What guides the selection of alternate foot placement during locomotion in humans

Consequences of changing planned foot placement on balance control and forward progress

While walking humans generally plan foot placement two steps in advance. However, it is often necessary to rapidly alter foot placement position just before stepping due to the appearance of a new obstacle. While humans are quite capable of rapidly altering foot placement position, such changes can have major effects on centre of mass dynamics. We investigated how rapid changes to planned foot placement impact centre of mass dynamics, and how such changes influence the control of balance and forward progress, during both straight- and turning-gait. Thirteen young adults walked along a virtually projected walkway with precision footholds oriented either in a straight line or with a single 60°, 90° or 120° turn. On a subset of trials, participants were required to rapidly avoid stepping on select footholds. We found that if the centre of mass was disrupted such that it interfered with task success (i.e. staying upright and continuing along the planned path), walkers were more likely to sacrifice forward progress than the upright stability. Further, walkers appear to control centre of mass dynamics differently following inhibited steps during step turns than during spin turns, which may reflect a larger threat to task success when spin turns are interrupted.

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.

Gait Adaptations to Physical Fatigue During the Negotiation of Variable and Unexpected Obstacles

OBJECTIVE

The purpose of this study was to investigate how physical fatigue impacts one's ability to negotiate unexpected and randomly located obstacles during locomotion.

BACKGROUND

Physically demanding occupations place workers at risk of trips and falls-a major health and financial burden. How worker physical fatigue and fitness impacts their ability to navigate through unpredictable environments is not thoroughly explored in current literature. In this exploratory study, we further examine these relationships.

METHODS

Twenty-one young, physically fit participants completed a series of obstacle negotiation trials in the dark, where an obstacle would suddenly be illuminated as they reached it. Participants then engaged in a fatigue protocol, before repeating a series of the same negotiation trials.

RESULTS

When fatigued, participants exhibited a significant decrease in leading toe and trailing toe clearance, as well as a significant increase in leading heel clearance. Moreover, participants stepped closer to the obstacle with their both feet on the step prior to negotiation. Participants also walked at a faster velocity. Regression analyses revealed that participants' VO2max and height were significant predictors of foot placement metrics.

CONCLUSION

Results indicate that physical fatigue negatively impacts crossing mechanics of young, healthy individuals, and that a higher level of VO2 capacity may reduce the occurrences of altered crossing behavior that coincide with physical fatigue.

APPLICATION

These results highlight the effect of fatigue on worker safety during performance of job-related duties and are of interest to professionals seeking to reduce the incidence of slips, trips, and falls in the workplace.

Age-Related Changes in Accuracy and Speed of Lateral Crossing Motion: Focus on Stepping from Leaning Position

Fall incidents are increasing every year and prevention is necessary. Preventing falls can increase the quality of life of the elderly and decrease medical costs. Stumbling and tripping are the main causes of falls and falls in the lateral direction, causing the hip fracture. This study aimed to analyze the accuracy and speed of lateral obstacle crossing in the elderly, especially from leaning posture. Twenty healthy older adults (6 men and 14 women, aged 71.7 ± 1.5 years) and 20 healthy young adults (5 men and 15 women, aged 21.4 ± 1.2 years) participated in this study. We set four conditions (normal, fast, leaning, and leaning fast), and participants crossed the obstacle laterally ten times under each condition. The crossing motion was captured using a three-dimensional analysis system. The trajectory of the foot, landed position, step time, center of gravity of the body, and moment of the lower extremity during the swing phase were calculated and compared between older and younger adults. In the leaning condition, the step time and knee moment of the elderly were significantly longer and larger than those of young adults. From the results of the trajectory of the foot and landed position in the leaning condition, motion inconsistency of the foot was found in the elderly. We believe that it is difficult for the elderly to perform the intended crossing motion and swing quickly because of aging. This inconsistency in motion is a serious cause of falls in the elderly.

A Review of the Potential of Virtual Walking Techniques for Gait Rehabilitation

Virtual reality (VR) technology has emerged as a promising tool for studying and rehabilitating gait disturbances in different cohorts of patients (such as Parkinson's disease, post-stroke, or other neurological disorders) as it allows patients to be engaged in an immersive and artificial environment, which can be designed to address the particular needs of each individual. This review demonstrates the state of the art in applications of virtual walking techniques and related technologies for gait therapy and rehabilitation of people with movement disorders makes recommendations for future research and discusses the use of VR in the clinic. However, the potential for using these techniques in gait rehabilitation is to provide a more personalized approach by simulate the experience of natural walking, while patients with neurological disorders are maintained localized in the real world. The goal of our work is to investigate how the human nervous system controls movement in health and neurodegenerative disease.

The Role of Cognition When Executing an Online, Visually Evoked Adjustment to an Obstacle Circumvention Strategy

We know that performing simultaneous cognitive tasks during locomotion results in reduced performance on either or both tasks, however the role of the cognitive system in the execution of last-minute changes to ongoing adaptive locomotor tasks is not fully understood. Nineteen participants were initially cued to circumvent to left, right, or step over an obstacle while an auditory cognitive task was simultaneously presented. In half of the trials, no change in avoidance strategy was required; in the remaining trials, participants were visually cued two steps in advance to execute a new circumvention strategy. Participants decreased gait velocity and increased cognitive task response times when executing changes in strategy, highlighting the important role the cognitive system plays in these complex tasks.

Temporal accuracy of gait after metronome practice

Humans readily entrain their movements to a beat, including matching their gait to a prescribed tempo. Rhythmic auditory cueing tasks have been used to enhance stepping behavior in a variety of clinical populations. However, there is limited understanding of how temporal accuracy of gait changes over practice in healthy young adults. In this study, we examined how inter-step interval and cadence deviated from slow, medium, and fast tempos across steps within trials, across trials within blocks, and across two blocks that bookended a period of practice of walking to each tempo. Participants were accurate in matching the tempo at the slow and medium tempos, while they tended to lag behind the beat at the fast tempo. We also found that participants showed no substantial improvement across steps and trials, nor across blocks, suggesting that participants had a robust ability to entrain their gait to the specified metronome tempo. However, we did find that participants habituated to the prescribed tempo, showing self-paced gait that was faster than self-paced baseline gait after the fast tempo, and slower than self-paced baseline gait after the slow tempo. These findings might represent an "after-effect" in the temporal domain, akin to after-effects consistently shown in other sensorimotor tasks. This knowledge of how healthy participants entrain their gait to temporal cues may have important implications in understanding how clinical populations acquire and modify their gait in rhythmic auditory cueing tasks.

Exploring the cognitive demands required for young adults to adjust online obstacle avoidance strategies

Humans integrate visual information about their surrounding environment to properly adapt their locomotion to step over or around obstacles in their path. We know that cognition aids in the execution of locomotion and in complex maneuvers such as obstacle avoidance. However, the role of the cognitive system in performing online adjustments to an obstacle avoidance strategy during locomotion has not yet been elucidated. Nineteen young adults instrumented with kinematic markers were asked to step over or circumvent an obstacle to the left or right. In half of these trials, participants were required to adjust this strategy when cued by LED lights two steps prior to obstacle crossing. In 75% of trials, a cognitive task was simultaneously presented (incongruent or congruent auditory Stroop cue, or neutral cue). Center of mass position and velocity was estimated and gait metrics (eg. step length) were calculated to quantify how individuals performed this last-minute direction change and determine how these responses changed when simultaneously performing a cognitive task. Results showed statistically shorter crossing steps, where the trailing limb was placed further from the leading edge and the lead limb was placed closer to the trailing edge when responding to the auditory Stroop task. Performing these avoidance strategy changes also decreased cognitive task performance. Our findings suggest that visually integrating a new stepping pattern to cross an obstacle is a complex locomotor maneuver, and requires the aid of the cognitive system to be performed effectively in a young adult population.

Compensation of stochastic time-continuous perturbations during walking in healthy young adults: An analysis of the structure of gait variability

BACKGROUND

During everyday locomotion, we cope with various internal or external perturbations (e.g. uneven surface). Uncertainty exists on how unpredictable external perturbations increase noise within the motor system and if they are compensated by employing covariation of the limb joints or rather due to decreased sensitivity of an altered posture.

RESEARCH QUESTION

Do continuous stochastic perturbations affect the structure of gait variability in young and healthy adults?

METHODS

In a cross-over study, gait kinematics of 21 healthy young sports students were registered during treadmill walking with and without continuous stochastic perturbations. Using the TNC method, the following aspects were analyzed: (a) the sensitivity of body posture to perturbations ('tolerance') decreasing gait variability, (b) the unstructured motor 'noise' increasing gait variability and (c) the amount of 'covariation' of the limb joints.

RESULTS

Compared to normal walking, gait variability was significantly increased (p < .001) during walking with perturbations. The negative effect of noise was partly compensated by improved 'covariation' of leg joints (p < .001). The aspect 'tolerance' had a small effect on increasing gait variability during stance phase (p < .001) and decreasing gait variability during swing phase (p < .001).

SIGNIFICANCE

Increased motor noise due to external perturbations is partly compensated by improved covariation of the limb joints. However, the effect of an altered posture slightly affects gait variability. Further studies should focus on different populations (e.g. older participants) to see if they use the same mechanism (improved covariation) to compensate for stochastic perturbations.

Control of human gait stability through foot placement

During human walking, the centre of mass (CoM) is outside the base of support for most of the time, which poses a challenge to stabilizing the gait pattern. Nevertheless, most of us are able to walk without substantial problems. In this review, we aim to provide an integrative overview of how humans cope with an underactuated gait pattern. A central idea that emerges from the literature is that foot placement is crucial in maintaining a stable gait pattern. In this review, we explore this idea; we first describe mechanical models and concepts that have been used to predict how foot placement can be used to control gait stability. These concepts, such as for instance the extrapolated CoM concept, the foot placement estimator concept and the capture point concept, provide explicit predictions on where to place the foot relative to the body at each step, such that gait is stabilized. Next, we describe empirical findings on foot placement during human gait in unperturbed and perturbed conditions. We conclude that humans show behaviour that is largely in accordance with the aforementioned concepts, with foot placement being actively coordinated to body CoM kinematics during the preceding step. In this section, we also address the requirements for such control in terms of the sensory information and the motor strategies that can implement such control, as well as the parts of the central nervous system that may be involved. We show that visual, vestibular and proprioceptive information contribute to estimation of the state of the CoM. Foot placement is adjusted to variations in CoM state mainly by modulation of hip abductor muscle activity during the swing phase of gait, and this process appears to be under spinal and supraspinal, including cortical, control. We conclude with a description of how control of foot placement can be impaired in humans, using ageing as a primary example and with some reference to pathology, and we address alternative strategies available to stabilize gait, which include modulation of ankle moments in the stance leg and changes in body angular momentum, such as rapid trunk tilts. Finally, for future research, we believe that especially the integration of consideration of environmental constraints on foot placement with balance control deserves attention.

The relation between limb segment coordination during walking and fall history in community-dwelling older adults

Control of the swing foot during walking is important to prevent falls. The trajectories of the swing foot are adjusted by coordination of the lower limbs, which is evaluated with uncontrolled manifold (UCM) analysis. A previous study that applied this analysis to walking revealed that older adults with fall history had compensatorily great segment coordination to stabilize the swing foot during normal walking. However, it is unknown whether the increase in segment coordination helps for preventing incident falls in the future. At baseline measurement, 30 older adults walked for 20 times at a comfortable speed. UCM analysis was performed to evaluate how the segment configuration in the lower limbs contributes to the swing foot stability. One year after the baseline visit, we asked the subjects if there were incident falls through a questionnaire. The univariate and multivariable logistic regression analyses were performed to assess the association between the index of segment coordination and incident falls with and without adjustment for gait velocity. Twenty-eight older adults who responded to the questionnaire were classified into older adults (n = 12) who had the incident fall and those (n = 16) who did not have falls. It was revealed that older adults who increased the segment coordination associated with swing foot stability tended to experience at least one fall within one year of measurement. The index of the UCM analysis can be a sensitive predictor of incident falls.

Regulation of locomotor pointing across the lifespan: Investigating age-related influences on perceptual-motor coupling

INTRODUCTION

The regulation of one's step length by placing one's foot at a specific position within gait, otherwise known as 'locomotor pointing', is well understood in walking and running gait. The current study was the first to broaden this understanding to a larger cohort and to describe the influence of age on the regulation of locomotor pointing when walking up to and stepping onto a curb-like platform.

METHODS

Younger (n = 17, mean age: 25.35 years, range: 19-33) and older adults (n = 105, mean age: 71.49 years, range: 61-86) participated in a walking experiment, requiring them to approach and step onto a curb-like platform. Linear mixed effects modeling was used to study the main outcome variables: onset of regulation, the regulation strategy and the strength of perceptual-motor coupling.

RESULTS

Results showed that with older age, participants showed less variability in foot placement during their approach and seemed to prefer to shorten their steps. Furthermore, the strength of the perceptual-motor relationship was found to be related to age; regulation of step length of both younger and older participants was based on a participant's current foot position. The strength of this relationship increased as participants got closer to the curb and was stronger with increasing age. Furthermore, younger adults on average lengthened their steps as they got closer to the curb, whereas older adults showed significantly less lengthening compared to their younger counterparts. No age-related differences were found in terms of onset of regulation.

DISCUSSION

The results suggest that the strength of the perceptual-motor relationship in gait is related to age. It is argued that this age-related increase in the strength of perceptual-motor coupling is required to cope with increasing demands linked to the age-related declines of action capabilities. The implications of the findings are discussed in the context of increased falls risks and deficits in perceptual-motor functioning.

Effect of a cognitive task on online adjustments when avoiding stepping on an obstacle and stepping on a target during walking in young adults

During locomotion, we respond to environmental and task changes by adjusting steps length and width. Different protocols involving stepping on targets and obstacle avoidance suggest the involvement of cortical and subcortical pathways in these online adjustments. The addition of a concomitant cognitive task (CT) can affect these online corrections depending on the neural pathway used. Thereby, we investigated the online adjustment using a target stepping task and a planar obstacle avoidance task in young adults and analyzed the effect of a CT on these adjustments. Twenty young adults executed two blocks of trials of walking performing the target task (TT) and obstacle avoidance task (OAT), with and without a concomitant CT. In the TT, participants stepped on a target projected on the ground, whereas in the OAT they avoided stepping on an obstacle projected on the ground. The target/obstacle could change its original position in four directions at contralateral foot contact on the ground. Overall, the CT did not affect the latency to start the adjustments due to target/obstacle change. The main changes were restricted to the frontal plane adjustments. The latency for the medial and lateral choices in the OAT was ~ 200 ms, whereas for the TT was ~ 150 ms. These results suggest the involvement of a slow cortical pathway in the OAT in the frontal plane modifications. In turn, the TT may be controlled by one of two fast adjustment neural pathways.

Perceptual-motor regulation in locomotor pointing while approaching a curb

Locomotor pointing is a task that has been the focus of research in the context of sport (e.g. long jumping and cricket) as well as normal walking. Collectively, these studies have produced a broad understanding of locomotor pointing, but generalizability has been limited to laboratory type tasks and/or tasks with high spatial demands. The current study aimed to generalize previous findings in locomotor pointing to the common daily task of approaching and stepping on to a curb. Sixteen people completed 33 repetitions of a task that required them to walk up to and step onto a curb. Information about their foot placement was collected using a combination of measures derived from a pressure-sensitive walkway and video data. Variables related to perceptual-motor regulation were analyzed on an inter-trial, intra-step and inter-step level. Similar to previous studies, analysis of the foot placements showed that, variability in foot placement decreased as the participants drew closer to the curb. Regulation seemed to be initiated earlier in this study compared to previous studies, as shown by a decreasing variability in foot placement as early as eight steps before reaching the curb. Furthermore, it was shown that when walking up to the curb, most people regulated their walk in a way so as to achieve minimal variability in the foot placement on top of the curb, rather than a placement in front of the curb. Combined, these results showed a strong perceptual-motor coupling in the task of approaching and stepping up a curb, rendering this task a suitable test for perceptual-motor regulation in walking.

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.

Performance of a visuomotor walking task in an augmented reality training setting

Visual cues can be used to train walking patterns. Here, we studied the performance and learning capacities of healthy subjects executing a high-precision visuomotor walking task, in an augmented reality training set-up. A beamer was used to project visual stepping targets on the walking surface of an instrumented treadmill. Two speeds were used to manipulate task difficulty. All participants (n = 20) had to change their step length to hit visual stepping targets with a specific part of their foot, while walking on a treadmill over seven consecutive training blocks, each block composed of 100 stepping targets. Distance between stepping targets was varied between short, medium and long steps. Training blocks could either be composed of random stepping targets (no fixed sequence was present in the distance between the stepping targets) or sequenced stepping targets (repeating fixed sequence was present). Random training blocks were used to measure non-specific learning and sequenced training blocks were used to measure sequence-specific learning. Primary outcome measures were performance (% of correct hits), and learning effects (increase in performance over the training blocks: both sequence-specific and non-specific). Secondary outcome measures were the performance and stepping-error in relation to the step length (distance between stepping target). Subjects were able to score 76% and 54% at first try for lower speed (2.3 km/h) and higher speed (3.3 km/h) trials, respectively. Performance scores did not increase over the course of the trials, nor did the subjects show the ability to learn a sequenced walking task. Subjects were better able to hit targets while increasing their step length, compared to shortening it. In conclusion, augmented reality training by use of the current set-up was intuitive for the user. Suboptimal feedback presentation might have limited the learning effects of the subjects.

Strategies for obstacle avoidance during walking in the cat

Avoiding obstacles is essential for successful navigation through complex environments. This study aimed to clarify what strategies are used by a typical quadruped, the cat, to avoid obstacles during walking. Four cats walked along a corridor 2.5 m long and 25 or 15 cm wide. Obstacles, small round objects 2.5 cm in diameter and 1 cm in height, were placed on the floor in various locations. Movements of the paw were recorded with a motion capture and analysis system (Visualeyez, PTI). During walking in the wide corridor, cats' preferred strategy for avoiding a single obstacle was circumvention, during which the stride direction changed while stride duration and swing-to-stride duration ratio were preserved. Another strategy, stepping over the obstacle, was used during walking in the narrow corridor, when lateral deviations of walking trajectory were restricted. Stepping over the obstacle involved changes in two consecutive strides. The stride preceding the obstacle was shortened, and swing-to-stride ratio was reduced. The obstacle was negotiated in the next stride of increased height and normal duration and swing-to-stride ratio. During walking on a surface with multiple obstacles, both strategies were used. To avoid contact with the obstacle, cats placed the paw away from the object at a distance roughly equal to the diameter of the paw. During obstacle avoidance cats prefer to alter muscle activities without altering the locomotor rhythm. We hypothesize that a choice of the strategy for obstacle avoidance is determined by minimizing the complexity of neuro-motor processes required to achieve the behavioral goal.NEW & NOTEWORTHY In a study of feline locomotor behavior we found that the preferred strategy to avoid a small obstacle is circumvention. During circumvention, stride direction changes but length and temporal structure are preserved. Another strategy, stepping over the obstacle, is used in narrow walkways. During overstepping, two strides adjust. A stride preceding the obstacle decreases in length and duration. The following stride negotiating the obstacle increases in height while retaining normal temporal structure and nearly normal length.

When an object appears unexpectedly: foot placement during obstacle circumvention in children and adults with Developmental Coordination Disorder

Adjustments to locomotion to avoid an obstacle require a change to the usual pattern of foot placement, i.e. changes to step length and/or step width. Previous studies have demonstrated a difficulty in individuals with Developmental Coordination Disorder (DCD) in controlling stability while both stepping over and while circumventing an obstacle. In a previous study, we have considered the way in which individuals with DCD prepare for the possibility of an obstacle appearing (Wilmut and Barnett in Exp Brain Res 235:1531-1340, 2017). Using a parallel data set from this same task on the same individuals, the aim of the current study was to investigate the exact nature of changes in foot placement during obstacle avoidance, as this was not clear from previous work. Children and adults aged from 7 to 34 years of age took part in the study. Forty-four met the criteria for a diagnosis of DCD and there were 44 typically developing (TD) age and gender-matched controls. Participants walked at a comfortable pace down an 11 m walkway; on 6 out of 36 trials a 'gate' closed across their pathway which required circumvention. These 6 'gate close' trials were analysed for this study. The number and magnitude of step length and step width adjustments were similar across the DCD and TD groups, however, the younger children (7-11 years) made a greater number of early adjustments compared to the older children and adults (12-34 years of age). In contrast the adults made a greater number of adjustments later in the movement compared to the children. In terms of foot placement adjustments a clear preference was seen across all participants to use adjustments which resulted in reducing step length, stepping away from the obstacle and a combination of these. Apart from subtle differences, the individuals with DCD make step placements to circumvent an obstacle in line with their peers. It is suggested that the choice of foot placement strategy in individuals with DCD, although in line with their peers, may not be optimal for their level of motor ability.

High-speed bounding with the MIT Cheetah 2: Control design and experiments

This paper presents the design and implementation of a bounding controller for the MIT Cheetah 2 and its experimental results. The paper introduces the architecture of the controller along with the functional roles of its subcomponents. The application of impulse scaling provides feedforward force profiles that automatically adapt across a wide range of speeds. A discrete gait pattern stabilizer maintains the footfall sequence and timing. Continuous feedback is layered to manage balance during the stance phase. Stable hybrid limit cycles are exhibited in simulation using simplified models, and are further validated in untethered three-dimensional bounding experiments. Experiments are conducted both indoors and outdoors on various man-made and natural terrains. The control framework is shown to provide stable bounding in the hardware, at speeds of up to 6.4 m/s and with a minimum total cost of transport of 0.47. These results are unprecedented accomplishments in terms of efficiency and speed in untethered experimental quadruped machines.

When an object appears unexpectedly: anticipatory movement and object circumvention in individuals with and without Developmental Coordination Disorder

Obstacles often appear unexpectedly in our pathway and these require us to make adjustments to avoid collision. Previous research has demonstrated that healthy adults will make anticipatory adjustments to gait where they have been told there is the possibility of an obstacle appearing. One population that may find this type of anticipatory movement difficult is individuals with Developmental Coordination Disorder (DCD). The current study considered how individuals with and without DCD adjust to the possibility of an obstacle appearing which would require circumvention. Fortyfour individuals with DCD and 44 age-matched controls (aged from 7 to 34 years of age) walked down an 11 m walkway under three conditions. Initially they were told this was a clear pathway and nothing in the environment would change (1, no possibility of an obstacle, no obstacle). They then performed a series of trials in which a gate may (2, possibility of an obstacle, obstacle) or may not (3, possibility of an obstacle, no obstacle) partially obstruct their pathway. We found that all participants increased medio-lateral trunk acceleration when there was the possibility of an obstacle but before the obstacle appeared, in addition the typical adults and older children also increased step width. When describing circumvention we found that the younger children showed an increase in trunk velocity and acceleration in all three directions compared to older children and adults. We also found that the individuals with DCD adjusted their path sooner and deviated more than their peers. The degree of adjustment to step width in anticipation of an obstacle was related to later medio-lateral velocity and timing of the deviation. Therefore, the lack of 'readying' the system where there is the possibility of an obstacle appearing seen in the individuals with DCD and the younger typical children may explain the increased medio-lateral velocity seen during circumvention.

Mechanisms for regulating step length while running towards and over an obstacle

The ability to run across uneven terrain with continuous stable movement is critical to the safety and efficiency of a runner. Successful step-to-step stabilization while running may be mediated by minor adjustments to a few key parameters (e.g., leg stiffness, step length, foot strike pattern). However, it is not known to what degree runners in relatively natural settings (e.g., trails, paved road, curbs) use the same strategies across multiple steps. This study investigates how three readily measurable running parameters - step length, foot placement, and foot strike pattern - are adjusted in response to encountering a typical urban obstacle - a sidewalk curb. Thirteen subjects were video-recorded as they ran at self-selected slow and fast paces. Runners targeted a specific distance before the curb for foot placement, and lengthened their step over the curb (p<0.0001) regardless of where the step over the curb was initiated. These strategies of adaptive locomotion disrupt step cycles temporarily, and may increase locomotor cost and muscle loading, but in the end assure dynamic stability and minimize the risk of injury over the duration of a run.

Foot Placement Selection Using Non-geometric Visual Properties

Geometric information alone is not sufficient to guide foot placement in arobotic device. A travel path may be firm or soft, slippery or sticky, and will thus affect locomotion. In humans, associations are made between various travel surfaces and gait modification. If a preferred foot position is unavailable, an alternate is selected. This selection is biased, and not random. Here we present a model of alternate foot placement. We demonstrate some novel properties of the model, thus showing its predictive value. We give results in a small bipedal walking mechanism. The power of our approach is that it captures key features of human performance and can be easily implemented in most walking machines.

Age effects on the control of dynamic balance during step adjustments under temporal constraints

This study investigated the age effects on the control of dynamic balance during step adjustments under temporal constraints. Fifteen young adults and 14 older adults avoided a virtual white planar obstacle by lengthening or shortening their steps under free or constrained conditions. In the anterior-posterior direction, older adults demonstrated significantly decreased center of mass velocity at the swing foot contact under temporal constraints. Additionally, the distances between the 'extrapolated center of mass' position and base of support at the swing foot contact were greater in older adults than young adults. In the mediolateral direction, center of mass displacement was significantly increased in older adults compared with young adults. Consequently, older adults showed a significantly increased step width at the swing foot contact in the constraint condition. Overall, these data suggest that older adults demonstrate a conservative strategy to maintain anterior-posterior stability. By contrast, although older adults are able to modulate their step width to maintain mediolateral dynamic balance, age-related changes in mediolateral balance control under temporal constraints may increase the risk of falls in the lateral direction during obstacle negotiation.

Known and unexpected constraints evoke different kinematic, muscle, and motor cortical neuron responses during locomotion

During navigation through complex natural environments, people and animals must adapt their movements when the environment changes. The neural mechanisms of such adaptations are poorly understood, especially with respect to constraints that are unexpected and must be adapted to quickly. In this study, we recorded forelimb-related kinematics, muscle activity, and the activity of motor cortical neurons in cats walking along a raised horizontal ladder, a complex locomotion task requiring accurate limb placement. One of the crosspieces was motorized, and displaced before the cat stepped on the ladder or at different points along the cat's progression over the ladder, either towards or away from the cat. We found that, when the crosspiece was displaced before the cat stepped onto the ladder, the kinematic modifications were complex and involved all forelimb joints. When the crosspiece displaced unexpectedly while the cat was on the ladder, the kinematic modifications were minimalistic and primarily involved distal joints. The activity of M. triceps and M. extensor digitorum communis differed based on the direction of displacement. Out of 151 neurons tested, 69% responded to at least one condition; however, neurons were significantly more likely to respond when crosspiece displacement was unexpected. Most often they responded during the swing phase. These results suggest that different neural mechanisms and motor control strategies are used to overcome constraints for locomotor movements depending on whether they are known or emerge unexpectedly.

Effects of aging and dual tasking on step adjustments to perturbations in visually cued walking

Making step adjustments is an essential component of walking. However, the ability to make step adjustments may be compromised when the walker’s attentional capacity is limited. This study compared the effects of aging and dual tasking on step adjustments in response to stepping-target perturbations during visually cued treadmill walking. Fifteen older adults (69.4 ± 5.0 years; mean ± SD) and fifteen young adults (25.4 ± 3.0 years) walked at a speed of 3 km/h on a treadmill. Both groups performed visually cued step adjustments in response to unpredictable shifts of projected stepping targets in forward (FW), backward (BW) or sideward (SW) directions, at different levels of task difficulty [which increased as the available response distance (ARD) decreased], and with and without dual tasking (auditory Stroop task). In both groups, step adjustments were smaller than required. For FW and BW shifts, older adults undershot more under dual-task conditions. For these shifts, ARD affected the age groups differentially. For SW shifts, larger errors were found for older adults, dual tasking and the most difficult ARD. Stroop task performance did not differ between groups in all conditions. Older adults have more difficulty than young adults to make corrective step adjustments while walking, especially under dual-tasking conditions. Furthermore, they seemed to prioritize the cognitive task over the step adjustment task, a strategy that may pose aging populations at a greater fall risk. For comparable task difficulty, the older adults performed considerably worse than the young adults, indicating a decreased ability to adjust steps under time pressure.

Gait characteristics and sensory abilities of older adults are modulated by gender

Despite the general perception that women and men walk differently, little is known about the reasons for these differences, especially in older adults. Previous work on gender differences in older adults has focused on spatiotemporal parameters. This study aims to assess gender-related differences in gait spatiotemporal and quality parameters when walking on a flat walkway at two different self-selected speeds: comfortable and fast. Sensorimotor abilities (Strength, agility, standing balance, reaction time) were also compared by gender, and gender-specific associations between spatiotemporal and sensorimotor parameters and gait quality were studied. Two tri-axial accelerometers were used at head and pelvis levels to investigate spatiotemporal parameters (step length, velocity and cadence), and gait quality (harmonic ratios (HR) and attenuation of accelerations between body levels) in 122 older adults (90 women, 69.7±5.1 y.o. and 32 men, 71.6±6.4 y.o.). Both men and women walked with similar speed; however women presented faster cadence and shorter steps than men at both walking speeds. Women also walked with greater vertical HR (head and pelvis), mediolateral pelvis HR, and attenuation (mediolateral and anteroposterior) than men. Women had better control of standing balance on foam (eyes open and closed) and tandem test. Moreover, balance on foam, tandem test, step length and cadence were associated to gender-specific gait quality parameters. The aging process seems to be affecting men and women differently, thus, gender differences should be considered when preparing intervention programs to improve balance and gait in older populations or when establishing normative data for balance and gait in older adults.

Locomotor sensory organization test: a novel paradigm for the assessment of sensory contributions in gait

Feedback based balance control requires the integration of visual, proprioceptive and vestibular input to detect the body's movement within the environment. When the accuracy of sensory signals is compromised, the system reorganizes the relative contributions through a process of sensory recalibration, for upright postural stability to be maintained. Whereas this process has been studied extensively in standing using the Sensory Organization Test (SOT), less is known about these processes in more dynamic tasks such as locomotion. In the present study, ten healthy young adults performed the six conditions of the traditional SOT to quantify standing postural control when exposed to sensory conflict. The same subjects performed these six conditions using a novel experimental paradigm, the Locomotor SOT (LSOT), to study dynamic postural control during walking under similar types of sensory conflict. To quantify postural control during walking, the net Center of Pressure sway variability was used. This corresponds to the Performance Index of the center of pressure trajectory, which is used to quantify postural control during standing. Our results indicate that dynamic balance control during locomotion in healthy individuals is affected by the systematic manipulation of multisensory inputs. The sway variability patterns observed during locomotion reflect similar balance performance with standing posture, indicating that similar feedback processes may be involved. However, the contribution of visual input is significantly increased during locomotion, compared to standing in similar sensory conflict conditions. The increased visual gain in the LSOT conditions reflects the importance of visual input for the control of locomotion. Since balance perturbations tend to occur in dynamic tasks and in response to environmental constraints not present during the SOT, the LSOT may provide additional information for clinical evaluation on healthy and deficient sensory processing.

Prospective dynamic balance control during the swing phase of walking: stability boundaries and time-to-contact analysis

This study examined the prospective control of the swing phase in young healthy adults while walking at preferred speed over unobstructed ground and during obstacle clearance. Three aspects of swing were examined: (1) the relation of the body Center of Mass (CoM) to the stability boundaries at the base of support; (2) a dynamic time-to-contact analysis of the CoM and swing foot to these boundaries; and (3) the role of head movements in the prospective control of gait and field of view assessment. The time-to-contact analysis of CoM and swing foot showed less stable swing dynamics in the trail foot compared to the lead foot in the approach to the unstable equilibrium, with the CoM leading the swing foot and crossing the anterior stability boundary before the swing foot. Compensations in temporal coupling occurred in the trail limb during the late swing phase. Time-to-contact analysis of head movement showed stronger prospective control of the lead foot, while fixation of the field of view occurred earlier in swing and was closer to the body in the obstacle condition compared to unobstructed walking. The dynamic time-to-contact analysis offers a new approach to assessing the unstable swing phase of walking in different populations.

Pelvic step: the contribution of horizontal pelvis rotation to step length in young healthy adults walking on a treadmill

Transverse plane pelvis rotations during walking may be regarded as the "first determinant of gait". This would assume that pelvis rotations increase step length, and thereby reduce the vertical movements of the centre of mass-"the pelvic step". We analysed the pelvic step using 20 healthy young male subjects, walking on a treadmill at 1-5 km/h, with normal or big steps. Step length, pelvis rotation amplitude, leg-pelvis relative phase, and the contribution of pelvis rotation to step length were calculated. When speed increased in normal walking, pelvis rotation changed from more out-of-phase to in-phase with the upper leg. Consequently, the contribution of pelvis rotation to step length was negative at lower speeds, switching to positive at 3 km/h. With big steps, leg and pelvis were more in-phase, and the contribution of pelvis rotation to step length was always positive, and relatively large. Still, the overall contribution of pelvis rotations to step length was small, less than 3%. Regression analysis revealed that leg-pelvis relative phase predicted about 60% of the variance of this contribution. The results of the present study suggest that, during normal slow walking, pelvis rotations increase, rather than decrease, the vertical movements of the centre of mass. With large steps, this does not happen, because leg and pelvis are in-phase at all speeds. Finally, it has been suggested that patients with hip flexion limitation may use larger pelvis rotations to increase step length. This, however, may only work as long as the pelvis rotates in-phase with the leg.

Sensory systems in the control of movement

Animal movement is immensely varied, from the simplest reflexive responses to the most complex, dexterous voluntary tasks. Here, we focus on the control of movement in mammals, including humans. First, the sensory inputs most closely implicated in controlling movement are reviewed, with a focus on somatosensory receptors. The response properties of the large muscle receptors are examined in detail. The role of sensory input in the control of movement is then discussed, with an emphasis on the control of locomotion. The interaction between central pattern generators and sensory input, in particular in relation to stretch reflexes, timing, and pattern forming neuronal networks is examined. It is proposed that neural signals related to bodily velocity form the basic descending command that controls locomotion through specific and well-characterized relationships between muscle activation, step cycle phase durations, and biomechanical outcomes. Sensory input is crucial in modulating both the timing and pattern forming parts of this mechanism.

The effects of age on stabilization of the mediolateral trajectory of the swing foot

To ensure stability during gait, mediolateral placement of the swinging foot must be actively regulated. Logically this occurs through end-point control of the swing limb trajectory, the precision of which is quantified as step-width variability (SWV). Increased SWV with age may reflect reduced precision of this control, but cannot describe if, and how, age-related changes in lower limb kinematic synergies account for reduced precision. We analyzed joint configuration variance across steps within the uncontrolled manifold (UCM) hypothesis, which assumes that redundant sets of elemental variables are organized by the central nervous system to stabilize important performance variables. We tested whether: (1) regardless of age, the swing limb trajectory would be stabilized by a kinematic synergy of the lower limbs, and (2) the strength of the synergy would be weaker in older adults. Ten younger and ten older adults (65+ years) walked on a laboratory walkway at their preferred speed while kinematic data were collected. UCM analysis of segmental configuration variance was performed with respect to the mediolateral trajectory of the swing-limb ankle joint center. Throughout most of swing, the trajectory was stabilized by a kinematic synergy. Despite the greater segmental configuration variance of older adults, the strength of the synergy was not significantly different between groups. Moreover, the synergy index became negative during terminal swing and was not significantly correlated with SWV. Accordingly, co-variation among individual segmental trajectories is more important for stabilization of the swing trajectory during mid-swing, and, throughout swing, aging does not appear to affect this stabilization.

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.

Split-second decisions on a split belt: does simulated limping affect obstacle avoidance?

During normal gait a suddenly appearing obstacle is avoided either by making a large crossing step (long-step strategy, LSS) or by interrupting the swing phase (short-step strategy, SSS) depending on the time of appearance of the obstacle in the step cycle. Limping changes the proportion of time spent in the swing phase and the question arises whether this could affect the ability to avoid obstacles. This was investigated using a split-belt treadmill that induces behavior that is similar to limping even in normal adults. Subjects walked on a split-belt treadmill with speed ratios between left and right of 2:2 up to 2:8 km/h in combination with obstacle avoidance (OA) on the slow belt. The failure rate of obstacle avoidance increased markedly as speed differences between legs increased. This increment was paralleled by augmented use of the SSS, related to an increase in time pressure. In all split-belt walking conditions, the alternative strategy (LSS) yielded less OA failures but it required much longer preparation time than the SSS. In addition, the prolonged stance phases prior to crossing in the LSS required a concomitant prolongation of the contralateral swing phase. This was difficult to achieve at times and as a result the swing phase was sometimes interrupted, giving rise to a contralateral SSS (and a 2:1 coordination pattern). It is concluded that simulated limping greatly increases the risk of failing to avoid suddenly appearing obstacles.

Foot placement variability as a walking balance mechanism post-spinal cord injury

BACKGROUND

Spinal cord injury affects walking balance control, which necessitates methods to quantify balance ability. The purposes of this study were to 1) examine walking balance through foot placement variability post-injury; 2) assess the relationship between measures of variability and clinical balance assessments; and 3) determine if spatial parameter variability might be used as a clinical correlate for more complex balance measurements.

METHODS

Ten persons with spinal cord injury walked without devices on a split-belt treadmill at self-selected speeds. Ten healthy controls walked at 0.3 and 0.6m/s for comparison. Variability of step width and length, anteroposterior and mediolateral foot placements relative to center-of-mass, and margin-of-stability were calculated. Clinical assessments included Berg Balance Scale and Dynamic Gait Index.

FINDINGS

Participants with spinal cord injury demonstrated significantly different variability in all biomechanical measures compared to controls (P ≤ 0.007). Berg Balance Scale scores were significantly inversely associated with step length as well as anteroposterior and mediolateral foot placement variability (P ≤ 0.05). Dynamic Gait Index scores were significantly inversely associated with mediolateral foot placement variability (P ≤ 0.05). Participants with spinal cord injury showed significant correlations between spatial parameter variability and all other measures (P ≤ 0.005), except between step length and margin-of-stability (P=0.068); controls revealed fewer correlations.

INTERPRETATION

Persons post-spinal cord injury exhibit an abnormal amount of stepping variability when challenged to walk without devices, yet preserve the ability to avoid falling. When complex laboratory measures of variability are unavailable clinically, spatial parameter variability or standardized balance assessments may be plausible indicators of walking balance control.

Younger is not always better: development of locomotor adaptation from childhood to adulthood

New walking patterns can be learned over short timescales (i.e., adapted in minutes) using a split-belt treadmill that controls the speed of each leg independently. This leads to storage of a modified spatial and temporal motor pattern that is expressed as an aftereffect in regular walking conditions. Because split-belt walking is a novel task for adults and children alike, we used it to investigate how motor adaptation matures during human development. We also asked whether the immature pattern resembles that of people with cerebellar dysfunction, because we know that this adaptation depends on cerebellar integrity. Healthy children (3-18 years old) and adults, and individuals with cerebellar damage were adapted while walking on split belts (1:2 speed ratio). Adaptation and de-adaptation rates were quantified separately for temporal and spatial parameters. All healthy children and adults tested could learn the new timing at the same rate and showed significant aftereffects. However, children younger than 6 years old were unable to learn the new spatial coordination. Furthermore, children as old as age 11 years old showed slower rates of adaptation and de-adaptation of spatial parameters of walking. Young children showed patterns similar to cerebellar patients, with greater deficits in spatial versus temporal adaptation. Thus, although walking is a well-practiced, refined motor skill by late childhood (i.e., 11 years of age), the processes underlying learning new spatial relationships between the legs are still developing. The maturation of locomotor adaptation follows at least two time courses, which we propose is determined by the developmental state of the cerebellum.

Human locomotion through a multiple obstacle environment: strategy changes as a result of visual field limitation

This study investigated how human locomotion through an obstacle environment is influenced by visual field limitation. Participants were asked to walk at a comfortable pace to a target location while avoiding multiple vertical objects. During this task, they wore goggles restricting their visual field to small (S: 40°×25°), medium (M: 80°×60°), large (L: 115°×90°), or unlimited (U) visual field sizes. Full-body motion capture was used to extract for each trial the mean speed, pathlength, mean step width, magnitude of head rotation and head mean angular speed. The results show that compared with the U condition, the M and L conditions caused participants to select a wider path around the obstacles without slowing down or altering step width. However, the S condition did slow down the participants, and increased both their step width and path length. We conclude that only for the S condition, balancing problems were substantial enough to spend more energy associated with increased step width. In all cases, participants choose to optimize safety (collision avoidance) at the cost of spending more energy.

Invariance of locomotor trajectories across visual and gait direction conditions

We studied the influence of vision (walking with or without vision) and of gait direction (walking forward or backward) on goal-oriented locomotion in humans. Subjects had to walk, in a free environment, from a given position and orientation towards a distant arrow which constrained their final position and orientation. We found that the average trajectories were mostly similar across the tested conditions, which suggests that locomotor trajectories are generated at a high cognitive level and, to some extent, independently of the detailed sensory and motor implementation levels. The variability profiles around the average trajectories were similar across the gait direction conditions but differed greatly across the visual conditions, indicating the existence of motor-independent and vision-dependent control mechanisms. Taken together, our observations argue further in favour of a top-down implementation of goal-oriented locomotion, where the control of locomotion is specified at the level of whole-body trajectories and then implemented through specific motor strategies.

Does osteoporosis predispose falls? A study on obstacle avoidance and balance confidence

Background

Osteoporosis is associated with changes in balance and physical performance and has psychosocial consequences which increase the risk of falling. Most falls occur during walking; therefore an efficient obstacle avoidance performance might contribute to a reduction in fall risk. Since it was shown that persons with osteoporosis are unstable during obstacle crossing it was hypothesized that they more frequently hit obstacles, specifically under challenging conditions.

The aim of the study was to investigate whether obstacle avoidance ability was affected in persons with osteoporosis compared to a comparison group of a community sample of older adults.

Methods

Obstacle avoidance performance was measured on a treadmill and compared between persons with osteoporosis (n = 85) and the comparison group (n = 99). The obstacle was released at different available response times (ART) to create different levels of difficulty by increasing time pressure. Furthermore, balance confidence, measured with the short ABC-questionnaire, was compared between the groups.

Results

No differences were found between the groups in success rates on the obstacle avoidance task (p = 0.173). Furthermore, the persons with osteoporosis had similar levels of balance confidence as the comparison group (p = 0.091). The level of balance confidence was not associated with the performance on the obstacle avoidance task (p = 0.145).

Conclusion

Obstacle avoidance abilities were not impaired in persons with osteoporosis and they did not experience less balance confidence than the comparison group. These findings imply that persons with osteoporosis do not have an additional risk of falling because of poorer obstacle avoidance abilities.

Variation in trunk kinematics influences variation in step width during treadmill walking by older and younger adults

Step-by-step variations in step width have been hypothesized to reflect adjustments to swing foot placement in response to preceding frontal plane trunk kinematics. The present study tested this hypothesis while 12 younger and 11 older subjects walked on treadmill for 10min at a self-selected velocity. The relationship between step-by-step variations in step width and frontal plane trunk COM kinematics was determined using multiple regression analysis. Trunk kinematics at midstance were significantly (p<0.001) and strongly (R(2)=0.54) related to the subsequent foot placement supporting the primary hypothesis. Additionally, this relationship was significantly affected by age (p<0.001) and stepping limb (p<0.001). These results implicate feedback driven control of foot trajectory during the swing phase. Further, they provide a biomechanical framework by which loss of frontal plane dynamic stability may result from a step width that is insufficient to decelerate and redirect trunk kinematics in preparation for the next step.

Medio-lateral stability of sit-to-walk performance in older individuals with and without fear of falling

Most falls in older people are due to loss of balance during everyday locomotion, e.g., when initiating walking from sitting; sit-to-walk (STW). It has been considered that the broader stride width in walking that is seen in many people with fear of falling (FoF) does not increase stability, but could be predictive of future falls because of increased medio-lateral (ML) velocity of the body centre of mass (CoM). This study was aimed to examine step-, velocity- and stability-related parameters, focusing on ML stability, in STW performance of people with and without FoF. Ten subjects with FoF and 10 matched controls, aged > or = 70 years, were included. Kinematic and kinetic data were collected in a laboratory. Stability parameters were calculated from a formula implying that the vertical projection of the CoM extrapolated by adding its velocity times a factor radicall/g (height of inverted pendulum divided by gravity) should fall within the base of support (BoS). A related spatial margin of stability (SMoS), defined as the minimum distance from the extrapolated CoM (XCoM) to the boundaries of the BoS, was also calculated. In the phase 'seat-off-second-toe-off', the FoF group had significantly (p<0.05) shorter and broader steps, lower forward but similar ML CoM velocity, and broader CoM and XCoM widths. The FoF group therefore exhibited a disproportionately large sideways velocity compared to the controls. This indicates that STW may be a hazardous transfer for older people with FoF, which should be relevant in assessment and training aimed at preventing falls.

Human Foot Placement and Balance in the Sagittal Plane

Foot placement has long been recognized as the primary mechanism that humans use to restore balance. Many biomechanists have examined where humans place their feet during gait, perturbations, and athletic events. Roboticists have also used foot placement as a means of control but with limited success. Recently, Wight et al. (2008, “Introduction of the Foot Placement Estimator: A Dynamic Measure of Balance for Bipedal Robotics,” ASME J. Comput. Nonlinear Dyn., 3, p. 011009) introduced a planar foot placement estimator (FPE) algorithm that will restore balance to a simplified biped that is falling. This study tested the FPE as a candidate function for sagittal plane human-foot-placement (HFP) by recording the kinematics of 14 healthy subjects while they performed ten walking trials at three speeds. The FPE was highly correlated with HFP (ρ≥0.997) and its accuracy varied linearly from 2.6 cm to −8.3 cm as walking speed increased. A sensitivity analysis revealed that assumption violations of the FPE cannot account for the velocity-dependent changes in FPE-HFP error suggesting that this behavior is volitional.

The effect of a sensory perturbation on step direction or length while crossing an obstacle from quiet stance

BACKGROUND AND AIMS

The purpose of this study was to investigate the effect of a sensory perturbation on step length and direction while crossing an obstacle from quiet stance.

METHODS

Nine healthy adults were asked to step over an obstacle to land on a primary target (normal stepping condition). Following a light signal subjects had to respond as quickly as possible by stepping to secondary targets either forward or diagonal to the primary target.

RESULTS

Distinct changes in the slope of the anterior-posterior (Fx) and medial-lateral (Fy) ground reaction forces occurred 176 ms following the light signal. For diagonal stepping stance limb tibialis anterior (TA) and bilateral gluteus medius (GM) were responsible for directing the swing limb to the target. An increase in step length towards the long target was achieved primarily by activation of bilateral GM.

CONCLUSIONS

Both EMG and force plate changes suggest that diagonal stepping is a more complex and challenging task than long stepping.

Impaired reactive stepping adjustments in older adults

Background

The ability to redirect the path of the foot during walking is critical for responding to perturbations and maintaining upright stability. The purpose of the current study was to compare mechanisms of reactive stepping adjustments in young versus older adults when responding to an unexpected perturbation during voluntary step initiation.

Methods

We tested 13 healthy community-dwelling older adults and an equal number of young control participants performing stepping movements onto a visual target on the floor. In some trials, perturbations were introduced by unexpectedly shifting the target, at various time points, from its usual location to a new location 20 cm to the right. We measured ground reaction forces under the supporting leg and three-dimensional kinematics of the stepping leg in baseline and target shift trials.

Results

During target shift trials, that is, when reactive adjustments were required, older adults demonstrated the following: delayed responses in modifying the lateral propulsive forces under the supporting foot, reduced rates of lateral force production, delayed responses in modifying the stepping foot trajectory, and prolonged movement execution times.

Conclusions

The current study quantitatively distinguishes between healthy older and young adults in generating reactive stepping adjustments to an unpredictable shift of a visual target. The decreased capability for rapidly planning and executing an effective voluntary step modification could reveal one potential cause for the increased risk of falls in the older population.