased step width when lacking information regarding their positional relationship to obstacles.

Effects of visual deprivation on stability among young and older adults during treadmill walking

The purposes of this study were 1) to investigate the effect of visual deprivation on stability during treadmill walking in older and young adults, and 2) to examine if such an effect differs between age groups. Under the protection of a safety harness, 10 young (23.20±2.44years) and six older adults (67.83±2.48years) participants performed two 90-s walking trials (one with eyes open or EO and the other with eyes closed or EC) at their self-selected treadmill walking speeds determined during EO walking. The step length, step width, foot landing angle, the duration of stance phase, and cadence were calculated from the foot kinematics collected for each participant. The variability (i.e., the standard deviation) of step length, step width, foot landing angle, and the duration of stance phase was also calculated to quantify the stability during walking. Our results revealed that both young and older adults took a cautious gait pattern during EC walking, as evidenced by the shorter step length, smaller foot landing angle and shortened stance phase compared to EO walking. Under both visual conditions, older adults exhibited shorter step length and smaller foot landing angle than their young counterparts. No age-related differences were observed for the measurements of variability (i.e., the quantification of stability) while the variability measurement of all four variables was higher during EC walking than during EO walking for both age groups. Findings from this study could provide insights into the mechanisms of how visual information affects stability during gait.

Is lower peripheral information weighted differently as a function of step number during step climbing?

The importance of peripheral visual information during stair climbing and how peripheral visual information is weighted as a function of step number during step climbing is unclear. Previous authors postulated that the knowledge of predictable characteristics of the steps may decrease reliance on foveal vision and transfer the online visual guidance of stair climbing to peripheral vision. Hence the aim of this study was to investigate if and how the occlusion of the lower peripheral visual field influenced stair climbing and if peripheral visual information was weighted differently between steps. Ten young adult male participants ascended a 5-step staircase under 2 visual conditions: full vision (FV) and lower visual occlusion (LO). Kinematic data (100Hz) were collected. The effect of Vision and Step condition on vertical forefoot clearance was examined with a Repeated Measures 2-way ANOVA. Tukey's HSD test was used for post-hoc comparisons. A significant interaction Vision x Step and main effect of Step were found (p<=0.04): vertical forefoot clearance was greater in LO compared to FV condition only on the 1st and the 2nd steps (p<0.013) and on the last step compared to the other steps (p<0.01). These findings suggest that online peripheral visual information is more relevant when negotiating the first two steps, rather than the end of a staircase and that the steps subsequent the first few ones may require different information likely based on proprioception or working memory of the step height.

Obstacle Crossing Differences Between Blind and Blindfolded Subjects After Haptic Exploration

Little is known about the ability of blind people to cross obstacles after they have explored haptically their size and position. Long-term absence of vision may affect spatial cognition in the blind while their extensive experience with the use of haptic information for guidance may lead to compensation strategies. Seven blind and 7 sighted participants (with vision available and blindfolded) walked along a flat pathway and crossed an obstacle after a haptic exploration. Blind and blindfolded subjects used different strategies to cross the obstacle. After the first 20 trials the blindfolded subjects reduced the distance between the foot and the obstacle at the toe-off instant, while the blind behaved as the subjects with full vision. Blind and blindfolded participants showed larger foot clearance than participants with vision. At foot landing the hip was more behind the foot in the blindfolded condition, while there were no differences between the blind and the vision conditions. For several parameters of the obstacle crossing task, blind people were more similar to subjects with full vision indicating that the blind subjects were able to compensate for the lack of vision.

The influence of monocular vision on the plantar pressure distribution

BACKGROUND

Although the influence of monocular vision to upper limb biomechanics has been well documented, data about lower extremity biomechanics are limited. The objective of the present study was to demonstrate pedobarographic differences between both feet of the individuals with monocular vision in static and dynamic conditions.

METHODS

Pedobarographic analysis of twenty-four participants with monocular vision was performed. Relative static pressure load (%) and dynamic peak plantar pressure (N/cm(2)), force (N) distributions and contact area percentages (%) were recorded under both low vision and normal vision side foot.

FINDINGS

The results showed that relative static pressure loads did not differ between low vision and normal vision foot. Under midfoot of low vision side, a significant increment was found in peak plantar pressures (2.42 (SD 1.09) N/cm(2)) and forces (136.77 (SD 64.96) N) compared to normal vision side foot (1.87 (SD 0.96) N/cm(2); 106.94 (SD 65.03) N). No difference in contact area percentages was detected.

INTERPRETATION

These results indicate that there are differences in plantar pressure measurements between feet of individuals with monocular vision. These pedobarographic differences reported here appear to support the assumption that individuals with monocular vision have adaptive gait strategies such as, decreased walking speed, limited ankle motion and postural compensations.

Freezing of Gait in Parkinson's Disease: An Overload Problem?

Freezing of gait (FOG) is arguably the most severe symptom associated with Parkinson's disease (PD), and often occurs while performing dual tasks or approaching narrowed and cluttered spaces. While it is well known that visual cues alleviate FOG, it is not clear if this effect may be the result of cognitive or sensorimotor mechanisms. Nevertheless, the role of vision may be a critical link that might allow us to disentangle this question. Gaze behaviour has yet to be carefully investigated while freezers approach narrow spaces, thus the overall objective of this study was to explore the interaction between cognitive and sensory-perceptual influences on FOG. In experiment #1, if cognitive load is the underlying factor leading to FOG, then one might expect that a dual-task would elicit FOG episodes even in the presence of visual cues, since the load on attention would interfere with utilization of visual cues. Alternatively, if visual cues alleviate gait despite performance of a dual-task, then it may be more probable that sensory mechanisms are at play. In compliment to this, the aim of experiment#2 was to further challenge the sensory systems, by removing vision of the lower-limbs and thereby forcing participants to rely on other forms of sensory feedback rather than vision while walking toward the narrow space. Spatiotemporal aspects of gait, percentage of gaze fixation frequency and duration, as well as skin conductance levels were measured in freezers and non-freezers across both experiments. Results from experiment#1 indicated that although freezers and non-freezers both walked with worse gait while performing the dual-task, in freezers, gait was relieved by visual cues regardless of whether the cognitive demands of the dual-task were present. At baseline and while dual-tasking, freezers demonstrated a gaze behaviour that neglected the doorway and instead focused primarily on the pathway, a strategy that non-freezers adopted only when performing the dual-task. Interestingly, with the combination of visual cues and dual-task, freezers increased the frequency and duration of fixations toward the doorway, compared to non-freezers. These results suggest that although increasing demand on attention does significantly deteriorate gait in freezers, an increase in cognitive demand is not exclusively responsible for freezing (since visual cues were able to overcome any interference elicited by the dual-task). When vision of the lower limbs was removed in experiment#2, only the freezers' gait was affected. However, when visual cues were present, freezers' gait improved regardless of the dual-task. This gait behaviour was accompanied by greater amount of time spent looking at the visual cues irrespective of the dual-task. Since removing vision of the lower-limbs hindered gait even under low attentional demand, restricted sensory feedback may be an important factor to the mechanisms underlying FOG.

Development of independent locomotion in children with a severe visual impairment

Locomotion of children and adults with a visual impairment (ages 1-44, n = 28) was compared to that of age-related individuals with normal vision (n = 60). Participants walked barefoot at preferred speed while their gait was recorded by a Vicon(®) system. Walking speed, heading angle, step frequency, stride length, step width, stance phase duration and double support time were determined. Differences between groups, relationships with age and possible interaction effects were investigated. With increasing age overall improvements in gait parameters are observed. Differences between groups were a slower walking speed, a shorter stride length, a prolonged duration of stance and of double support in the individuals with a visual impairment. These may be considered either as adaptations to balance problems or as strategies to allow to foot to probe the ground.

Low vision affects dynamic stability of gait

The objective of this study was to demonstrate specific differences in gait patterns between those with and without a visual impairment. We performed a biomechanical analysis of the gait pattern of young adults (27 ± 13 years old) with a visual impairment (n=10) in an uncluttered environment and compared it to the gait pattern of age matched controls (n=20). Normally sighted adults were tested in a full vision and no vision condition. Differences are found in gait between both groups and both situations. Adults with a visual impairment walked with a shorter stride length (1.14 ± 0.21m), less trunk flexion (4.55 ± 5.14°) and an earlier plantar foot contact at heel strike (1.83 ± 3.49°) than sighted individuals (1.39 ± 0.08 m; 11.07 ± 4.01°; 5.10 ± 3.53°). When sighted individuals were blindfolded (no vision condition) they showed similar gait adaptations as well as a slower walking speed (0.84 ± 0.28 ms(-1)), a lower cadence (96.88 ± 13.71 steps min(-1)) and limited movements of the hip (38.24 ± 6.27°) and the ankle in the saggital plane (-5.60 ± 5.07°) compared to a full vision condition (1.27 ± 0.13 ms(-1); 110.55 ± 7.09 steps min(-1); 45.32 ± 4.57°; -16.51 ± .59°). Results showed that even in an uncluttered environment vision is important for locomotion control. The differences between those with and without a visual impairment, and between the full vision and no vision conditions, may reflect a more cautious walking strategy and adaptive changes employed to use the foot to probe the ground for haptic exploration.

Effects of visual deprivation on intra-limb coordination during walking in children and adults

Following the laws of planar covariation, intersegmental coordination is defined with respect to the vertical and heading direction. This vertical reference can be estimated using multisensory information, amongst others visual cues play a role. In the past it was already shown that visual deprivation and/or perturbation of visual information largely affect gait kinematics. The goal of this study is to investigate the impact of visual deprivation on intra-limb movement coordination. Children aged between 3 and 11 years and young adults are included in this study to investigate age-related differences in the visual control of locomotion. Intersegmental coordination was tested under two different conditions: full vision (FV) and no vision (NV). Heading direction and walking speed were taken into account. A significant interaction effect was observed between visual condition and age for walking speed. Between age groups, no differences are observed in the FV condition but in the NV condition children walk significantly slower than adults. This shows that the relative importance of visual information is age dependent. Between age groups significant differences were found in heading direction. Coordination was characterized using the planar covariation technique, by constructing thigh versus shank and shank versus foot angle-angle plots and by cross-correlation function analysis. Regardless of the presence or absence of visual information, the planarity index remains high, indicating that the laws of planar covariation hold in the absence of visual afferent information. On the other hand, the shape of the gait loop does show significant differences between FV and NV conditions. Changes in the shape of the gait loop are primarily determined by changes in the coupling between the thigh and shank elevation angles. The coupling between the shank and foot elevation angles is dependent upon walking speed and does not differ between FV and NV conditions. Between age groups significant differences are observed in covariation plane orientation.

Stance stability with unilateral and bilateral light touch of an external stationary object

Unilateral light fingertip touch of a stationary object has a significant stabilizing effect on postural sway during stance. The purpose of this study was to find out if this effect is enhanced by bilateral light touch of parallel stationary objects. The postural sway of 54 healthy subjects was tested in four stance conditions: no touch; unilateral left light touch of the left handle of a walker; unilateral right light touch of the right handle of the same walker; and bilateral light touch of the two handles. During testing, subjects stood blindfolded on two foam pads placed on the left and right force plates of the Tetrax balance system. Testing in each condition lasted 45 s and was executed twice in a random order. As expected, postural sway was significantly reduced by unilateral left or right light fingertip touch. It was significantly further decreased by bilateral light touch. In addition, light touch conditions were associated with a reduction in pressure fluctuations between the heel and forefoot of the same foot as well as those of the contralateral foot, with a concomitant increase in weight shift fluctuations between the two feet. The decrease in postural sway with bilateral light touch suggests cortical modulation of the bilateral touch inputs, with enhancement of the stabilizing response.

Visual deprivation leads to gait adaptations that are age- and context-specific: I. Step-time parameters

In children, visual information is crucial for static postural control, although age-related differences exist in the impact of visual perturbation on postural sway. Since static postural control and locomotion are closely related, we expect age-related differences in the impact of visual deprivation on dynamic stability and gait. It is hypothesised that this is related to the important role of vision in postural control. Postural stability and gait was tested in 20 adults and 40 children (3-11 years old) under two different visual conditions: eyes open (EO) and eyes closed (EC). Significant differences were found between EO and EC for postural sway, dimensionless walking speed, dimensionless stride length and duration of double support. Thus, we can state that visual deprivation affects locomotion both in adults and children. Concerning walking speed a significant interaction effect was observed with age. The difference in walking speed between EO and EC is larger in children than in adults. Furthermore, we found significant correlations between postural sway and walking speed, step frequency and stride length. These observations support the hypothesis that gait adaptations in situations of visual deprivation are related to balance problems.

Kinetic Potential Influences Visual and Remote Haptic Perception of Affordances for Standing on an Inclined Surface

The ability of a perceiver–actor to perform a particular behaviour depends on their ability to generate and control the muscular forces required to perform that behaviour. If an intended behaviour is to be successful, perception must be relative to this ability. We investigated whether perceiver–actors were sensitive to how changes in their mass distribution influenced their ability to stand on an inclined surface. Participants reported whether they would be able to stand on an inclined surface while wearing a weighted backpack on their back, while wearing a weighted backpack on their front, and while not wearing a weighted backpack. In addition, participants performed this task by either viewing the surface or exploring it with a hand-held rod (while blindfolded). The results showed that perception of affordances for standing on the inclined surface depended on how the backpack influenced the ability of the participant to stand on the surface. Specifically, perceptual boundaries occurred at steeper inclinations when participants wore the backpack on their front than when they wore it on their back. Moreover, this pattern occurred regardless of the perceptual modality by which the participants explored the inclined surface.

Visual function testing: A quantifiable visually guided behavior in mice

A measure of improved vision remains the most meaningful way to demonstrate the efficacy of a therapy. Animal models allow us to describe the pathology of inherited retinal degenerations and to evaluate emerging therapies in specific disorders in ways not possible in human subjects. The potential use of mice in this role has been limited by the lack of a simple, unambiguous and practical test of an innate visually guided behavior. To begin to address this need, we have developed equipment and protocols to measure a performance enhancing effect of vision on use of a running wheel; a scotopic visually guided behavior termed positive masking. This assay is objective, quantitative, automated and can be adapted for in-depth studies of visual thresholds, longitudinal studies of visual pathology or treatment efficacy, and large scale screening programs. Proof-of-principle experiments show that our equipment and protocols are able to characterize the full range of masking responses in normal mice in an informative and efficient manner. A sustained activity increase across a range of dim light irradiances was consistent with scotopic visual guidance of behavior, while at higher irradiances a dose dependent suppression of activity was apparent. This study also describes for the first time the interaction of experience and vision in performing a task. Specifically, we identified an experience dependent acclimatization to wheel use in scotopic conditions; a performance reduction in complete darkness; and a partial but not complete recovery of performance levels with experience in complete darkness. This suggests that where visual guidance is performance enhancing but not essential, loss of the contribution of visual guidance to the tasks might be compensated for by experience or training.

Three-dimensional kinematics and dynamics of the foot during walking: a model of central control mechanisms

The foot is a critical interface between the body and supporting surface during walking, but there is no coherent framework on which to model the dynamics of the stance and swing phases. To establish this framework, we studied the rotational and translational dynamics of foot movement in three dimensions with a motion detection system (OPTOTRAK), while subjects walked on a treadmill. Positions, velocities, and durations were normalized to leg-length and gravity. Foot position and rotation at toe-off were closely related to walking velocity. Foot pitch at toe clearance increased with walking velocity, but the medial-lateral and vertical toe positions were unaltered. Phase-plane trajectories along the fore-aft direction, i.e., plots of toe velocity versus position, were circular during the swing phases, with radii proportional to walking velocity. Peak forward, lateral, and upward velocities were linearly related to corresponding excursions, forming main sequences. A second order model predicted the changes in toe position and velocity, and the approximately hyperbolic decrements in duration as a function of walking velocity. The model indicates that the foot is controlled in an overdamped manner during the stance phase and as a feedback-controlled undamped pendulum during the swing. The data and model suggest that the state of the foot at toe-off, set by walking velocity during the stance phase, determines the dynamics of the swing phase. Thus, in addition to determining locomotion kinematics, walking velocity plays a critical role in determining the phase-plane trajectories and main sequence relationships of foot movements during the swing phases.