Analysis of sloped gait: How many steps are needed to reach steady-state walking speed after gait initiation?

Changes in Dynamic Mean Ankle Moment Arm in Unimpaired Walking Across Speeds, Ramps, and Stairs

Understanding the natural biomechanics of walking at different speeds and activities is crucial to develop effective assistive devices for persons with lower-limb impairments. While continuous measures such as joint angle and moment are well-suited for biomimetic control of robotic systems, whole-stride summary metrics are useful for describing changes across behaviors and for designing and controlling passive and semi-active devices. Dynamic mean ankle moment arm (DMAMA) is a whole-stride measure representing the moment arm of the ground reaction impulse about the ankle joint-effectively, how "forefoot-dominated" or "hindfoot-dominated" a movement is. DMAMA was developed as a target and performance metric for semi-active devices that adjust once per stride. However, for implementation in this application, DMAMA must be characterized across various activities in unimpaired individuals. In our study, unimpaired participants walked at "slow," "normal," and "fast" self-selected speeds on level ground and at a normal self-selected speed while ascending and descending stairs and a 5-degree incline ramp. DMAMA measured from these activities displayed a borderline-significant negative sensitivity to walking speed, a significant positive sensitivity to ground incline, and a significant decrease when ascending stairs compared to descending. The data suggested a nonlinear relationship between DMAMA and walking speed; half of the participants had the highest average DMAMA at their "normal" speed. Our findings suggest that DMAMA varies substantially across activities, and thus, matching DMAMA could be a valuable metric to consider when designing biomimetic assistive lower-limb devices.

Concurrent Validity Evidence for Pressure-Sensing Walkways Measuring Spatiotemporal Features of Gait: A Systematic Review and Meta-Analysis

Technologies that capture and analyze movement patterns for diagnostic or therapeutic purposes are a major locus of innovation in the United States. Several studies have evaluated their measurement properties in different conditions with variable findings. To date, the authors are not aware of any systematic review of studies conducted to assess the concurrent validity of pressure-sensing walkway technologies. The results of such an analysis could establish the body of evidence needed to confidently use these systems as reference or gold-standard systems when validating novel tools or measures. A comprehensive search of electronic databases including MEDLINE, Embase, and Cumulative Index to Nursing and Allied Health Literature (CINAHL) was performed. The initial search yielded 7670 papers. After removing duplicates and applying study inclusion/exclusion criteria, 11 papers were included in the systematic review with 10 included in a meta-analysis. There were 25 spatial and temporal gait parameters extracted from the included studies. The results showed there was not a significant bias for nearly all spatiotemporal gait parameters when the walkway system was compared to the reference systems. The findings from this analysis should provide confidence in using the walkway systems as reference systems in future studies to support the evaluation and validation of novel technologies deriving gait parameters.

Understanding the influence of context on real-world walking energetics

Speeds that minimize energetic cost during steady-state walking have been observed during lab-based investigations of walking biomechanics and energetics. However, in real-world scenarios, humans walk in a variety of contexts that can elicit different walking strategies, and may not always prioritize minimizing energetic cost. To investigate whether individuals tend to select energetically optimal speeds in real-world situations and how contextual factors influence gait, we conducted a study combining data from lab and real-world experiments. Walking kinematics and context were measured during daily life over a week (N=17) using wearable sensors and a mobile phone. To determine context, we utilized self-reported activity logs, GPS data and follow-up exit interviews. Additionally, we estimated energetic cost using respirometry over a range of gait speeds in the lab. Gross and net cost of transport were calculated for each participant, and were used to identify energetically optimal walking speed ranges for each participant. The proportion of real-world steady-state stride speeds within these ranges (gross and net) were identified for all data and for each context. We found that energetically optimal speeds predicted by gross cost of transport were more predictive of walking speeds used during daily life than speeds that would minimize net cost of transport. On average, 82.2% of all steady-state stride speeds were energetically optimal for gross cost of transport for all contexts and participants, while only 45.6% were energetically optimal for net cost of transport. These results suggest that while energetic cost is a factor considered by humans when selecting gait speed in daily life, it is not the sole determining factor. Context contributes to the observed variability in movement parameters both within and between individuals.

Gait Variability at Different Walking Speeds

Gait variability (GV) is a crucial measure of inconsistency of muscular activities or body segmental movements during repeated tasks. Hence, GV might serve as a relevant and sensitive measure to quantify adjustments of walking control. However, it has not been clarified whether GV is associated with walking speed, a clarification needed to exploit effective better bilateral coordination level. For this aim, fourteen male students (age 22.4 ± 2.7 years, body mass 74.9 ± 6.8 kg, and body height 1.78 ± 0.05 m) took part in this study. After three days of walking 1 km each day at a self-selected speed (SS) on asphalt with an Apple Watch S. 7 (AppleTM, Cupertino, CA, USA), the participants were randomly evaluated on a treadmill at three different walking speed intensities for 10 min at each one, SS - 20%/SS + 20%/ SS, with 5 min of passive recovery in-between. Heart rate (HR) was monitored and normalized as %HRmax, while the rate of perceived exertion (RPE) (CR-10 scale) was asked after each trial. Kinematic analysis was performed, assessing the Contact Time (CT), Swing Time (ST), Stride Length (SL), Stride Cycle (SC), and Gait Variability as Phase Coordination Index (PCI). RPE and HR increased as the walking speed increased (p = 0.005 and p = 0.035, respectively). CT and SC decreased as the speed increased (p = 0.0001 and p = 0.013, respectively), while ST remained unchanged (p = 0.277). SL increased with higher walking speed (p = 0.0001). Conversely, PCI was 3.81 ± 0.88% (high variability) at 3.96 ± 0.47 km·h-1, 2.64 ± 0.75% (low variability) at SS (4.94 ± 0.58 km·h-1), and 3.36 ± 1.09% (high variability) at 5.94 ± 0.70 km·h-1 (p = 0.001). These results indicate that while the metabolic demand and kinematics variables change linearly with increasing speed, the most effective GV was observed at SS. Therefore, SS could be a new methodological approach to choose the individual walking speed, normalize the speed intensity, and avoid a gait pattern alteration.

Daily walking kinematic characteristics of the elderly in different residential settings: experimental study on Chinese community-living elderly and long-term nursing home residents

BACKGROUND

Long-term nursing home (NH) care helps NH residents with their daily activities and improves their quality of life, but negatively affects their independent physical activities and increases the risk of dangerous events. Dangerous events in the elderly usually occur in the conversion of walking periods when forward striding has already happened, but the body has not yet entered a completely steady walking.

OBJECTIVES

Compare the gait characteristics in Chinese long-term NH residents and community-living elderly during the walking Transitional Period (TP) and Stabilization Period (SP).

METHODS

32 long-term NH residents and 33 age- and sex-matched community-living elderly were recruited. The 30-Second Chair Stand Test (30-s CST), Timed Up and Go Test (TUGT), and Modified Falls Efficacy Scale (MFES) were used to assess their body function. The Xsens MVN BIOMECH system was used to collect and analyze the gait parameters of participants.

RESULTS

Compared to community-living elderly, NH residents had fewer numbers of 30-s CST, took more time to complete TUGT, and lower MEFS scores. NH residents showed slower gait speed (P < 0.001), less peak hip flexion (P = 0.022) and extension (P = 0.003), knee internal rotation (P = 0.023), and ankle plantarflexion (P = 0.001) and internal rotation (P = 0.007) angles during walking. When walking progressed from TP to SP, NH residents showed increased ankle dorsiflexion (P < 0.001), decreased hip internal rotation (P < 0.001), and community-living elderly had increased hip extension (P = 0.005) angles.

CONCLUSIONS

Chinese long-term NH residents had reduced lower extremities strength and postural balance, and higher fear of falling compared to community-living elderly. Their walking performance also showed high fall risk. Besides, long-term NH residents adopted a distal strategy to propel the body forward, which may be a compensatory measure to compensate for inadequate proximal joint control from forward walking to stable walking, and long-term NH residents have reduced postural stability during this process.

Gait initiation in multiple sclerosis patients with and without functional loss

BACKGROUND

Gait initiation (GI) is an important functional task related to balance and gait performance. In addition, it has predictive importance for falls and postural instability in patient with multiple sclerosis (MS). However, it is uncertain how GI is affected in patients in the early stage of MS (Expanded Disability Status Scale (EDSS) ≤3). In this study, it was aimed to investigate the anticipatory postural adjustments (APAs), posterior center of pressure (COPap) displacement, and spatiotemporal variability during GI in patients with and without functional loss in the early stage of MS.

METHODS

Forty-four participants (31 MS patients and 13 healthy subjects) involved in this prospective cross-sectional study were divided into three groups: Group-I: Patients without functional loss (EDSS 0 to 1.5) (n = 14), Group-II: Patients with functional loss (EDSS 2 to 3) (n = 17) and Group-III: Healthy subjects (n = 13). Electromyographic activity of the bilateral tibialis anterior (TA) and gastrocnemius medialis (GM) and COPap displacement were recorded during the postural phase of GI. Additionally, spatiotemporal parameters were recorded within the first three steps, and the coefficient of variation was calculated with 40 walks for variability.

RESULTS

There were significant differences in the Kruskal-Wallis tests of variables (p<0.05). Group-I demonstrated smaller APAs magnitudes in TA [stance (p = 0.01), swing (p = 0.01)], GM of swing limb (p<0.0001), and smaller COPap displacement (p<0.0001) compared to group-III. Group-II demonstrated smaller APAs magnitudes in all muscles (p<0.0001) compared to group-III and the smallest COPap displacement (p<0.0001). Group-I showed a significant increase in stride width variability compared to group-III (p = 0.01). Group-II showed a significant increase in several variabilities [first stride length (p<0.0001), second stride time (p<0.0001), first double support time (p<0.0001), stride width (p<0.0001)] compared to group-III.

CONCLUSION

Patients in the early stage of MS had impairment in both the postural and locomotor phases of GI with more obvious in the patients with functional loss. The results indicate that MS patients without functional loss have difficulty initiating gait. Although there is no functional loss, the patients have a risk of falls, postural instability, and gait impairment due to their inability to initiate gait effectively. As a result, rehabilitation is necessary even if there is no functional loss in patients with MS.

Emotional states affect steady state walking performance

Gait is a large component and indicator of health. Many factors affect gait including age, disease, and even mood disorders. Few studies have looked at the influence of emotional states on gait. This study aimed to investigate the influence of emotional states on walking performance to understand whether an emotional state may be an important factor to consider when evaluating gait. Thirty-six young adults were recruited (23F, 13M) and performed a neutral baseline condition of walking which included six passes of walking across an 8m walkway (a total of 48m of walking). Participants then completed 6 pseudo-randomized emotional state induction conditions while immersive 360-degree videos were used to induce the following emotional conditions: happiness, excitement, sadness, fear, and anger. Participants viewed the emotion elicitation videos using a virtual reality head-mounted display (HMD), then rated their emotional state using self-assessment manikins and walked (without the HMD) over a pressure sensor walkway. One-way repeated measures ANOVA and pairwise comparisons were used to examine differences in gait parameters across the emotional conditions. Participants walked with significantly reduced step length and speed during the sadness condition compared to the other emotional conditions and the neutral condition. Furthermore, participants adjusted the timing of their walking during the sadness condition and walked with significantly increased step, stance, and swing times compared to other emotional conditions, but not the neutral condition. Step time was significantly reduced during the conditions of excitement and fear compared to the neutral condition. Emotions may impact variety of gait parameters involving pace and rhythm, however have little influence on gait variability and postural control. These results indicate that perhaps the emotions of sadness and excitement should be taken into account as potential confounds for future gait analysis.

Effect of frailty on kinematic characteristics of walking in community-dwelling elders

OBJECTIVE

Frailty has a high prevalence in elders and impairs motor ability. This study aimed to investigate the influence caused by frailty in kinematic characteristics of walking and walking strategy adjustment from static standing to stable walking.

METHODS

In this study, 80 community-dwelling elders performed tests. The Kihon checklist (KCL) was used to assess frailty. The timed up and go test (TUGT) and the 30-s chair stand test (30-s CST) were used to assess balance and muscle strength. The Xsens MVN BIOMECH Awinda was used to collect walking kinematic data.

RESULTS

This study included 25 robust, 30 prefrail, and 25 frail elders. The TUGT completed time (P < 0.001) and the 30-s CST completed number (P = 0.002) had statistical differences among groups. The maximum peak of knee internal rotation showed an interaction between the frailty and the walking phase (P = 0.015). The peak angle of hip adduction, hip and knee flexion, and knee and ankle internal rotation were significantly lower in frail elders than others (P < 0.05).

CONCLUSION

Frailty affects the kinematic characteristics of walking, resulting in the hip, knee, and ankle flexion, hip adduction, knee and ankle internal rotation reduced. Besides, frailty has a specific negative effect on the walking strategy adjustment from static standing to stable walking.

Age-related differences in gait symmetry obtained from kinematic synergies and muscle synergies of lower limbs during childhood

The age-related changes of gait symmetry in healthy children concerning individual joint and muscle activation data have previously been widely studied. Extending beyond individual joints or muscles, identifying age-related changes in the coordination of multiple joints or muscles (i.e., muscle synergies and kinematic synergies) could capture more closely the underlying mechanisms responsible for gait symmetry development. To evaluate the effect of age on the symmetry of the coordination of multiple joints or muscles during childhood, we measured gait symmetry by kinematic and EMG data in 39 healthy children from 2 years old to 14 years old, divided into three equal age groups: preschool children (G1; 2.0-5.9 years), children (G2; 6.0-9.9 years), pubertal children (G3; 10.0-13.9 years). Participants walked barefoot at a self-selected walking speed during three-dimensional gait analysis (3DGA). Kinematic synergies and muscle synergies were extracted with principal component analysis (PCA) and non-negative matrix factorization (NNMF), respectively. The synergies extracted from the left and right sides were compared with each other to obtain a symmetry value. Statistical analysis was performed to examine intergroup differences. The results showed that the effect of age was significant on the symmetry values extracted by kinematic synergies, while older children exhibited higher kinematic synergy symmetry values compared to the younger group. However, no significant age-related changes in symmetry values of muscle synergy were observed. It is suggested that kinematic synergy of lower joints can be asymmetric at the onset of independent walking and showed improving symmetry with increasing age, whereas the age-related effect on the symmetry of muscle synergies was not demonstrated. These data provide an age-related framework and normative dataset to distinguish age-related differences from pathology in children with neuromotor disorders.

Reliability of IMU-Derived Temporal Gait Parameters in Neurological Diseases

Evaluating gait is part of every neurological movement disorder assessment. Generally, the physician assesses the patient based on their experience, but nowadays inertial measurement units (IMUs) are also often integrated in the assessment. Instrumented gait analysis has a longstanding tradition and temporal parameters are used to compare patient groups or trace disease progression over time. However, the day-to-day variability needs to be considered especially in specific patient cohorts. The aim of the study was to examine day-to-day variability of temporal gait parameters of two experimental conditions in a cohort of neurogeriatric patients using data extracted from a lower back-worn IMU. We recruited 49 participants (24 women (age: 78 years ± 6 years, BMI = 25.1 kg/m² and 25 men (age: 77 years ± 6 years, BMI = 26.5 kg/m²)) from the neurogeriatric ward. Two gait distances (4 m and 20 m) were performed during the first session and repeated the following day. To evaluate reliability, the Intraclass Correlation Coefficient (ICC2,k) and minimal detectable change (MDC) were calculated for the number of steps, step time, stride time, stance time, swing time, double limb support time, double limb support time variability, stride time variability and stride time asymmetry. The temporal gait parameters showed poor to moderate reliability with mean ICC and mean MDC95% values of 0.57 ± 0.18 and 52% ± 53%, respectively. Overall, only four out of the nine computed temporal gait parameters showed high relative reliability and good absolute reliability values. The reliability increased with walking distance. When only investigating steady-state walking during the 20 m walking condition, the relative and absolute reliability improved again. The most reliable parameters were swing time, stride time, step time and stance time. Study results demonstrate that reliability is an important factor to consider when working with IMU derived gait parameters in specific patient cohorts. This advocates for a careful parameter selection as not all parameters seem to be suitable when assessing gait in neurogeriatric patients.

Foot kinematics and leg muscle activation patterns are altered in those with limited ankle dorsiflexion range of motion during incline walking

BACKGROUND

Larger ankle dorsiflexion (DF) is required when walking on inclined surfaces. Individuals with limited DF range of motion (ROM) may experience greater tissue stress on sloped surfaces and walk in altered gait patterns compared to the those with normal DF ROM.

RESEARCH QUESTION

Would the individuals with limited DF ROM walk with distinctive ankle DF patterns compared to those with normal DF ROM on the inclined surfaces?

METHODS

Ten Limited DF ROM (passive ROM=35.3 ± 2.7°) and nine Normal DF ROM (passive ROM=46.4 ± 4.2°) participants walked on a treadmill at five slope angles (0°, 5°, 10°, 15°, 20°) for 2 min at a self-selected speed. The peak DF angles and the peak myoelectric activity levels of the tibialis anterior (TA) and soleus (SOL) muscles were quantified during the swing and stance phases of each walking trial, and they were compared between the two groups.

RESULTS

Participants with limited DF ROM walked with smaller peak DF (3.1° at 0° slope ~ 8.4° at 20° slope) and greater peak TA activity in swing than those of the Normal ROM participants (3.4° ~ 12.2°), with significant differences at 20° slope. The peak DF angle in stance (Limited: 9.6° ~ 19.0°; Normal: 10.1° ~ 21.0°) did not differ between the two groups at all slopes, but the peak activity of the SOL muscle was significantly greater for the Limited group at slopes of 10° and higher.

SIGNIFICANCE

Study results indicate that incline walking could be more challenging to the individuals with limited DF ROM as they need to approach and push-off the sloped surfaces with more efforts of the dorsiflexor and the plantar flexor muscles, respectively. Prolonged walking on inclined surfaces may produce faster development of muscle fatigue or tissue damage than those with normal DF ROM.

Gait on slopes: Differences in temporo-spatial, kinematic and kinetic gait parameters between walking on a ramp and on a treadmill

BACKGROUND

Inclined treadmills or static ramp constructions can be used to investigate downhill gait in a standardised laboratory condition. There is a lack of information how the gait patterns are affected when walking on a ramp or an inclined treadmill during uphill and downhill walking.

RESEARCH QUESTION

Is there a difference in temporo-spatial parameters, sagittal ankle, knee and hip joint angle as well as ground reaction force when walking uphill and downhill on a ramp and a treadmill.

METHODS

Uphill and downhill gait of 15 healthy participants was assessed during walking on a treadmill and on a ramp with slope gradients of 12 °, 6 ° and 0 °. Participants were instructed to walk with the same speed on each slope-system. Kinematic and temporo-spatial paramters were collected using a 3D motion capture system (Qualisys, Gothenburgh, Sweden), kinetic data were collected using pressure insoles (loadsol®, Novel, Germany). Temporo-spatial parameters were analysed using a Friedman ANOVA, time series of kinematic and kinetic data were compared using statistical parametric mapping with a sigificance level of 5%.

RESULTS

On the treadmill participants walked with significantly shorter steps and shorter contact times, while they significantly increased step frequency compared to walking on a ramp, regardless of slope gradient. In uphill conditions, treadmill gait increased hip and knee flexion angles during the stance phase and increased the forward tilt of the thorax during the entire gait cycle. During downhill walking a significant decrease in dorsiflexion during initial contact, midstance and the second half of the swing phase was observed. Peak resultant forces remained similar compared to walking on the ramp. These alterations might be due to mechanical and psychological effects.

SIGNIFICANCE

Knowledge about these differences is important in future study design and data interpretation from existing literature.