Energy optimization is a major objective in the real-time control of step width in human walking

Greater weekly physical activity linked to left resting frontal alpha asymmetry in women: A study on gender differences in highly active young adults

Physical activity, beneficial for physical and psychological health, may facilitate affective mechanisms of positive emotion and approach-motivation. Greater resting frontal alpha asymmetry (FAA), an index of greater relative left than right frontal cortical activity, is a neural correlate of affective mechanisms possibly associated with active lifestyles. This study sought to amplify limited literature on the relationship between physical (in)activity, FAA, and gender differences. College students (n = 70) self-reported physical activity (Total PA) and sedentary activity (Total Sitting) via the International Physical Activity Questionnaire-Short Form (IPAQ-SF), followed by a resting electroencephalography session to record FAA. A Total PA × gender interaction (β = 0.462, t = 3.163, p = 0.002) identified a positive relationship between Total PA and FAA in women (β = 0.434, t = 2.221, p = 0.030) and a negative relationship for men (β = -0.338, t = -2.300, p = 0.025). Total Sitting was positively linked to FAA (β = 0.288, t = 2.228, p = 0.029; no gender effect). Results suggest affective mechanisms reflected by FAA (e.g., positive emotion, approach-motivation) are associated with physical activity for women, indicating a possible mechanism of the psychological benefits linked with physically active lifestyles. A positive relationship between sedentary behavior and greater left FAA may also reflect motivated mechanisms of behavior that aid in minimizing energy expenditure, particularly within the context of our highly active sample.

Fundamental processes in sensorimotor learning: Reasoning, refinement, and retrieval

Motor learning is often viewed as a unitary process that operates outside of conscious awareness. This perspective has led to the development of sophisticated models designed to elucidate the mechanisms of implicit sensorimotor learning. In this review, we argue for a broader perspective, emphasizing the contribution of explicit strategies to sensorimotor learning tasks. Furthermore, we propose a theoretical framework for motor learning that consists of three fundamental processes: reasoning, the process of understanding action-outcome relationships; refinement, the process of optimizing sensorimotor and cognitive parameters to achieve motor goals; and retrieval, the process of inferring the context and recalling a control policy. We anticipate that this '3R' framework for understanding how complex movements are learned will open exciting avenues for future research at the intersection between cognition and action.

The Biomechanical Influence of Step Width on Typical Locomotor Activities: A Systematic Review

BACKGROUND

Step width is a spatial variable in the frontal plane, defined as the mediolateral distance between the heel (forefoot during sprinting) of bilateral feet at initial contact. Variations in step width may impact the lower limb biomechanics. This systematic review aimed to synthesize the published findings to determine the influence of acute changes in step width on locomotion biomechanics and provide implications for injury prevention and enhanced sports performance.

METHODS

Literature was identified, selected, and appraised in accordance with the methods of a systematic review. Four electronic databases (Web of Science, MEDLINE via PubMed, Scopus, and ScienceDirect) were searched up until May 2023 with the development of inclusion criteria based on the PICO model. Study quality was assessed using the Downs and Black checklist and the measured parameters were summarized.

RESULTS

Twenty-three articles and 399 participants were included in the systematic review. The average quality score of the 23 studies included was 9.39 (out of 14). Step width changed the kinematics and kinetics in the sagittal, frontal, and transverse planes of the lower limb, such as peak rearfoot eversion angle and moment, peak hip adduction angle and moment, knee flexion moment, peak knee internal rotation angle, as well as knee external rotation moment. Alteration of step width has the potential to change the stability and posture during locomotion, and evidence exists for the immediate biomechanical effects of variations in step width to alter proximal kinematics and cues to impact loading variables.

CONCLUSION

Short-term changes in step width during walking, running, and sprinting influenced multiple lower extremity biomechanics. Narrower step width may result in poor balance and higher impact loading on the lower extremities during walking and running and may limit an athlete's sprint performance. Increasing step width may be beneficial for injury rehabilitation, i.e., for patients with patellofemoral pain syndrome, iliotibial band syndrome or tibial bone stress injury. Wider steps increase the supporting base and typically enhance balance control, which in turn could reduce the risks of falling during daily activities. Altering the step width is thus proposed as a simple and non-invasive treatment method in clinical practice.

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.

A systematic review of the physiological and biomechanical differences between males and females in response to load carriage during walking activities

The purpose of this review was to systematically assess literature on differences between males and females in the physiological and biomechanical responses to load carriage during walking. PubMed, CINAHL, Scopus, Web of Science and the Cochrane library were searched. A total of 4637 records were identified and screened. Thirty-three papers were included in the review. Participant characteristics, load carriage conditions, study protocol, outcome measures and main findings were extracted and qualitatively synthesised. Absolute oxygen uptake and minute ventilation were consistently greater in males but there were limited sex-specific differences when these were expressed relative to physical characteristics. There is limited evidence of sex-specific differences in spatio-temporal variables, ground reaction forces (normalised to body mass) or sagittal plane joint angles with load. However, differences have been found in hip and pelvic motions in the frontal and horizontal planes, which might partly explain an economical advantage for females proposed by some authors.

Optimality, Stability, and Agility of Human Movement: New Optimality Criterion and Trade-Offs

This review of movement stability, optimality, and agility is based on the theory of motor control with changes in spatial referent coordinates for the effectors, the principle of abundance, and the uncontrolled manifold hypothesis. A new optimality principle is suggested based on the concept of optimal sharing corresponding to a vector in the space of elemental variables locally orthogonal to the uncontrolled manifold. Motion along this direction is associated with minimal components along the relatively unstable directions within the uncontrolled manifold leading to a minimal motor equivalent motion. For well-practiced actions, this task-specific criterion is followed in spaces of referent coordinates. Consequences of the suggested framework include trade-offs among stability, optimality, and agility, unintentional changes in performance, hand dominance, finger specialization, individual traits in performance, and movement disorders in neurological patients.

Swing-phase pelvis perturbation improves dynamic lateral balance during walking in individuals with spinal cord injury

The purpose of this study was to determine whether the control of lateral balance can be improved by applying repeated lateral perturbation force to the pelvis during swing versus stance phase walking in individuals with spinal cord injury (SCI). Fourteen individuals with incomplete SCI were recruited in this study. Each participant visited the lab once and was tested in two experimental sessions that consisted of (1) treadmill walking with bilateral perturbation force applied to the pelvis in the lateral direction during either swing or stance phase of each leg and (2) overground walking pre- and post-treadmill walking. Applying the swing-phase perturbation during walking induced a greater increase in the muscle activation of hip abductors and ankle plantar flexors and a greater improvement in lateral balance control after the removal of perturbation force, in comparison to the results of the stance-phase perturbation condition (P ≤ 0.03). Participants also exhibited a greater reduction in overground step width and a greater improvement in overground walking speed after a session of treadmill walking practice with the swing-phase perturbation, compared with the result of the stance-phase perturbation (P = 0.01). These findings suggest that applying perturbation force to the pelvis during the swing phase of gait while walking may enhance muscle activities of hip abductors and improve lateral balance control in individuals with SCI. A walking practice with the swing-phase pelvis perturbation can be used as a rehabilitation approach to improve the control of lateral balance during walking in people with SCI.

Humans trade off whole-body energy cost to avoid overburdening muscles while walking

Metabolic cost minimization is thought to underscore the neural control of locomotion. Yet, avoiding high muscle activation, a cause of fatigue, often outperforms energy minimization in computational predictions of human gait. Discerning the relative importance of these criteria in human walking has proved elusive, in part, because they have not been empirically decoupled. Here, we explicitly decouple whole-body metabolic cost and 'fatigue-like' muscle activation costs (estimated from electromyography) by pitting them against one another using two distinct gait tasks. When experiencing these competing costs, participants (n = 10) chose the task that avoided overburdening muscles (fatigue avoidance) at the expense of higher metabolic power (p < 0.05). Muscle volume-normalized activation more closely models energy use and was also minimized by the participants' decision (p < 0.05), demonstrating that muscle activation was, at best, an inaccurate signal for metabolic energy. Energy minimization was only observed when there was no adverse effect on muscle activation costs. By decoupling whole-body metabolic and muscle activation costs, we provide among the first empirical evidence of humans embracing non-energetic optimality in favour of a clearly defined neuromuscular objective. This finding indicates that local muscle fatigue and effort may well be key factors dictating human walking behaviour and its evolution.

General variability leads to specific adaptation toward optimal movement policies

Our nervous systems can learn optimal control policies in response to changes to our bodies, tasks, and movement contexts. For example, humans can learn to adapt their control policy in walking contexts where the energy-optimal policy is shifted along variables such as step frequency or step width. However, it is unclear how the nervous system determines which ways to adapt its control policy. Here, we asked how human participants explore through variations in their control policy to identify more optimal policies in new contexts. We created new contexts using exoskeletons that apply assistive torques to each ankle at each walking step. We analyzed four variables that spanned the levels of the whole movement, the joint, and the muscle: step frequency, ankle angle range, total soleus activity, and total medial gastrocnemius activity. We found that, across all of these analyzed variables, variability increased upon initial exposure to new contexts and then decreased with experience. This led to adaptive changes in the magnitude of specific variables, and these changes were correlated with reduced energetic cost. The timescales by which adaptive changes progressed and variability decreased were faster for some variables than others, suggesting a reduced search space within which the nervous system continues to optimize its policy. These collective findings support the principle that exploration through general variability leads to specific adaptation toward optimal movement policies.

Competing Models of Work in Quadrupedal Walking: Center of Mass Work is Insufficient to Explain Stereotypical Gait

The walking gaits of cursorial quadrupedal mammals tend to be highly stereotyped as a four-beat pattern with interspersed periods of double and triple stance, often with double-hump ground reaction force profiles. This pattern has long been associated with high energetic economy, due to low apparent work. However, there are differing ways of approximating the work performed during walking and, consequently, different interpretations of the primary mechanism leading to high economy. A focus on Net Center of Mass (COM) Work led to the claim that quadrupedal walking is efficient because it effectively trades potential and kinetic energy of the COM. Individual Limbs COM Work instead focuses on the ability of the limbs to manage the trajectory of the COM to limit energetic losses to the ground ("collisions"). By focusing on the COM, both these metrics effectively dismiss the importance of rotation of the elongate quadrupedal body. Limb Extension Work considers work required to extend and contract each limb like a strut, and accounts for the work of body pitching. We tested the prescriptive ability of these approximations of work by optimizing them within a quadrupedal model with two approximations of the body as a point-mass or a rigid distributed mass. Perfect potential-kinetic energy exchange of the COM was possible when optimizing Net COM Work, resulting in highly compliant gaits with duty factors close to one, far different than observed mammalian gaits. Optimizing Individual Limbs COM Work resulted in alternating periods of single limb stance. Only the distributed mass model, with Limb Extension Work as the cost, resulted in a solution similar to the stereotypical mammalian gait. These results suggest that maintaining a near-constant limb length, with distributed contacts, are more important mechanisms of economy than either transduction of potential-kinetic energy or COM collision mitigation for quadrupedal walking.

Metabolically efficient walking assistance using optimized timed forces at the waist

The metabolic rate of walking can be reduced by applying a constant forward force at the center of mass. It has been shown that the metabolically optimal constant force magnitude minimizes propulsion ground reaction force at the expense of increased braking. This led to the hypothesis that selectively assisting propulsion could lead to greater benefits. We used a robotic waist tether to evaluate the effects of forward forces with different timings and magnitudes. Here, we show that it is possible to reduce the metabolic rate of healthy participants by 48% with a greater efficiency ratio of metabolic cost reduction per unit of net aiding work compared with other assistive robots. This result was obtained using a sinusoidal force profile with peak timing during the middle of the double support. The same timing could also reduce the metabolic rate in patients with peripheral artery disease. A model explains that the optimal force profile accelerates the center of mass into the inverted pendulum movement during single support. Contrary to the hypothesis, the optimal force timing did not entirely coincide with propulsion. Within the field of wearable robotics, there is a trend to use devices to mimic biological torque or force profiles. Such bioinspired actuation can have relevant benefits; however, our results demonstrate that this is not necessarily optimal for reducing metabolic rate.

Can humans perceive the metabolic benefit provided by augmentative exoskeletons?

BACKGROUND

The purpose of augmentative exoskeletons is to help people exceed the limitations of their human bodies, but this cannot be realized unless people choose to use these exciting technologies. Although human walking efficiency has been highly optimized over generations, exoskeletons have been able to consistently improve this efficiency by 10-15%. However, despite these measurable improvements, exoskeletons today remain confined to the laboratory. To achieve widespread adoption, exoskeletons must not only exceed the efficiency of human walking, but also provide a perceivable benefit to their wearers.

METHODS

In this study, we quantify the perceptual threshold of the metabolic efficiency benefit provided during exoskeleton-assisted locomotion. Ten participants wore bilateral ankle exoskeletons during continuous walking. The assistance provided by the exoskeletons was varied in 2 min intervals while participants provided feedback on their metabolic rate. These data were aggregated and used to estimate the perceptual threshold.

RESULTS

Participants were able to detect a change in their metabolic rate of 22.7% (SD: 17.0%) with 75% accuracy. This indicates that in the short term and on average, wearers cannot yet reliably perceive the metabolic benefits of today's augmentative exoskeletons.

CONCLUSIONS

If wearers cannot perceive the benefits provided by these technologies, it will negatively affect their impact, including long-term adoption and product viability. Future exoskeleton researchers and designers can use these methods and results to inform the development of exoskeletons that reach their potential.

Energy optimization during walking involves implicit processing

Gait adaptations, in response to novel environments, devices or changes to the body, can be driven by the continuous optimization of energy expenditure. However, whether energy optimization involves implicit processing (occurring automatically and with minimal cognitive attention), explicit processing (occurring consciously with an attention-demanding strategy) or both in combination remains unclear. Here, we used a dual-task paradigm to probe the contributions of implicit and explicit processes in energy optimization during walking. To create our primary energy optimization task, we used lower-limb exoskeletons to shift people's energetically optimal step frequency to frequencies lower than normally preferred. Our secondary task, designed to draw explicit attention from the optimization task, was an auditory tone discrimination task. We found that adding this secondary task did not prevent energy optimization during walking; participants in our dual-task experiment adapted their step frequency toward the optima by an amount and at a rate similar to participants in our previous single-task experiment. We also found that performance on the tone discrimination task did not worsen when participants were adapting toward energy optima; accuracy scores and reaction times remained unchanged when the exoskeleton altered the energy optimal gaits. Survey responses suggest that dual-task participants were largely unaware of the changes they made to their gait during adaptation, whereas single-task participants were more aware of their gait changes yet did not leverage this explicit awareness to improve gait adaptation. Collectively, our results suggest that energy optimization involves implicit processing, allowing attentional resources to be directed toward other cognitive and motor objectives during walking.

The Theory of Effort Minimization in Physical Activity

Although the automatic attraction to effort minimization has been evidenced in multiple fields, its potential role in explaining the pandemic of physical inactivity has been overlooked. The theory of effort minimization in physical activity (TEMPA) fills this gap. TEMPA seeks to obtain a more accurate understanding of the neuropsychological determinants of movement-based behaviors.

Increasing the gradient of energetic cost does not initiate adaptation in human walking

When in a new situation, the nervous system may benefit from adapting its control policy. In determining whether or not to initiate this adaptation, the nervous system may rely on some features of the new situation. Here, we tested whether one such feature is salient cost savings. We changed cost saliency by manipulating the gradient of participants' energetic cost landscape during walking. We hypothesized that steeper gradients would cause participants to spontaneously adapt their step frequency to lower costs. To manipulate the gradient, a mechatronic system applied controlled fore-aft forces to the waist of participants as a function of their step frequency as they walked on a treadmill. These forces increased the energetic cost of walking at high step frequencies and reduced it at low step frequencies. We successfully created three cost landscapes of increasing gradients, where the natural variability in participants' step frequency provided cost changes of 3.6% (shallow), 7.2% (intermediate), and 10.2% (steep). Participants did not spontaneously initiate adaptation in response to any of the gradients. Using metronome-guided walking-a previously established protocol for eliciting initiation of adaptation-participants next experienced a step frequency with a lower cost. Participants then adapted by -1.41 ± 0.81 (P = 0.007) normalized units away from their originally preferred step frequency obtaining cost savings of 4.80% ± 3.12%. That participants would adapt under some conditions, but not in response to steeper cost gradients, suggests that the nervous system does not solely rely on the gradient of energetic cost to initiate adaptation in novel situations.NEW & NOTEWORTHY People can adapt to novel conditions but often require cues to initiate the adaptation. Using a mechatronic system to reshape energetic cost gradients during treadmill walking, we tested whether the nervous system can use information present in the cost gradient to spontaneously initiate adaptation. We found that our participants did not spontaneously initiate adaptation even in the steepest gradient. The nervous system does not rely solely on the cost gradient when initiating adaptation.

Evaluating cost function criteria in predicting healthy gait

Accurate predictive simulations of human gait rely on optimisation criteria to solve the system's redundancy. Defining such criteria is challenging, as the objectives driving the optimization of human gait are unclear. This study evaluated how minimising various physiologically-based criteria (i.e., cost of transport, muscle activity, head stability, foot-ground impact, and knee ligament use) affects the predicted gait, and developed and evaluated a combined, weighted cost function tuned to predict healthy gait. A generic planar musculoskeletal model with 18 Hill-type muscles was actuated using a reflex-based, parameterized controller. First, the criteria were applied into the base simulation framework separately. The gait pattern predicted by minimising each criterion was compared to experimental data of healthy gait using coefficients of determination (R²) and root mean square errors (RMSE) averaged over all biomechanical variables. Second, the optimal weighted combined cost function was created through stepwise addition of the criteria. Third, performance of the resulting combined cost function was evaluated by comparing the predicted gait to a simulation that was optimised solely to track experimental data. Optimising for each of the criteria separately showed their individual contribution to distinct aspects of gait (overall R²: 0.37-0.56; RMSE: 3.47-4.63 SD). An optimally weighted combined cost function provided improved overall agreement with experimental data (overall R²: 0.72; RMSE: 2.10 SD), and its performance was close to what is maximally achievable for the underlying simulation framework. This study showed how various optimisation criteria contribute to synthesising gait and that careful weighting of them is essential in predicting healthy gait.

Neutral boundary alignment in total knee arthroplasty: a novel concept

The goal of total knee arthroplasty (TKA) surgery is to provide a stable and functional knee joint using current implant designs. Several alignment philosophies and surgical techniques have been introduced to provide a stable and functional knee joint, such as mechanical alignment (MA), kinematic alignment (KA), and anatomical alignment (AA). Recently, functional alignment (FA) is proposed. In this concept article, we propose a TKA approach, which we termed “Neutral Boundary Alignment (NBA).” The proposed approach seeks to establish the overall limb alignment in the direction of gravity at the midstance of gait cycle; consequently, a potential native knee can be restored from an arthritic state by establishing the joint line parallel to the ground. Herein, the NBA approach is described, and an iterative algorithm of structural layout patterns of truss is developed. The following three hypotheses are proposed: 1) The joint line should be parallel to the ground during the midstance of gait as an important initial condition for stability when transitioning toward gait propulsion in the gait cycle; 2) The NBA stability criteria purports that the leg is stable when the direction of gravity is simultaneously situated within the hip, knee and ankle during the midstance of gait, which generally agrees with the Varus/Valgus 3 degree envelope of MA; 3) Femoral and tibial resections that are made parallel to the ground remain within 1.5 degrees of traditional mechanical alignment resections.

Passive-elastic knee-ankle exoskeleton reduces the metabolic cost of walking

BACKGROUND

Previous studies have shown that passive-elastic exoskeletons with springs in parallel with the ankle can reduce the metabolic cost of walking. We developed and tested the use of an unpowered passive-elastic exoskeleton for walking that stores elastic energy in a spring from knee extension at the end of the leg swing phase, and then releases this energy to assist ankle plantarflexion at the end of the stance phase prior to toe-off. The exoskeleton uses a system of ratchets and pawls to store and return elastic energy through compression and release of metal springs that act in parallel with the knee and ankle, respectively. We hypothesized that, due to the assistance provided by the exoskeleton, net metabolic power would be reduced compared to walking without using an exoskeleton.

METHODS

We compared the net metabolic power required to walk when the exoskeleton only acts at the knee to resist extension at the end of the leg swing phase, to that required to walk when the stored elastic energy from knee extension is released to assist ankle plantarflexion at the end of the stance phase prior to toe-off. Eight (4 M, 4F) subjects walked at 1.25 m/s on a force-measuring treadmill with and without using the exoskeleton while we measured their metabolic rates, ground reaction forces, and center of pressure.

RESULTS

We found that when subjects used the exoskeleton with energy stored from knee extension and released for ankle plantarflexion, average net metabolic power was 11% lower than when subjects walked while wearing the exoskeleton with the springs disengaged (p = 0.007), but was 23% higher compared to walking without the exoskeleton (p < 0.0001).

CONCLUSION

The use of a novel passive-elastic exoskeleton that stores and returns energy in parallel with the knee and ankle, respectively, has the potential to improve the metabolic cost of walking. Future studies are needed to optimize the design and elucidate the underlying biomechanical and physiological effects of using an exoskeleton that acts in parallel with the knee and ankle. Moreover, addressing and improving the exoskeletal design by reducing and closely aligning the mass of the exoskeleton could further improve the metabolic cost of walking.

A System for Simple Robotic Walking Assistance With Linear Impulses at the Center of Mass

Walking can be simplified as an inverted pendulum motion where both legs generate linear impulses to redirect the center of mass (COM) into every step. In this work, we describe a system to assist walking in a simpler way than exoskeletons by providing linear impulses directly at the COM instead of providing torques at the joints. We developed a novel waist end-effector and high-level controller for an existing cable-robot. The controller allows for the application of cyclic horizontal force profiles with desired magnitudes, timings, and durations based on detection of the step timing. By selecting a lightweight rubber series elastic element with optimal stiffness and carefully tuning the gains of the closed-loop proportional-integral-derivative (PID) controller in a number of single-subject experiments, we were able to reduce the within-step root mean square error between desired and actual forces up to 1.21% of body weight. This level of error is similar or lower compared to the performance of other robotic tethers designed to provide variable or constant forces at the COM. The system can produce force profiles with peaks of up to 15 ± 2% of body weight within a root mean square error (RMSE) of 2.5% body weight. This system could be used to assist patient populations that require levels of assistance that are greater than current exoskeletons and in a way that does not make the user rely on vertical support.

"Controlled Slip" Energy Harvesting While Walking

Rapid development in wearable electronics and systems continues to impose challenges on portable energy storage sustained over time, and thus human energy harvesting is a potentially attractive means of sustainable, long-term energy. We introduce a novel 'controlled slip' energy harvesting approach for capturing energy during human locomotion. While slip is normally considered undesirable, controlled slip holds potential to enable a significant amount of energy harvesting during each step of human gait. Custom-designed 'controlled slip' energy harvesting shoes were fabricated by mounting a sliding plate and a generator with a one-way bearing to the sole of standard walking shoes, which induces controlled forward slip during early stance while energy is harvested. Fourteen healthy subjects performed treadmill walking trials with the 'controlled slip' energy harvesting shoes which generated average electrical power of 1.15-1.44 W at walking speeds of 2.9-4.3 km/h. Interestingly, without prompting, subjects chose to walk with the 'controlled slip' energy harvesting shoes in either one of two distinct ways: landing with the heel first (heel strikers) or landing with the toe first (toe strikers). While heel strikers and toe strikers exhibited similar electrical power output and hip flexion angle at initial foot contact, heel strikers had higher peak ankle power and lower knee flexion angle at initial foot contact than toe strikers. 'Controlled slip' energy harvesting could potentially generate electrical power for a broad spectrum of wearable devices.

How humans initiate energy optimization and converge on their optimal gaits

A central principle in motor control is that the coordination strategies learned by our nervous system are often optimal. Here, we combined human experiments with computational reinforcement learning models to study how the nervous system navigates possible movements to arrive at an optimal coordination. Our experiments used robotic exoskeletons to reshape the relationship between how participants walk and how much energy they consume. We found that while some participants used their relatively high natural gait variability to explore the new energetic landscape and spontaneously initiate energy optimization, most participants preferred to exploit their originally preferred, but now suboptimal, gait. We could nevertheless reliably initiate optimization in these exploiters by providing them with the experience of lower cost gaits, suggesting that the nervous system benefits from cues about the relevant dimensions along which to re-optimize its coordination. Once optimization was initiated, we found that the nervous system employed a local search process to converge on the new optimum gait over tens of seconds. Once optimization was completed, the nervous system learned to predict this new optimal gait and rapidly returned to it within a few steps if perturbed away. We then used our data to develop reinforcement learning models that can predict experimental behaviours, and applied these models to inductively reason about how the nervous system optimizes coordination. We conclude that the nervous system optimizes for energy using a prediction of the optimal gait, and then refines this prediction with the cost of each new walking step.