Gaze anticipation during human locomotion

Understanding viewpoint changes in peripheral prisms for field expansion by virtual reality simulation

Prism field expansion is a common treatment for patients with peripheral field loss, shifting images from the blind field into the seeing field. The shifted image originates from a new viewpoint translated and rotated from the original viewpoint by the prism. To understand such viewpoint changes, we simulated two field expansion methods in virtual reality: 1) angular (i.e., rotational) field expansion and 2) linear field expansion via image crop-and-shift. Changes to object locations, sizes, and optic flow patterns by those methods were demonstrated and analyzed in both static and dynamic conditions, which may affect navigation with such field expansion devices.

An Integrated Eye-Tracking and Motion Capture System in Synchronized Gaze and Movement Analysis

Integrating mobile eye-tracking and motion capture emerges as a promising approach in studying visual-motor coordination, due to its capability of expressing gaze data within the same laboratory-centered coordinate system as body movement data. In this paper, we proposed an integrated eye-tracking and motion capture system, which can record and analyze temporally and spatially synchronized gaze and motion data during dynamic movement. The accuracy of gaze measurement were evaluated on five participants while they were instructed to view fixed vision targets at different distances while standing still or walking towards the targets. Similar accuracy could be achieved in both static and dynamic conditions. To demonstrate the usability of the integrated system, several walking tasks were performed in three different pathways. Results revealed that participants tended to focus their gaze on the upcoming path, especially on the downward path, possibly for better navigation and planning. In a more complex pathway, coupled with more gaze time on the pathway, participants were also found having the longest step time and shortest step length, which led to the lowest walking speed. It was believed that the integration of eye-tracking and motion capture is a feasible and promising methodology quantifying visual-motor coordination in locomotion.

Humans plan for the near future to walk economically on uneven terrain

Humans experience small fluctuations in their gait when walking on uneven terrain. The fluctuations deviate from the steady, energy-minimizing pattern for level walking and have no obvious organization. But humans often look ahead when they walk, and could potentially plan anticipatory fluctuations for the terrain. Such planning is only sensible if it serves some an objective purpose, such as maintaining constant speed or reducing energy expenditure, that is also attainable within finite planning capacity. Here, we show that humans do plan and perform optimal control strategies on uneven terrain. Rather than maintaining constant speed, they make purposeful, anticipatory speed adjustments that are consistent with minimizing energy expenditure. A simple optimal control model predicts economical speed fluctuations that agree well with experiments with humans (N = 12) walking on seven different terrain profiles (correlated with model [Formula: see text] , [Formula: see text] all terrains). Participants made repeatable speed fluctuations starting about six to eight steps ahead of each terrain feature (up to ±7.5 cm height difference each step, up to 16 consecutive features). Nearer features matter more, because energy is dissipated with each succeeding step's collision with ground, preventing momentum from persisting indefinitely. A finite horizon of continuous look-ahead and motor working space thus suffice to practically optimize for any length of terrain. Humans reason about walking in the near future to plan complex optimal control sequences.

The choice of reference frame alters interpretations of turning gait and stability

Humans regularly follow curvilinear trajectories during everyday ambulation. However, globally-defined and locally-defined reference frames fall out of alignment during turning gait, which complicates spatiotemporal and biomechanical analyses. Thus, the choice of the locally-defined reference frame is an important methodological consideration. This study investigated how different definitions of reference frame change the results and interpretations of common gait measures during turning. Nine healthy adults completed two walking trials around a circular track. Kinematic data were collected via motion capture and used to calculate step length, step width, anteroposterior margin of stability, and mediolateral margin of stability using three different locally-defined reference frames: walkway-fixed, body-fixed, and trajectory-fixed. Linear-mixed effects models compared the effect of reference frame on each gait measure, and the effect of reference frame on conclusions about a known effect of turning gait - asymmetrical stepping patterns. All four gait measures differed significantly across the three reference frames. A significant interaction of reference frame and step type (i.e. inside vs outside step) on step length (p < 0.001), anteroposterior margin of stability (p < 0.001), and mediolateral margin of stability (p < 0.001) indicated conclusions about asymmetry differed based on the choice of reference frame. The choice of reference frame will change the calculated gait measures and may alter the conclusions of studies investigating turning gait. Care should be taken when comparing studies that used different reference frames, as results cannot be easily harmonized. Future studies of turning gait need to justify and detail their choice of reference frame.

Modifications to head-trunk coordination dynamics during running and sidestepping

The purpose of this study was to determine how the intrinsic head-trunk coordination dynamics that exist during forward running are modified during a dynamic sidestepping task. Fourteen athletes performed both forward running and sidestepping tasks. Head-trunk coordination and range of motion were assessed during the flight and stance phases in the transverse and sagittal planes. The sidestepping task resulted in greater in-phase head-trunk coordination during stance in the transverse plane (p < .001, ES = -1.71) and in reduced anti-phase coordination between head and trunk in the sagittal plane (p < .001, ES = 1.52). Statistical non-parametric mapping revealed that during sidestepping the sagittal plane coupling angle shifted away from anti-phase earlier during midstance. The sidestepping task resulted in greater transverse and sagittal plane head and trunk range of motion and greater vertical trunk centre of mass displacement. Sidestepping modified the intrinsic coordination dynamics that are present during forward running, with greater transverse plane head contributions and reductions in compensatory sagittal plane head motion, which may occur during the transition from weight acceptance to propulsion during the stance phase. These changes in the intrinsic coordination dynamics of the upper body during sidestepping tasks may impact visual perception and readiness compared to forward running during complex sports tasks.

Real-Time Short-Term Pedestrian Trajectory Prediction Based on Gait Biomechanics

The short-term prediction of a person’s trajectory during normal walking becomes necessary in many environments shared by humans and robots. Physics-based approaches based on Newton’s laws of motion seem best suited for short-term predictions, but the intrinsic properties of human walking conflict with the foundations of the basic kinematical models compromising their performance. In this paper, we propose a short-time prediction method based on gait biomechanics for real-time applications. This method relays on a single biomechanical variable, and it has a low computational burden, turning it into a feasible solution to implement in low-cost portable devices. We evaluate its performance from an experimental benchmark where several subjects walked steadily over straight and curved paths. With this approach, the results indicate a performance good enough to be applicable to a wide range of human–robot interaction applications.

Goal-oriented locomotion in children with spastic diplegia: Anticipatory orienting strategies and trajectory formation

Goal-oriented locomotion (GOL) is a complex task integrating navigation and gait control. To our knowledge, this is the first study of GOL in subjects with Cerebral Palsy (CP). Thirteen subjects with spastic diplegia and 26 with typical development were enrolled in the study. Subjects performed a GOL task to reach luminous targets. Within-subject trajectory variability, maximal head deviation from trajectory and mean head anticipation over trajectory were analyzed. While all subjects showed gait impairment, only 8 of 13 subjects also showed navigation abnormalities as revealed by either: a) abnormal head orientation and trajectory formation, or b) abnormal head orientation with normal trajectory formation. Abnormal gait patterns do not account for and can be distinguished from navigation disorders in spastic diplegic CP. This distinction has important implications for novel rehabilitation methods that should specifically address navigation, not only gait.

Head control and head-trunk coordination as a function of anticipation in sidestepping

Head reorientation precedes body reorientation during direction change to facilitate gaze realignment, thus enhancing perceptual awareness. Whole body kinematics are dependent on the available planning time. The purpose of this study was to assess the role of anticipation on head control and head-trunk coordination during sidestepping tasks. Fourteen male collegiate athletes performed anticipated and unanticipated sidestepping tasks. Transverse plane head, trunk and heading direction, as well as head-trunk coordination were assessed. During change of direction tasks, we observed greater head orientation towards the new travel direction, followed by heading direction and then trunk direction during both anticipated and unanticipated tasks. With reduced planning time, heading in the preparatory phase and trunk rotation in the preparatory and stance phases were significantly less oriented towards the new travel direction, with no differences in head rotation. During anticipated sidestepping, significantly greater in-phase coordination was observed during the preparatory phase compared to unanticipated sidestepping. Head reorientation facilitates gaze realignment and may be prioritized irrespective of planning time during sidestepping tasks. During anticipated trials, the head and trunk move more synchronously compared to unanticipated sidestepping, highlighting the potential benefits of aligning the degrees of freedom earlier in the change of direction stride and optimizing perceptual awareness.

Understanding, Modeling and Simulating Unintended Positional Drift during Repetitive Steering Navigation Tasks in Virtual Reality

Virtual steering techniques enable users to navigate in larger Virtual Environments (VEs) than the physical workspace available. Even though these techniques do not require physical movement of the users (e.g. using a joystick and the head orientation to steer towards a virtual direction), recent work observed that users might unintentionally move in the physical workspace while navigating, resulting in Unintended Positional Drift (UPD). This phenomenon can be a safety issue since users may unintentionally reach the physical boundaries of the workspace while using a steering technique. In this context, as a necessary first step to improve the design of navigation techniques minimizing the UPD, this paper aims at analyzing and modeling the UPD during a virtual navigation task. In particular, we characterize and analyze the UPD for a dataset containing the positions and orientations of eighteen users performing a virtual slalom task using virtual steering techniques. Participants wore a head-mounted display and had to follow three different sinusoidal-like trajectories (with low, medium and high curvature) using a torso-steering navigation technique. We analyzed the performed motions and proposed two UPD models: the first based on a linear regression analysis and the second based on a Gaussian Mixture Model (GMM) analysis. Then, we assessed both models through a simulation-based evaluation where we reproduced the same navigation task using virtual agents. Our results indicate the feasibility of using simulation-based evaluations to study UPD. The paper concludes with a discussion of potential applications of the results in order to gain a better understanding of UPD during steering and therefore improve the design of navigation techniques by compensating for UPD.

A New Paradigm for the Study of Cognitive Flexibility in Children and Adolescents: The "Virtual House Locomotor Maze" (VHLM)

Classical neuropsychological assessments are designed to explore cognitive brain functions using paper-and-pencil or digital tests. The purpose of this study was to design and to test a new protocol named the "Virtual House Locomotor Maze" (VHLM) for studying inhibitory control as well as mental flexibility using a visuo-spatial locomotor memory test. The VHLM is a simple maze including six houses using the technology of the Virtual Carpet Paradigm™. Ten typical development children (TD) were enrolled in this study. The participants were instructed to reach a target house as quickly as possible and to bear in mind the experimental instructions. We examined their planning and replanning abilities to take the shortest path to reach a target house. In order to study the cognitive processes during navigation, we implemented a spatio-temporal index based on the measure of kinematics behaviors (i.e., trajectories, tangential velocity and head direction). Replanning was tested by first repeating a path chosen by the subject to reach a given house. After learning this path, it was blocked imposing that the subject inhibited the learned trajectory and designed a new trajectory to reach the same house. We measured the latency of the departure after the presentation of each house and the initial direction of the trajectory. The results suggest that several strategies are used by the subjects for replanning and our measures could be used as an index of impulsivity.

Objective Dual-Task Turning Measures for Return-to-Duty Assessment After Mild Traumatic Brain Injury: The ReTURN Study Protocol

Determining readiness for duty after mild traumatic brain injury (mTBI) is essential for the safety of service members and their unit. Currently, these decisions are primarily based on self-reported symptoms, objective measures that assess a single system, or standardized physical or cognitive tests that may be insensitive or lack ecological validity for warrior tasks. While significant technological advancements have been made in a variety of assessments of these individual systems, assessments of isolated tasks are neither diagnostically accurate nor representative of the demands imposed by daily life and military activities. Emerging evidence suggests that complex tasks, such as dual-task paradigms or turning, have utility in probing functional deficits after mTBI. Objective measures from turning tasks in single- or dual-task conditions, therefore, may be highly valuable for clinical assessments and return-to-duty decisions after mTBI. The goals of this study are to assess the diagnostic accuracy, predictive capacity, and responsiveness to rehabilitation of objective, dual-task turning measures within an mTBI population. These goals will be accomplished over two phases. Phase 1 will enroll civilians at three sites and active-duty service members at one site to examine the diagnostic accuracy and predictive capacity of dual-task turning outcomes. Phase 1 participants will complete a series of turning tasks while wearing inertial sensors and a battery of clinical questionnaires, neurocognitive testing, and standard clinical assessments of function. Phase 2 will enroll active-duty service members referred for rehabilitation from two military medical treatment facilities to investigate the responsiveness to rehabilitation of objective dual-task turning measures. Phase 2 participants will complete two assessments of turning while wearing inertial sensors: a baseline assessment prior to the first rehabilitation session and a post-rehabilitation assessment after the physical therapist determines the participant has completed his/her rehabilitation course. A variable selection procedure will then be implemented to determine the best task and outcome measure for return-to-duty decisions based on diagnostic accuracy, predictive capacity, and responsiveness to rehabilitation. Overall, the results of this study will provide guidance and potential new tools for clinical decisions in individuals with mTBI.

Clinical Trial Registration: clinicaltrials.gov, Identifier NCT03892291.

The combined effect of eye movements improve head centred local motion information during walking

Eye movements play multiple roles in human behaviour—small stabilizing movements are important for keeping the image of the scene steady during locomotion, whilst large scanning movements search for relevant information. It has been proposed that eye movement induced retinal motion interferes with the estimation of self-motion based on optic flow. We investigated the effect of eye movements on retinal motion information during walking. Observers walked towards a target, wearing eye tracking glasses that simultaneously recorded the scene ahead and tracked the movements of both eyes. By realigning the frames of the recording from the scene ahead, relative to the centre of gaze, we could mimic the input received by the retina (retinocentric coordinates) and compare this to the input received by the scene camera (head centred coordinates). We asked which of these coordinate frames resulted in the least noisy motion information. Motion noise was calculated by finding the error in between the optic flow signal and a noise-free motion expansion pattern. We found that eye movements improved the optic flow information available, even when large diversions away from target were made.

Analysis of head and chest movements that correspond to gaze directions during walking

In this paper, we analyze the relationship between head and chest movements and gaze direction in both walking and non-walking conditions. In a different approach from existing studies, we aim to analyze behavior when humans intentionally gaze at a certain target from two perspectives: (1) the relationship between gaze and body movements and (2) the effects of walking on body motion. We performed three experiments: fixed target scenes (Experiment 1), moving target scenes (Experiment 2) and more realistic gazing scenes (Experiment 3). The experimental results showed a linear relationship between the head and chest directions and gaze directions regardless of walking, non-walking situations, or target movements, and stronger gaze-head correlations than gaze-chest correlations. Further, we found effects of walking that constrained rotational body movements, and that body parts with larger moments were easily affected by walking. These results suggest that the findings of existing studies in non-walking situations may be applicable to walking situations directly or with simple modifications.

Head Anticipation During Locomotion With Auditory Instruction in the Presence and Absence of Visual Input

Head direction has been identified to anticipate trajectory direction during human locomotion. Head anticipation has also been shown to persist in darkness. Arguably, the purpose for this anticipatory behavior is related to motor control and trajectory planning, independently of the visual condition. This implies that anticipation remains in the absence of visual input. However, experiments so far have only explored this phenomenon with visual instructions which intrinsically primes a visual representation to follow. The primary objective of this study is to describe head anticipation in auditory instructed locomotion, in the presence and absence of visual input. Auditory instructed locomotion trajectories were performed in two visual conditions: eyes open and eyes closed. First, 10 sighted participants localized static sound sources to ensure they could understand the sound cues provided. Afterwards, they listened to a moving sound source while actively following it. Later, participants were asked to reproduce the trajectory of the moving sound source without sound. Anticipatory head behavior was observed during trajectory reproduction in both eyes open and closed conditions. The results suggest that head anticipation is related to motor anticipation rather than mental simulation of the trajectory.

Adaptive Gaze Strategies to Reduce Environmental Uncertainty During a Sequential Visuomotor Behaviour

People must decide where, when, and for how long to allocate gaze to perform different motor behaviours. However, the factors guiding gaze during these ongoing, natural behaviours are poorly understood. Gaze shifts help acquire information, suggesting that people should direct gaze to locations where environmental details most relevant to the task are uncertain. To explore this, human subjects stepped on a series of targets as they walked. We used different levels of target uncertainty, and through instruction, altered the importance of (or subjective value assigned to) foot-placement accuracy. Gaze time on targets increased with greater target uncertainty when precise foot placement was more important, and these longer gaze times associated with reduced foot-placement error. Gaze times as well as the gaze shifts to and from targets relative to stepping differed depending on the target's position in the sequence and uncertainty level. Overall, we show that gaze is allocated to reduce uncertainty about target locations, and this depends on the value of this information gain for successful task performance. Furthermore, we show that the spatial-temporal pattern of gaze to resolve uncertainty changes with the evolution of the motor behaviour, indicating a flexible strategy to plan and control movement.

Abnormal Turning and Its Association with Self-Reported Symptoms in Chronic Mild Traumatic Brain Injury

Turning is common in daily activity and requires rapid, coordinated reorientation of the head, trunk, and pelvis toward the new direction of travel. Yet, turning gait has not been well explored in populations with mild traumatic brain injury (mTBI) who may alter their turning behavior according to self-perceived symptoms or motor dysfunction. The purpose of this study was to examine turning velocities and coordination in adults with chronic mTBI (>3 months post-injury and still reporting balance complaints) during a task simulating everyday ambulation. We hypothesized that individuals with chronic mTBI would reduce their angular velocity when turning and increase the variability of head-pelvis coordination compared with controls, and that the reduction in velocity and increased variability would be associated with their self-reported symptom score. Forty-two adults (14 chronic mTBI, 28 controls) completed the Neurobehavioral Symptom Inventory before walking 12 laps around a marked course containing two 45-degree turns, four 90-degree turns, and two 135-degree turns. Inertial sensors collected angular velocities of the head and pelvis. After adjusting for covariates, participants with chronic mTBI had significantly slower lap times and peak angular velocities of the pelvis (p < 0.01) compared with the control group. The peak velocity timing (PVT) between peak velocities of the head and pelvis, and the variability of that timing was significantly greater in participants with chronic mTBI (p < 0.01). Within the chronic mTBI group, somatosensory symptoms were associated with slower angular velocities of the head and pelvis (p = 0.03) and increased PVT variability (p < 0.01). The results suggest individuals with chronic mTBI with worse somatic symptoms have impaired head stabilization during turning in situations similar to everyday life. These results encourage future research on turning gait to examine the causal relationship between symptoms and daily locomotor function in adults with chronic mTBI.

Anticipatory detection of turning in humans for intuitive control of robotic mobility assistance

Many wearable lower-limb robots for walking assistance have been developed in recent years. However, it remains unclear how they can be commanded in an intuitive and efficient way by their user. In particular, providing robotic assistance to neurologically impaired individuals in turning remains a significant challenge. The control should be safe to the users and their environment, yet yield sufficient performance and enable natural human-machine interaction. Here, we propose using the head and trunk anticipatory behaviour in order to detect the intention to turn in a natural, non-intrusive way, and use it for triggering turning movement in a robot for walking assistance. We therefore study head and trunk orientation during locomotion of healthy adults, and investigate upper body anticipatory behaviour during turning. The collected walking and turning kinematics data are clustered using the k-means algorithm and cross-validation tests and k-nearest neighbours method are used to evaluate the performance of turning detection during locomotion. Tests with seven subjects exhibited accurate turning detection. Head anticipated turning by more than 400-500 ms in average across all subjects. Overall, the proposed method detected turning 300 ms after its initiation and 1230 ms before the turning movement was completed. Using head anticipatory behaviour enabled to detect turning faster by about 100 ms, compared to turning detection using only pelvis orientation measurements. Finally, it was demonstrated that the proposed turning detection can improve the quality of human-robot interaction by improving the control accuracy and transparency.

The effects of constraining vision and eye movements on whole-body coordination during standing turns

Turning the body towards a new direction is normally achieved via a top-down synergy whereby gaze (eye direction in space) leads the upper body segments, which in turn lead the feet. These anticipatory eye movements are observable even in darkness and constraining the initial eye movements modifies the stereotyped top-down reorientation sequence. Our aim was to elucidate the relative contributions of vision and eye movements to whole-body coordination during large standing turns by observing the effects of separately removing visual information or suppressing eye movements throughout the turn. We predicted that constraining eye movements would modify the steering synergy, whereas removing vision would have little effect. We found that preventing eye movements modified both timing and spatial characteristics of axial segment and feet rotation. When gaze was fixed, gait initiation, but not axial segment rotation, was delayed in comparison to both full vision and no vision turns. When eye movements were prevented, the predictable relationship between the extent head rotation led the body and peak head angular velocity was abolished suggesting that anticipatory head movements normally subserve gaze behaviour. In addition, stepping frequency significantly reduced during the gaze fixation condition but not during the no-vision condition, suggesting that oculomotor control is linked to stepping behaviour.

Adaptive Gaze Strategies for Locomotion with Constricted Visual Field

In retinitis pigmentosa (RP), loss of peripheral visual field accounts for most difficulties encountered in visuo-motor coordination during locomotion. The purpose of this study was to accurately assess the impact of peripheral visual field loss on gaze strategies during locomotion, and identify compensatory mechanisms. Nine RP subjects presenting a central visual field limited to 10-25° in diameter, and nine healthy subjects were asked to walk in one of three directions-straight ahead to a visual target, leftward and rightward through a door frame, with or without obstacle on the way. Whole body kinematics were recorded by motion capture, and gaze direction in space was reconstructed using an eye-tracker. Changes in gaze strategies were identified in RP subjects, including extensive exploration prior to walking, frequent fixations of the ground (even knowing no obstacle was present), of door edges, essentially of the proximal one, of obstacle edge/corner, and alternating door edges fixations when approaching the door. This was associated with more frequent, sometimes larger rapid-eye-movements, larger movements, and forward tilting of the head. Despite the visual handicap, the trajectory geometry was identical between groups, with a small decrease in walking speed in RPs. These findings identify the adaptive changes in sensory-motor coordination, in order to ensure visual awareness of the surrounding, detect changes in spatial configuration, collect information for self-motion, update the postural reference frame, and update egocentric distances to environmental objects. They are of crucial importance for the design of optimized rehabilitation procedures.

Visuo-locomotor control in persons with spinal cord injury in a manual or power wheelchair for direction change and obstacle circumvention

Many individuals, such as persons with spinal cord injury (SCI), rely on wheeled locomotion involving manual (MWC) or power (PWC) wheelchairs to navigate their environments. Yet, visuo-locomotor control underlying WC navigation in experienced users is not well understood. The objective of this study was to compare the visuo-locomotor control between MWC and PWC in individuals with SCI while changing direction and circumventing an obstacle. Participants with SCI using a MWC (n = 12, 38.5 ± 10.7 years) or a PWC (n = 10, 47.8 ± 8.6 years) were asked to maneuver their chair straight ahead, while changing direction 45° to the right, and while circumventing an obstacle to the right, all at self-selected speeds. Speed, minimal clearance, point of deviation, temporal body and WC coordination, relative timing of segment rotations and visual behavior were analyzed. There was no main effect of group for speed, clearance and point of deviation. During direction change, the head always led body and wheelchair reorientation while an "en bloc" strategy was used for circumventing obstacle for both groups. In straight-ahead locomotion, participants predominantly fixed their gaze on the end target. During direction change and obstacle circumvention, participants fixated more on the future path and the obstacle for both WC modes. Overall, specific gaze behavior depended on environmental demands. While MWC and PWC users adopt similar navigational strategies and visuo-locomotor coordination while changing direction and circumventing obstacle, there were some differences in the amount of head rotation that could be related to a counter-movement used more by PWC users.

The effects of obstacle proximity on aperture crossing behaviours

Affordance theory and behavioural dynamics have been used as theoretical constructs to explain how individuals interact with the environment in order to avoid obstacles. Features of obstacle distance and multiple obstacle avoidance have been discussed in unique studies, yet the interactions of these environmental features have yet to be explored. The purpose of this study was to asses the effects of obstacle distance, relative to the goal, on aperture crossing strategies. Kinematics and gaze behaviours were assessed in a cohort of female young adults (N = 24, 21.3 ± 1.4 years). Results identified that participants chose to navigate through gaps of 1.3× shoulder width or greater, regardless of obstacle distance. However, safety margin in the anterior-posterior direction was found to increase with increased obstacle distance, suggesting unique environmental affordances for each obstacle distance. Therefore, although decision making on whether to navigate through, or around, the aperture appears to be unaffected by obstacle location, specific environmental features result in unique kinematic behaviours. Such behaviours fit within, and add merit to, the tenets of both affordance theory and behavioural dynamics.

Anticipatory control and spatial cognition in locomotion and navigation through typical development and in cerebral palsy

Behavioural evidence, summarized in this narrative review, supports a developmental model of locomotor control based on increasing neural integration of spatial reference frames. Two consistent adult locomotor behaviours are head stabilization and head anticipation: the head is stabilized to gravity and leads walking direction. This cephalocaudal orienting organization aligns gaze and vestibula with a reference frame centred on the upcoming walking direction, allowing anticipatory control on body kinematics, but is not fully developed until adolescence. Walking trajectories and those of hand movements share many aspects, including power laws coupling velocity to curvature, and minimized spatial variability. In fact, the adult brain can code trajectory geometry in an allocentric reference frame, irrespective of the end effector, regulating body kinematics thereafter. Locomotor trajectory formation, like head anticipation, matures in early adolescence, indicating common neurocomputational substrates. These late-developing control mechanisms can be distinguished from biomechanical problems in children with cerebral palsy (CP). Children's performance on a novel navigation test, the Magic Carpet, indicates that typical navigation development consists of the increasing integration of egocentric and allocentric reference frames. In CP, right-brain impairment seems to reduce navigation performance due to a maladaptive left-brain sequential egocentric strategy. Spatial integration should be considered more in rehabilitation.

Differences in gaze anticipation for locomotion with and without vision

Previous experimental studies have shown a spontaneous anticipation of locomotor trajectory by the head and gaze direction during human locomotion. This anticipatory behavior could serve several functions: an optimal selection of visual information, for instance through landmarks and optic flow, as well as trajectory planning and motor control. This would imply that anticipation remains in darkness but with different characteristics. We asked 10 participants to walk along two predefined complex trajectories (limaçon and figure eight) without any cue on the trajectory to follow. Two visual conditions were used: (i) in light and (ii) in complete darkness with eyes open. The whole body kinematics were recorded by motion capture, along with the participant's right eye movements. We showed that in darkness and in light, horizontal gaze anticipates the orientation of the head which itself anticipates the trajectory direction. However, the horizontal angular anticipation decreases by a half in darkness for both gaze and head. In both visual conditions we observed an eye nystagmus with similar properties (frequency and amplitude). The main difference comes from the fact that in light, there is a shift of the orientations of the eye nystagmus and the head in the direction of the trajectory. These results suggest that a fundamental function of gaze is to represent self motion, stabilize the perception of space during locomotion, and to simulate the future trajectory, regardless of the vision condition.

Walking paths to and from a goal differ: on the role of bearing angle in the formation of human locomotion paths

The path that humans take while walking to a goal is the result of a cognitive process modulated by the perception of the environment and physiological constraints. The path shape and timing implicitly embeds aspects of the architecture behind this process. Here, locomotion paths were investigated during a simple task of walking to and from a goal, by looking at the evolution of the position of the human on a horizontal (x,y) plane. We found that the path while walking to a goal was not the same as that while returning from it. Forward-return paths were systematically separated by 0.5-1.9m, or about 5% of the goal distance. We show that this path separation occurs as a consequence of anticipating the desired body orientation at the goal while keeping the target in view. The magnitude of this separation was strongly influenced by the bearing angle (difference between body orientation and angle to goal) and the final orientation imposed at the goal. This phenomenon highlights the impact of a trade-off between a directional perceptual apparatus—eyes in the head on the shoulders—and and physiological limitations, in the formation of human locomotion paths. Our results give an insight into the influence of environmental and perceptual variables on human locomotion and provide a basis for further mathematical study of these mechanisms.

New paradigms and tests for evaluating and remediating visuospatial deficits in children

This review suggests several hypotheses about the cognitive developmental mechanisms involved in the motor deficits of children with cerebral palsy. We suggest a new theory that visuospatial deficits involving the manipulation of multiple spatial reference frames are crucial components of the disorder in spatial orientation, manipulation, locomotion, navigation, and even social interactions. We review basic knowledge about the brain networks involved in spatial memory and cognition. We then present several potential paradigms for studying specific deficits. We consider first the use of vestibular signals for egocentric spatial orientation in children and the 'locomotor trajectory paradigm' for studying gaze anticipation and perceptual components of walking. We then describe new paradigms for studying egocentric and allocentric strategies in spatial tasks: the 'virtual path length', the 'virtual palace' and the 'virtual star maze'. We also consider paradigms involving the use of other persons and perspective change from a first person's to a third person's viewpoint as reference in spatial tasks or social interactions: the 'designation' paradigm, the 'harlequin', and the 'tightrope walker'. Finally, we briefly present a new experimental set up involving a 'virtual carpet', which follows previous studies of cognitive strategies for generating locomotor trajectories using the 'magic carpet' and which will allow a large variety of studies involving executive functions and inhibition of the first-appearing strategies during development. Several of these new paradigms could be used for remediation.

Effect of driving experience on anticipatory look-ahead fixations in real curve driving

Anticipatory skills are a potential factor for novice drivers' curve accidents. Behavioural data show that steering and speed regulation are affected by forward planning of the trajectory. When approaching a curve, the relevant visual information for online steering control and for planning is located at different eccentricities, creating a need to disengage the gaze from the guidance of steering to anticipatory look-ahead fixations over curves. With experience, peripheral vision can be increasingly used in the visual guidance of steering. This could leave experienced drivers more gaze time to invest on look-ahead fixations over curves, facilitating the trajectory planning. Eighteen drivers (nine novices, nine experienced) drove an instrumented vehicle on a rural road four times in both directions. Their eye movements were analyzed in six curves. The trajectory of the car was modelled and divided to approach, entry and exit phases. Experienced drivers spent less time on the road-ahead and more time on the look-ahead fixations over the curves. Look-ahead fixations were also more common in the approach than in the entry phase of the curve. The results suggest that with experience drivers allocate greater part of their visual attention to trajectory planning.

Dynamic control of posture across locomotor tasks

Successful locomotion depends on postural control to establish and maintain appropriate postural orientation of body segments relative to one another and to the environment and to ensure dynamic stability of the moving body. This article provides a framework for considering dynamic postural control, highlighting the importance of coordination, consistency, and challenges to postural control posed by various locomotor tasks, such as turning and backward walking. The impacts of aging and various movement disorders on postural control are discussed broadly in an effort to provide a general overview of the field and recommendations for assessment of dynamic postural control across different populations in both clinical and research settings. Suggestions for future research on dynamic postural control during locomotion also are provided and include discussion of opportunities afforded by new and developing technologies, the need for long-term monitoring of locomotor performance in everyday activities, gaps in our knowledge of how targeted intervention approaches modify dynamic postural control, and the relative paucity of literature regarding dynamic postural control in movement disorder populations other than Parkinson's disease.

Visuomotor control of human adaptive locomotion: understanding the anticipatory nature

To maintain balance during locomotion, the central nervous system (CNS) accommodates changes in the constraints of spatial environment (e.g., existence of an obstacle or changes in the surface properties). Locomotion while modifying the basic movement patterns in response to such constraints is referred to as adaptive locomotion. The most powerful means of ensuring balance during adaptive locomotion is to visually perceive the environmental properties at a distance and modify the movement patterns in an anticipatory manner to avoid perturbation altogether. For this reason, visuomotor control of adaptive locomotion is characterized, at least in part, by its anticipatory nature. The purpose of the present article is to review the relevant studies which revealed the anticipatory nature of the visuomotor control of adaptive locomotion. The anticipatory locomotor adjustments for stationary and changeable environment, as well as the spatio-temporal patterns of gaze behavior to support the anticipatory locomotor adjustments are described. Such description will clearly show that anticipatory locomotor adjustments are initiated when an object of interest (e.g., a goal or obstacle) still exists in far space. This review also show that, as a prerequisite of anticipatory locomotor adjustments, environmental properties are accurately perceived from a distance in relation to individual’s action capabilities.