Reliability of a Feedback-Controlled Treadmill Algorithm Dependent on the User's Behavior

A Comparison of Force-Plate Based Center of Mass Estimation Algorithms

Estimating horizontal center of mass (CoM) is an important process that is used in the control of self-paced treadmills, as well as in clinical and scientific biomechanical analysis. Many laboratories use motion-capture to estimate CoM, while others use force-plate based estimates, either because they cannot access motion-capture or they do not want to be taxed with post-processing optoelectronic data. Three force-plate derived center of mass estimation algorithms were compared against a benchmark motion-capture technique. Two of them have recently been reported in the literature, and both rely on numerical integration of 2nd-order differential equations. We propose a third technique that uses an algebraic equation to directly relate center of pressure to center of mass without numerical drift. Twenty-four healthy adults participated in a five-minute steady-state walking test to compare these algorithms. The sample-by-sample standard deviation of the three force-plate based algorithms from the motion-capture benchmark algorithm was evaluated. The algebraic technique provided less error than either of the two more common integration techniques (p<0.05). The results of this study support the viability of using only ground reaction forces for self-paced treadmills and also show that a simple algebraic model is preferred to integration approaches. The use of an algebraic estimation simplifies control implementation for self-paced treadmill applications and eliminates the need for event-based drift recalibration.

Adaptive treadmill control can be manipulated to increase propulsive impulse while maintaining walking speed

Adaptive treadmills (ATM) designed to promote increased propulsion may be an effective tool for gait training since propulsion is often impaired post-stroke. Our lab developed a novel ATM controller that adjusts belt speed via real-time changes in step length, propulsive impulse, and position. This study modified the relative importance of propulsion to step length in the controller to determine the effect of increased propulsive feedback gain on measures of propulsion and walking speed. Twenty-two participants completed five trials at their self-selected speed, each with a unique ATM controller. Walking speed, peak AGRF and PGRF, and AGRF, PGRF, and net impulse were compared between the modifications using one-way repeated measures ANOVAs at a significance level of 0.05. Participants chose similar walking speeds across all conditions (all p > 0.2730). There were no significant differences in peak AGRF (p = 0.1956) or PGRF (p = 0.5159) between conditions. AGRF impulse significantly increased as the gain on the propulsive impulse term was increased relative to the gain on step length (p < 0.0001) while PGRF and net impulse were similar across all conditions (p = 0.5487). Increasing the propulsive impulse gain essentially alters the treadmill environment by providing a controlled amount of resistance to increases in propulsive forces. Our findings demonstrate that the ATM can be modified to promote increased propulsive impulse while maintaining a consistent walking speed. Since increasing propulsion is a common goal of post-stroke gait training, these ATM modifications may improve the efficacy of the ATM for gait rehabilitation.

Speed-related but not detrended gait variability increases with more sensitive self-paced treadmill controllers at multiple slopes

Self-paced treadmills are being used more frequently to study humans walking with their self-selected gaits on a range of slopes. There are multiple options to purchase a treadmill with a built-in controller, or implement a custom written self-paced controller, which raises questions about how self-paced controller affect treadmill speed and gait biomechanics on multiple slopes. This study investigated how different self-paced treadmill controller sensitivities affected gait parameters and variability on decline, level, and incline slopes. We hypothesized that increasing self-paced controller sensitivity would increase gait variability on each slope. We also hypothesized that detrended variability could help mitigate differences in variability that arise from differences in speed fluctuations created by the self-paced controllers. Ten young adults walked on a self-paced treadmill using three controller sensitivities (low, medium, and high) and fixed speeds at three slopes (decline, -10°; level, 0°; incline, +10°). Within each slope, average walking speeds and spatiotemporal gait parameters were similar regardless of self-paced controller sensitivity. With higher controller sensitivities on each slope, speed fluctuations, speed variance, and step length variance increased whereas step frequency variance and step width variance were unaffected. Detrended variance was not affected by controller sensitivity suggesting that detrending variability helps mitigate differences associated with treadmill speed fluctuations. Speed-trend step length variances, however, increased with more sensitive controllers. Further, detrended step length variances were similar for self-paced and fixed speed walking, whereas self-paced walking included substantial speed-trend step length variance not present in fixed speed walking. In addition, regardless of the self-paced controller, subjects walked fastest on the level slope with the longest steps, narrowest steps, and least variance. Overall, our findings suggest that separating gait variability into speed-trend and detrended variability could be beneficial for interpreting gait variability among multiple self-paced treadmill studies and when comparing self-paced walking with fixed speed walking.

Task specificity impacts dual-task interference in older adults

BACKGROUND

Task prioritization is an important factor determines the magnitude and direction of dual-task interference in older adults. Greater dual-task cost during walking may lead to falling, sometimes causing lasting effects on mobility.

AIMS

We investigated dual-task interference for walking and cognitive performance.

METHODS

Twenty healthy, older adults (71 ± 5 years) completed three cognitive tasks: letter fluency, category fluency, and serial subtraction during seated and walking conditions on a self-paced treadmill for 3 min each, in addition to walking only condition. Walking speed, step length and width were measured during walking and each dual-task condition.

RESULTS

Comparing the percentage of correct answers in cognitive tasks across single and dual-task conditions, there was a main effect of cognitive task (p = 0.021), showing higher scores during letter fluency compared to serial subtraction (p = 0.011). Step width was significantly wider during dual-task letter fluency compared to walking alone (p = 0.003), category fluency (p = 0.001), and serial subtraction (p = 0.007).

DISCUSSION

During both fluency tasks, there was a cost for gait and cognition, with category showing a slightly higher cognitive cost compared to letter fluency. During letter fluency, to maintain cognitive performance, gait was sacrificed by increasing step width. During serial subtraction, there was a cost for gait, yet a benefit for cognitive performance.

CONCLUSION

Differential effect of cognitive task on dual-task performance is critical to be understood in designing future research or interventions to improve dual-task performance of most activities of daily living.

On the application of entropic half-life and statistical persistence decay for quantification of time dependency in human gait

Entropic half-life (ENT½) and statistical persistence decay (SPD) was recently introduced as measures of time dependency in stride time intervals during walking. The present study investigated the effect of data length on ENT½ and SPD and additionally applied these measures to stride length and stride speed intervals. First, stride times were collected from subjects during one hour of treadmill walking. ENT½ and SPD were calculated from a range of stride numbers between 250 and 2500. Secondly, stride times, stride lengths and stride speeds were collected from subjects during 16 min of treadmill walking. ENT½ and SPD were calculated from the stride times, stride lengths and stride speeds. The ENT½ values reached a plateau between 1000 and 2500 strides whereas the SPD increased linearly with the number of included strides. This suggests that ENT½ can be compared if 1000 strides or more are included, but only SPD obtained from same number of strides should be compared. The ENT½ and SPD of the stride times were significantly longer compared to that of the stride lengths and stride speeds. This indicates that the time dependency is greater in the motor control of stride time compared to that of stride lengths and stride speeds.

Optic flow improves step width and length in older adults while performing dual task

BACKGROUND

Dual-task paradigms are used to investigate gait and cognitive declines in older adults (OA). Optic-flow is a virtual reality environment where the scene flows past the subject while walking on a treadmill, mimicking real-life locomotion.

AIMS

To investigate cost of environment (no optic-flow v. optic-flow) while completing single- and dual-task walking and dual-task costs (DTC; single- v. dual-task) in optic-flow and no optic-flow environments.

METHODS

Twenty OA and seven younger adults (YA) walked on a self-paced treadmill in 3-min segments per task and both environments. Five task conditions included: no task, semantic fluency (category), phonemic fluency (letters), word reading, and serial-subtraction.

RESULTS

OAs had a benefit of optic-flow compared to no optic-flow for step width (p = 0.015) and step length (p = 0.045) during letters compared to the YA. During letters, OA experienced improvement in step width DTC; whereas YA had a decrement in step width DTC from no optic-flow to optic-flow (p = 0.038). During serial-subtraction, OA had less step width DTC when compared to YA in both environments (p = 0.02).

DISCUSSION

During letters, step width and step length improved in OA while walking in optic-flow. Also, step width DTC differed between the two groups. Sensory information from optic-flow appears to benefit OA. Letters relies more on verbal ability and word knowledge, which are preserved in aging. However, YA use a complex speech style during dual tasking, searching for complex words and an increased speed of speech.

CONCLUSIONS

OA can benefit from optic-flow by improving spatial gait parameters, specifically, step width, during dual-task walking.

Walking speed and spatiotemporal step mean measures are reliable during feedback-controlled treadmill walking; however, spatiotemporal step variability is not reliable

The purpose of the study was to compare the effects of a feedback-controlled treadmill (FeedbackTM) to a traditional fixed-speed treadmill (FixedTM) on spatiotemporal gait means, variability, and dynamics. The study also examined inter-session reliability when using the FeedbackTM. Ten young adults walked on the FeedbackTM for a 5-minute familiarization followed by a 16-minute experimental trial. They returned within one week and completed a 5-minute familiarization followed by a 16-minute experimental trial each for FeedbackTM and FixedTM conditions. Mean walking speed and step time, length, width, and speed means and coefficient of variation were calculated from all experimental conditions. Step time, length, width, and speed gait dynamics were analyzed using detrended fluctuation analysis. Mean differences between experimental trials were determined using ANOVAs and reliability between FeedbackTM sessions was determined by intraclass correlation coefficient. No difference was found in mean walking speed nor spatiotemporal variables, with the exception of step width, between the experimental trials. All mean spatiotemporal variables demonstrated good to excellent reliability between sessions, while coefficient of variation was not reliable. Gait dynamics of step time, length, width, and speed were significantly more persistent during the FeedbackTM condition compared to FixedTM, especially step speed. However, gait dynamics demonstrated fair to poor reliability between FeedbackTM sessions. When walking on the FeedbackTM, users maintain a consistent set point, yet the gait dynamics around the mean are different when compared to walking on a FixedTM. In addition, spatiotemporal gait dynamics and variability may not be consistent across separate days when using the FeedbackTM.