Joint-level mechanics of the walk-to-run transition in humans

Investigation of normal knees kinematics in walking and running at different speeds using a portable motion analysis system

Walking and running at different speeds are common in daily life. This study investigated 6 degrees of freedom (DOF) kinematics of normal knees of Chinese during walking and running. Forty healthy participants were investigated in 4 conditions: comfortable walking, normal walking, slow running and ordinary running. The range of motion (ROM) and peak values in 6 DOF kinematics were analysed. As the speed increased, a general increase in flexion, lateral and proximal translations occurred. Significant increases of ROM in flexion/extension, axial rotation and medial/lateral translations were observed. The ROM of adduction/abduction, anterior/posterior and proximal/distal translations were greatest during normal walking. The maximum and minimum flexion/extension, maximum internal rotation and tibial lateral translations increased with the increase of speed. The maximum and minimum tibial proximal translations in running were found being greater than walking. A phenomenon between walking and running was observed: both tibial proximal/distal and medial/lateral translations increased when changed from walking to running. Non-linear transition exists in 6 DOF kinematics during walking to running. Discoveries in this study may have potential clinical values to serve as references of normal walking and running in the management of knee injury and knee rehabilitation.

Role of sex and stature on the biomechanics of normal and loaded walking: implications for injury risk in the military

Load carriage and marching 'in-step' are routine military activities associated with lower limb injury risk in service personnel. The fixed pace and stride length of marching typically vary from the preferred walking gait and may result in overstriding. Overstriding increases ground reaction forces and muscle forces. Women are more likely to overstride than men due to their shorter stature. These biomechanical responses to overstriding may be most pronounced when marching close to the preferred walk-to-run transition speed. Load carriage also affects walking gait and increases ground reaction forces, joint moments and the demands on the muscles. Few studies have examined the effects of sex and stature on the biomechanics of marching and load carriage; this evidence is required to inform injury prevention strategies, particularly with the full integration of women in some defence forces. This narrative review explores the effects of sex and stature on the biomechanics of unloaded and loaded marching at a fixed pace and evaluates the implications for injury risk. The knowledge gaps in the literature, and distinct lack of studies on women, are highlighted, and areas that need more research to support evidence-based injury prevention measures, especially for women in arduous military roles, are identified.

Análisis de la presión plantar durante la carrera en el sitio en diferentes superficies

El objetivo de este trabajo es evaluar en 36 corredores aficionados, la fuerza y las presiones del pie sobre tres superficies comúnmente empleadas para el entrenamiento de la carrera en el sitio (césped artificial, suelo técnico de caucho y trampolín plano). Los valores de fuerza y presión se registraron mediante plantillas instrumentadas (Gebiomized® Munster, Germany). Se obtuvieron los siguientes parámetros: Fuerza máxima (N) y picos de presión (N/cm2) en 6 zonas específicas del pie.   Según los resultados, la fuerza máxima ejercida por el pie dominante en césped artificial (657 N) y en suelo técnico de caucho (692,5 N) fue significativamente superior al registrado sobre el trampolín (262 N). Respecto a la presión, la mayor parte de la presión ejercida por el pie en superficies duras (césped artificial y suelo técnico de caucho), se observó en las cabezas de los metatarsianos, mientras que en el trampolín la presión se repartió entre estas y el calcáneo.

Relevant Strength Parameters to Allow Return to Running after Primary Anterior Cruciate Ligament Reconstruction with Hamstring Tendon Autograft

After anterior cruciate ligament reconstruction (ACLR), a progressive process is followed from rehabilitation to the return to sport including a crucial step known as the return to running. Return to running (RTR) can be predicted by an isokinetic knee strength assessment at 4 months post-surgery. All patients who had primarily undergone ACLR with a hamstring autograft procedure between 2010 and 2020 were included in this study. Four months after surgery, patients were evaluated using an isokinetic knee strength test. Patients were monitored until the 6th month post-surgery to see if they had returned to running. Comparisons were carried out between the two groups—the RTR and the no-RTR. A multivariate logistic regression analysis was used to predict the RTR status from explicative parameters. Receiver Operating Characteristic (ROC) curves were established to identify cutoffs with their characteristics. A total of 413 patients were included and 63.2% returned to running at 4 months post-surgery. The mean Lysholm score, knee complication rate, and isokinetic parameters were statistically different between both groups. Using a multivariate logistic regression model and ROC curves, the best isokinetic parameter to assist with the decision to allow an RTR was the quadriceps limb symmetry index at 60°/s with a cutoff of 65%. The hamstring LSI at 180°/s could be added (cutoff of 80%) to slightly increase the prediction of an RTR. Quadriceps strength normalized to body weight at 60°/s is a useful parameter (cutoff: 1.60 Nm/kg) but measurements on both sides are necessary. Isokinetic parameters are objective parameters to allow a return to running at 4 months after ACLR with a hamstring procedure.

Control of Mammalian Locomotion by Somatosensory Feedback

When animals walk overground, mechanical stimuli activate various receptors located in muscles, joints, and skin. Afferents from these mechanoreceptors project to neuronal networks controlling locomotion in the spinal cord and brain. The dynamic interactions between the control systems at different levels of the neuraxis ensure that locomotion adjusts to its environment and meets task demands. In this article, we describe and discuss the essential contribution of somatosensory feedback to locomotion. We start with a discussion of how biomechanical properties of the body affect somatosensory feedback. We follow with the different types of mechanoreceptors and somatosensory afferents and their activity during locomotion. We then describe central projections to locomotor networks and the modulation of somatosensory feedback during locomotion and its mechanisms. We then discuss experimental approaches and animal models used to investigate the control of locomotion by somatosensory feedback before providing an overview of the different functional roles of somatosensory feedback for locomotion. Lastly, we briefly describe the role of somatosensory feedback in the recovery of locomotion after neurological injury. We highlight the fact that somatosensory feedback is an essential component of a highly integrated system for locomotor control. © 2021 American Physiological Society. Compr Physiol 11:1-71, 2021.

Lower leg muscle force prediction in gait transition

Walking and running, the two most basic and functional gait modes, have been often addressed through EMG, kinematics and biomechanical modelling, however, there is no consensus in the literature on which factors trigger the transition from walking to running. Ankle plantarflexors and dorsiflexor were found to play an important role in gait transition due to higher muscular activation to propel the body forward to run. We tested these muscles activation during walking and running at the same speeds, through a musculoskeletal model derived from subjects' kinematic and kinetic data. Compared to EMG data frequently reported in the literature, the results yielded similar activation patterns for all muscles analyzed. Besides, across speeds, dorsiflexor activation kept increasing in walking, especially after PTS (preferred transition speed), which may indicate its contribution to gait transition, as an effort to bring the foot forward to keep up with the unnatural condition of walking at high speeds.

The puzzle of the walk-to-run transition in humans

BACKGROUND

The walk-to-run transition, which occurs during gradually increasing locomotion speed, has been addressed in research at least eight decades back.

RESEARCH QUESTION

Why does the walk-to-run transition occur? In the present review, we focus on the reason for the transition, more than on the consequences of it. The latter has historically constituted a primary focus.

METHODS

In the present review, we scrutinize related literature.

RESULTS

We present a unifying conceptual framework of the dynamics of human locomotion. The framework unifies observations of the human walk-to-run transition for providing a common understanding. Further, the framework includes a schematic representation of the dynamic interaction between entities of subsystems of the human body during locomotion and the physical environment. We propose that the moving human body can behave as a dynamic non-linear complex system, which basically functions in a self-organized fashion during locomotion. Further, that the stride rate plays a particular key role for the transition. Finally, we propose that the coincidence between attractor stability and minimum energy turnover during locomotion is a consequence of the evolution of the phenotype of the adult human body and the dynamics of the acute process of self-organization during locomotion.

SIGNIFICANCE

The novel insight from the present work contributes to the academic understanding of human locomotion, including in particular the central behavioural phenomenon of walk-to-run transition. Furthermore, the understanding is relevant for the ongoing work within for example locomotion rehabilitation and development of assistive devices. Regarding the latter, examples could be devices within neurorobotics and exoskeletons where the basic understanding of human locomotion increases the possibility of a successful combination of human and technology.

Paired nonlinear behavior of active and passive joint torques associated with preparation for walk-to-run gait transition

This study investigated the lower extremity torque's active and passive features during the walk-to-run gait transition with continuously increased walking speed. Fourteen volunteers participated in the experiment. Kinematic and kinetic data were collected synchronously. Five strides leading up the gait transition were examined. Peaks of the passive (e.g., contact) and active (e.g., generalized muscle torques), along with net joint torque, and time to peak torques exhibited significant differences at the last stride before gait transition, compared to the first four strides, at the ankle, knee, and hip joints, respectively. Selected peak joint active and passive torques showed significant and opposite trends at critical events within a stride cycle: such ankle joint right after heel-contact, knee joint during weight acceptance, and both hip and knee joints right before toe-off. The magnitude and the corresponding time to active and passive peak torque changed in a nonlinear pattern before the transition from walk to run. The lower extremity segment-interaction during gait transition appeared to be an active reorganization exemplified by the interaction between the lower extremity's active and passive torque components.

Positional difference of malleoli-midpoint from three-dimensional geometric centre of rotation of ankle and its effect on ankle joint kinetics

BACKGROUNDS

Joint kinetic calculations are sensitive to joint centre locations. Although geometric hip and knee joint centre/axis are generally developed, the ankle joint centre (AJC) is conventionally defined as the midpoint between the malleolus lateralis and medialis (AJC_MID) in most gait analyses.

RESEARCH QUESTION

We examined the positional difference of the AJC_MID from the geometric centre of rotation (AJC_FUN) and its effect on the ankle joint kinetics in representative human gaits.

METHODS

In the first experiment, we calculated the AJC_FUN and indicated its location on the ankle MRI in 14 (seven male and seven female) participants. In the second experiment, we compared ankle kinematics/kinetics based on AJC_FUN and AJC_MID during walking and hopping at 2.6 Hz in 17 (nine male and eight female) participants.

RESULTS

In both experiments, AJC_FUN was located at positions significantly medial (-9.2 ± 5.4 mm and -10.1 ± 4.4 mm) and anterior (17.0 ± 7.4 mm and 15.3 ± 5.2 mm) from the AJC_MID. Furthermore, the AJC_MID underestimated peak dorsiflexion (AJC_MID/AJC_FUN: 52.6 ± 17.1%) and inversion (AJC_MID/AJC_FUN: 62.2 ± 11.5%) torques and their durations in walking. Additionally, AJC_MID overestimated the plantar flexion torque in both gait modes [AJC_MID/AJC_FUN: 111.3 ± 4.8% (walking) and 112.7 ± 6.3% (hopping)].

SIGNIFICANCE

We therefore concluded that the positional difference between the geometric and landmark-based AJC definitions significantly affected ankle kinetics, thereby indicating that the functional method should be used for defining AJC for gait analysis.

Age-Related Differences in Perceived Exertion While Walking and Running Near the Preferred Transition Speed

PURPOSE

To investigate whether youth and adults can perceive differences in exertion between walking and running at speeds near the preferred transition speed (PTS) and if there are age-related differences in these perceptions.

METHODS

A total of 49 youth (10-12 y, n = 21; 13-14 y, n = 10; 15-17 y, n = 18) and 13 adults (19-29 y) completed a walk-to-run transition protocol to determine PTS and peak oxygen uptake. The participants walked and ran on a treadmill at 5 speeds (PTS-0.28 m·s-1, PTS-0.14 m·s-1, PTS, PTS+0.14 m·s-1, PTS+0.28 m·s-1) and rated perceived exertion using the OMNI Perceived Exertion (OMNI-RPE) scale. Oxygen consumption was measured during the walk-to-run transition protocol to obtain the relative intensity (percentage of peak oxygen uptake) at PTS. OMNI-RPE scores at all speeds and percentage of peak oxygen uptake at PTS were compared between age groups.

RESULTS

The 10- to 12-year-olds transitioned at a higher percentage of peak oxygen uptake than adults (64.54 [10.18] vs 52.22 [11.40], respectively; P = .035). The 10- to 14-year-olds generally reported higher OMNI-RPE scores than the 15- to 17-year-olds and adults (P < .050). In addition, the 10- to 14-year-olds failed to distinguish differences in OMNI-RPE between walking and running at PTS and PTS+0.14 m·s-1.

CONCLUSIONS

Children aged 10-14 years are less able to distinguish whether walking or running requires less effort at speeds near the PTS compared with adults. The inability to judge which gait mode is less demanding could hinder the ability to minimize locomotive demands.

The effects of general fatigue induced by incremental exercise test and active recovery modes on energy cost, gait variability and stability in male soccer players

The aerobic endurance is considered an important physiological capacity of soccer players which is examined by Incremental Exercise Test (IET). However, it is not clear how general fatigue induced by IET influences physiological and biomechanical gait features in soccer players and how players recover optimally at post-IET. Here, the effect of general fatigue induced by IET on energy cost, gait variability and stability in soccer players was investigated. To identify an optimal recovery mode, the effect of walking at Preferred Walking Speed (PWS), running at Individual Ventilation Threshold (IVT) (two active recovery modes), and Rest (a passive recovery mode) on aforementioned features were studied. Nine male players walked 4-min at PWS on a treadmill prior IET (PreT), which was followed by four 4-min walking trials (PosT-0, 1, 2, and 3) with three 4-min recovery intervals (PWS, IVT, or Rest) between them, in three sessions (one for each recovery mode) in a random order. Energy cost, gait variability and stability were examined at PreT (baseline), and at PosT-0, 1, 2, and 3 (intervals of respectively 0-4, 8-12, 16-20, 24-28 min at post-IET). Gait variability was assessed by the standard deviation of trunk angle and gait stability was assessed by the local dynamic stability of trunk angular velocity. Gait stability was not affected by IET, despite increases in gait variability and energy cost. Different from IVT, PWS and Rest recovery modes reduced energy cost at post-IET. Gait variability and energy cost recovered at PosT-1 and PosT-2, suggesting that 8-12 and 16-20 min recovery intervals, respectively, were required for returning to their baselines. No preference for active over passive recovery was found in terms of gait variability and energy cost.

Lower-limb joint mechanics during maximum acceleration sprinting

We explored how humans adjust the stance phase mechanical function of their major lower-limb joints (hip, knee, ankle) during maximum acceleration sprinting. Experimental data [motion capture and ground reaction force (GRF)] were recorded from eight participants as they performed overground sprinting trials. Six alternative starting locations were used to obtain a dataset that incorporated the majority of the acceleration phase. Experimental data were combined with an inverse-dynamics-based analysis to calculate lower-limb joint mechanical variables. As forward acceleration magnitude decreased, the vertical GRF impulse remained nearly unchanged whereas the net horizontal GRF impulse became smaller as a result of less propulsion and more braking. Mechanical function was adjusted at all three joints, although more dramatic changes were observed at the hip and ankle. The impulse from the ankle plantar-flexor moment was almost always larger than those from the hip and knee extensor moments. Forward acceleration magnitude was linearly related to the impulses from the hip extensor moment (R ²=0.45) and the ankle plantar-flexor moment (R ²=0.47). Forward acceleration magnitude was also linearly related to the net work done at all three joints, with the ankle displaying the strongest relationship (R ²=0.64). The ankle produced the largest amount of positive work (1.55±0.17 J kg^-1) of all the joints, and provided a significantly greater proportion of the summed amount of lower-limb positive work as running speed increased and forward acceleration magnitude decreased. We conclude that the hip and especially the ankle represent key sources of positive work during the stance phase of maximum acceleration sprinting.

'Mini-interval gait' switching: understanding the positive implications of a novel training regime

The neuromechanical reorganization required to change gaits imposes an energetic cost 75% greater than either a walking or running step at the same speed. By combining walking and running with the requisite gait switching transition steps, an exercise protocol can be generated with virtually any desired metabolic output even at relatively slow treadmill speed. Gait switching increases metabolic demand through discrete events, which can be tolerated more easily by individuals recovering from health problems, just as interval training allows greater work production for healthy individuals. In addition to cardio-respiratory benefits, ‘mini-intervals’ with frequent gait switching also provides positive effects and attributes such as distributing muscle group activation, re-training neural coordination, and avoiding repetitive joint overloading. It has the added benefit of developing stability during transitions while a safety hand rail is present which can lead to greater stability in more complex natural environments. Finally, increased mental focus may help avoid the monotony of usual treadmill workouts, aiding adherence to an exercise program. We review evidence for the cost increase of the gait transition step and explain the mechanisms involved. We also discuss literature supporting the range of benefits for mini-interval gait switching as a training and rehabilitation tool.

Combined Hip Angle Variability and RPE Could Determine Gait Transition in Elite Race Walkers

The aim of this study was to investigate the role of energy cost in locomotion, specifically the rate of perceived exertion and movement variability in gait transition for eight race walkers (RW) and seven nonrace walkers (NRW). We hypothesized that a group of correlated variables could serve as combined triggers. Participants performed a preferred transition speed (PTS) test, exhibiting a higher PTS for RW (10.35 ± 0.28 km/hr) than for NRW (7.07 ± 0.69 km/hr), because RW engaged in race walking before switching to running. None of the variables increased before transition and dropped in PTS, which challenged the hypothesis of a unique transition variable in gait transitions. Principal component analysis showed that combined hip angle variability and rate of perceived exertion could determine gait transitions in elite RW and NRW. Thus, human gait transition may be triggered by a pool of determinant variables, rather than by a single factor.

Lower Local Dynamic Stability and Invariable Orbital Stability in the Activation of Muscle Synergies in Response to Accelerated Walking Speeds

In order to achieve flexible and smooth walking, we must accomplish subtasks (e. g., loading response, forward propulsion or swing initiation) within a gait cycle. To evaluate subtasks within a gait cycle, the analysis of muscle synergies may be effective. In the case of walking, extracted sets of muscle synergies characterize muscle patterns that relate to the subtasks within a gait cycle. Although previous studies have reported that the muscle synergies of individuals with disorders reflect impairments, a way to investigate the instability in the activations of muscle synergies themselves has not been proposed. Thus, we investigated the local dynamic stability and orbital stability of activations of muscle synergies across various walking speeds using maximum Lyapunov exponents and maximum Floquet multipliers. We revealed that the local dynamic stability in the activations decreased with accelerated walking speeds. Contrary to the local dynamic stability, the orbital stability of the activations was almost constant across walking speeds. In addition, the increasing rates of maximum Lyapunov exponents were different among the muscle synergies. Therefore, the local dynamic stability in the activations might depend on the requirement of motor output related to the subtasks within a gait cycle. We concluded that the local dynamic stability in the activation of muscle synergies decrease as walking speed accelerates. On the other hand, the orbital stability is sustained across broad walking speeds.

Modulation of joint and limb mechanical work in walk-to-run transition steps in humans

Surprisingly little information exists of the mechanics in the steps initializing the walk-to-run transition (WRT) in humans. Here, we assess how mechanical work of the limbs (vertical and horizontal) and the individual joints (ankle, knee and hip) are modulated as humans transition from a preferred constant walking velocity (v_walk) to a variety of running velocities (v_run; ranging from a sprint to a velocity slower than v_walk). WRTs to fast v_run values occur nearly exclusively through positive horizontal limb work, satisfying the goal of forward acceleration. Contrary to our hypothesis, however, positive mechanical work remains above that at v_walk even when decelerating. In these WRTs to slow running, positive mechanical work is remarkably high and is comprised nearly exclusively of vertical limb work. Vertical-to-horizontal work modulation may represent an optimization for achieving minimal and maximal v_run, respectively, while fulfilling an apparent necessity for energy input when initiating WRTs. Net work of the WRT steps was more evenly distributed across the ankle, knee and hip joints than expected. Absolute positive mechanical work exhibited a clearer modulation towards hip-based work at high accelerations (>3 m s^-2), corroborating previous suggestions that the most proximal joints are preferentially recruited for locomotor tasks requiring high power and work production. In WRTs to very slow v_run values, high positive work is nevertheless done at the knee, indicating that modulation of joint work is not only dependent on the amount of work required but also the locomotor context.

Humans control stride-to-stride stepping movements differently for walking and running, independent of speed

As humans walk or run, external (environmental) and internal (physiological) disturbances induce variability. How humans regulate this variability from stride-to-stride can be critical to maintaining balance. One cannot infer what is "controlled" based on analyses of variability alone. Assessing control requires quantifying how deviations are corrected across consecutive movements. Here, we assessed walking and running, each at two speeds. We hypothesized differences in speed would drive changes in variability, while adopting different gaits would drive changes in how people regulated stepping. Ten healthy adults walked/ran on a treadmill under four conditions: walk or run at comfortable speed, and walk or run at their predicted walk-to-run transition speed. Time series of relevant stride parameters were analyzed to quantify variability and stride-to-stride error-correction dynamics within a Goal-Equivalent Manifold (GEM) framework. In all conditions, participants' stride-to-stride control respected a constant-speed GEM strategy. At each consecutively faster speed, variability tangent to the GEM increased (p ≤ 0.031), while variability perpendicular to the GEM decreased (p ≤ 0.044). There were no differences (p ≥ 0.999) between gaits at the transition speed. Differences in speed determined how stepping variability was structured, independent of gait, confirming our first hypothesis. For running versus walking, measures of GEM-relevant statistical persistence were significantly less (p ≤ 0.004), but showed minimal-to-no speed differences (0.069 ≤ p ≤ 0.718). When running, people corrected deviations both more quickly and more directly, each indicating tighter control. Thus, differences in gait determined how stride-to-stride fluctuations were regulated, independent of speed, confirming our second hypothesis.

A Dynamic Simulation of Musculoskeletal Function in the Mouse Hindlimb During Trotting Locomotion

Mice are often used as animal models of various human neuromuscular diseases, and analysis of these models often requires detailed gait analysis. However, little is known of the dynamics of the mouse musculoskeletal system during locomotion. In this study, we used computer optimization procedures to create a simulation of trotting in a mouse, using a previously developed mouse hindlimb musculoskeletal model in conjunction with new experimental data, allowing muscle forces, activation patterns, and levels of mechanical work to be estimated. Analyzing musculotendon unit (MTU) mechanical work throughout the stride allowed a deeper understanding of their respective functions, with the rectus femoris MTU dominating the generation of positive and negative mechanical work during the swing and stance phases. This analysis also tested previous functional inferences of the mouse hindlimb made from anatomical data alone, such as the existence of a proximo-distal gradient of muscle function, thought to reflect adaptations for energy-efficient locomotion. The results do not strongly support the presence of this gradient within the mouse musculoskeletal system, particularly given relatively high negative net work output from the ankle plantarflexor MTUs, although more detailed simulations could test this further. This modeling analysis lays a foundation for future studies of the control of vertebrate movement through the development of neuromechanical simulations.

Prediction of walk-to-run transition using stride frequency: A test-retest reliability study

The transition from walking to running has previously been predicted to occur at a point where the stride frequency starts getting closer to the running attractor than to the walking attractor. The two behavioural attractors were considered to be represented by the freely chosen stride frequencies during unrestricted treadmill walking and running. The aim of the present study was to determine the relative and absolute test-retest reliability of the predicted walk-to-run transition stride frequency. Healthy individuals (n=25) performed walking and running on a treadmill in a day-to-day test-retest design. The two behavioral attractors were determined during walking and running at freely chosen velocities and stride frequencies. Subsequently, the walk-to-run transition stride frequency was predicted using camera recordings and a previously reported equation for prediction. The walk-to-run transition occurred at a velocity of 7.7±0.5kmh^-1 at day 1 as well as at day 2. Besides, the predicted walk-to-run transition stride frequencies were 69.7±3.3 strides min^-1 and 70.5±3.4 strides min^-1 on day 1 and day 2, respectively (p=0.08). A further comparison between the predicted walk-to-run transition stride frequencies at day 1 and day 2 showed an ICC_3,1 of 0.89, which indicated almost perfect relative reliability. The absolute reliability was reflected by a%-value of the standard error of the measurement (SEM%) of 1.6% and a%-value of the smallest real difference (SRD%) of 4.4%. In conclusion, the predicted walk-to-run transition stride frequency can be considered reliable across days.

Speed-Dependent Modulation of Muscle Activity Based on Muscle Synergies during Treadmill Walking

The regulation of walking speed is easily achieved. However, the central nervous system (CNS) must coordinate numerous muscles in order to achieve a smooth and continuous control of walking speed. To control walking speed appropriately, the CNS may need to utilize a simplified system for the control of numerous muscles. Previous studies have revealed that the CNS may control walking via muscle synergies that simplify the control of muscles by modularly organizing several muscles. We hypothesized that the CNS controls the walking speed by flexibly modulating activation of muscle synergies within one gait cycle. Then, we investigated how the activation of muscle synergies depend on walking speeds using the center of activity (CoA) that indicates the center of the distribution of activation timing within one gait cycle. Ten healthy men walked on a treadmill at 14 different walking speeds. We measured the surface electromyograms (EMGs) and kinematic data. Muscle synergies were extracted using non-negative matrix factorization. Then, we calculated the CoA of each muscle synergy. We observed that the CoA of each specific synergy would shift as the walking speed changed. The CoA that was mainly activated during the heel contact phase (C₁) and the activation that contributed to the double support phase (C₃) shifted to the earlier phase as the walking speed increased, whereas the CoA that produced swing initiation motion (C₄) and the activation that related to the late-swing phase (C₅) shifted to the later phase. This shifting of the CoA indicates that the CNS controls intensive activation of muscle synergies during the regulation of walking speed. In addition, shifting the CoA might be associated with changes in kinematics or kinetics depending on the walking speed. We concluded that the CNS flexibly controls the activation of muscle synergies in regulation of walking speed.

Lower limb biomechanical analysis during an unanticipated step on a bump reveals specific adaptations of walking on uneven terrains

Although it is clear that walking over different irregular terrain is associated with altered biomechanics, there is little understanding of how we quickly adapt to unexpected variations in terrain. This study aims to investigate which adaptive strategies humans adopt when performing an unanticipated step on an irregular surface, specifically a small bump. Nine healthy male participants walked at their preferred walking speed along a straight walkway during five conditions: four involving unanticipated bumps of two different heights, and one level walking condition. Muscle activation of eight lower limb muscles and three-dimensional gait analysis were evaluated during these testing conditions. Two distinct adaptive strategies were found, which involved no significant change in total lower limb mechanical work or walking speed. An ankle-based strategy was adopted when stepping on a bump with the forefoot, whereas a hip-based strategy was preferred when stepping with the rearfoot. These strategies were driven by a higher activation of the plantarflexor muscles (6-51%), which generated a higher ankle joint moment during the forefoot conditions and by a higher activation of the quadriceps muscles (36-93%), which produced a higher knee joint moment and hip joint power during the rearfoot conditions. These findings provide insights into how humans quickly react to unexpected events and could be used to inform the design of adaptive controllers for wearable robots intended for use in unstructured environments that can provide optimal assistance to the different lower limb joints.

Inferring muscle functional roles of the ostrich pelvic limb during walking and running using computer optimization

Owing to their cursorial background, ostriches (Struthio camelus) walk and run with high metabolic economy, can reach very fast running speeds and quickly execute cutting manoeuvres. These capabilities are believed to be a result of their ability to coordinate muscles to take advantage of specialized passive limb structures. This study aimed to infer the functional roles of ostrich pelvic limb muscles during gait. Existing gait data were combined with a newly developed musculoskeletal model to generate simulations of ostrich walking and running that predict muscle excitations, force and mechanical work. Consistent with previous avian electromyography studies, predicted excitation patterns showed that individual muscles tended to be excited primarily during only stance or swing. Work and force estimates show that ostrich gaits are partially hip-driven with the bi-articular hip–knee muscles driving stance mechanics. Conversely, the knee extensors acted as brakes, absorbing energy. The digital extensors generated large amounts of both negative and positive mechanical work, with increased magnitudes during running, providing further evidence that ostriches make extensive use of tendinous elastic energy storage to improve economy. The simulations also highlight the need to carefully consider non-muscular soft tissues that may play a role in ostrich gait.

Spontaneous change from seated to standing cycling position with increasing power is associated with a minimization of cost functions

Spontaneous changes of movement patterns may allow to elucidate which criteria influence movement pattern preferences. However, the factors explaining the sit-stand transition in cycling are unclear. This study investigated if biomechanical and/or muscle activation cost functions could predict the power at which the spontaneous sit-stand transition occurs. Twenty-five participants performed an incremental test leading to the sit-to-stand transition, and subsequent randomized pedaling trials at 20 to 120% of the transition power in seated and standing position. A Moment Cost Function based on lower limbs net joint moments and two Electromyographic Cost Functions based on EMG data were defined. All cost functions increased with increasing crank power (p < 0.001) but at different rates in the seated and standing positions. They had lower values in the seated position below the transition power and lower values in the standing position above the transition power (p < 0.05). These results suggest that spontaneous change of position observed in cycling with increasing crank power represents an optimal choice to minimize muscular efforts. These results support the use of simple cost functions to define optimal settings in cycling and to assess the cost of cycling during short-term efforts.

The role of stride frequency for walk-to-run transition in humans

It remains unclear why humans spontaneously shift from walking to running at a certain point during locomotion at gradually increasing velocity. We show that a calculated walk-to-run transition stride frequency (70.6 ± 3.2 strides min⁻¹) agrees with a transition stride frequency (70.8 ± 3.1 strides min⁻¹) predicted from the two stride frequencies applied during treadmill walking and running at freely chosen velocities and freely chosen stride frequencies. The agreement is based on Bland and Altman’s statistics. We found no essential mean relative difference between the two transition frequencies, i.e. −0.5% ± 4.2%, as well as limits of agreement of −8.7% and 7.7%. The particular two freely chosen stride frequencies used for prediction are considered behavioural attractors. Gait is predicted to be shifted from walking to running when the stride frequency starts getting closer to the running attractor than to the walking attractor. In particular, previous research has focussed on transition velocity and optimisation theories based on minimisation of, e.g., energy turnover or biomechanical loadings of the legs. Conversely, our data support that the central phenomenon of walk-to-run transition during human locomotion could be influenced by behavioural attractors in the form of stride frequencies spontaneously occurring during behaviourally unrestricted gait conditions of walking and running.

Adaptive Remodeling of Achilles Tendon: A Multi-scale Computational Model

While it is known that musculotendon units adapt to their load environments, there is only a limited understanding of tendon adaptation in vivo. Here we develop a computational model of tendon remodeling based on the premise that mechanical damage and tenocyte-mediated tendon damage and repair processes modify the distribution of its collagen fiber lengths. We explain how these processes enable the tendon to geometrically adapt to its load conditions. Based on known biological processes, mechanical and strain-dependent proteolytic fiber damage are incorporated into our tendon model. Using a stochastic model of fiber repair, it is assumed that mechanically damaged fibers are repaired longer, whereas proteolytically damaged fibers are repaired shorter, relative to their pre-damage length. To study adaptation of tendon properties to applied load, our model musculotendon unit is a simplified three-component Hill-type model of the human Achilles-soleus unit. Our model results demonstrate that the geometric equilibrium state of the Achilles tendon can coincide with minimization of the total metabolic cost of muscle activation. The proposed tendon model independently predicts rates of collagen fiber turnover that are in general agreement with in vivo experimental measurements. While the computational model here only represents a first step in a new approach to understanding the complex process of tendon remodeling in vivo, given these findings, it appears likely that the proposed framework may itself provide a useful theoretical foundation for developing valuable qualitative and quantitative insights into tendon physiology and pathology.

Simulating Ideal Assistive Devices to Reduce the Metabolic Cost of Running

Tools have been used for millions of years to augment the capabilities of the human body, allowing us to accomplish tasks that would otherwise be difficult or impossible. Powered exoskeletons and other assistive devices are sophisticated modern tools that have restored bipedal locomotion in individuals with paraplegia and have endowed unimpaired individuals with superhuman strength. Despite these successes, designing assistive devices that reduce energy consumption during running remains a substantial challenge, in part because these devices disrupt the dynamics of a complex, finely tuned biological system. Furthermore, designers have hitherto relied primarily on experiments, which cannot report muscle-level energy consumption and are fraught with practical challenges. In this study, we use OpenSim to generate muscle-driven simulations of 10 human subjects running at 2 and 5 m/s. We then add ideal, massless assistive devices to our simulations and examine the predicted changes in muscle recruitment patterns and metabolic power consumption. Our simulations suggest that an assistive device should not necessarily apply the net joint moment generated by muscles during unassisted running, and an assistive device can reduce the activity of muscles that do not cross the assisted joint. Our results corroborate and suggest biomechanical explanations for similar effects observed by experimentalists, and can be used to form hypotheses for future experimental studies. The models, simulations, and software used in this study are freely available at simtk.org and can provide insight into assistive device design that complements experimental approaches.

Design of a simple, lightweight, passive-elastic ankle exoskeleton supporting ankle joint stiffness

In this study, a passive-elastic ankle exoskeleton (PEAX) with a one-way clutch mechanism was developed and then pilot-tested with vertical jumping to determine whether the PEAX is sufficiently lightweight and comfortable to be used in further biomechanical studies. The PEAX was designed to supplement the function of the Achilles tendon and ligaments as they passively support the ankle torque with their inherent stiffness. The main frame of the PEAX consists of upper and lower parts connected to each other by tension springs (N = 3) and lubricated hinge joints. The upper part has an offset angle of 5° with respect to the vertical line when the springs are in their resting state. Each spring has a slack length of 8 cm and connects the upper part to the tailrod of the lower part in the neutral position. The tailrod freely rotates with low friction but has a limited range of motion due to the stop pin working as a one-way clutch. Because of the one-way clutch system, the tension springs store the elastic energy only due to an ankle dorsiflexion when triggered by the stop pin. This clutch mechanism also has the advantage of preventing any inconvenience during ankle plantarflexion because it does not limit the ankle joint motion during the plantarflexion phase. In pilot jumping tests, all of the subjects reported that the PEAX was comfortable for jumping due to its lightweight (approximately 1 kg) and compact (firmly integrated with shoes) design, and subjects were able to nearly reach their maximum vertical jump heights while wearing the PEAX. During the countermovement jump, elastic energy was stored during dorsiflexion by spring extension and released during plantarflexion by spring restoration, indicating that the passive spring torque (i.e., supportive torque) generated by the ankle exoskeleton partially supported the ankle joint torque throughout the process.

Modulation of work and power by the human lower-limb joints with increasing steady-state locomotion speed

We investigated how the human lower-limb joints modulate work and power during walking and running on level ground. Experimental data were recorded from seven participants for a broad range of steady-state locomotion speeds (walking at 1.59±0.09 m s(-1) to sprinting at 8.95±0.70 m s(-1)). We calculated hip, knee and ankle work and average power (i.e. over time), along with the relative contribution from each joint towards the total (sum of hip, knee and ankle) amount of work and average power produced by the lower limb. Irrespective of locomotion speed, ankle positive work was greatest during stance, whereas hip positive work was greatest during swing. Ankle positive work increased with faster locomotion until a running speed of 5.01±0.11 m s(-1), where it plateaued at ∼1.3 J kg(-1). In contrast, hip positive work during stance and swing, as well as knee negative work during swing, all increased when running speed progressed beyond 5.01±0.11 m s(-1). When switching from walking to running at the same speed (∼2.0 m s(-1)), the ankle's contribution to the average power generated (and positive work done) by the lower limb during stance significantly increased from 52.7±10.4% to 65.3±7.5% (P=0.001), whereas the hip's contribution significantly decreased from 23.0±9.7% to 5.5±4.6% (P=0.004). With faster running, the hip's contribution to the average power generated (and positive work done) by the lower limb significantly increased during stance (P<0.001) and swing (P=0.003). Our results suggest that changing locomotion mode and faster steady-state running speeds are not simply achieved via proportional increases in work and average power at the lower-limb joints.

Gait analysis in chronic heart failure: The calf as a locus of impaired walking capacity

Reduced walking capacity, a hallmark of chronic heart failure (CHF), is strongly correlated with hospitalization and morbidity. The aim of this work was to perform a detailed biomechanical gait analysis to better identify mechanisms underlying reduced walking capacity in CHF. Inverse dynamic analyses were conducted in CHF patients and age- and exercise level-matched control subjects on an instrumented treadmill at self-selected treadmill walking speeds and at speeds representing +20% and -20% of the subjects' preferred speed. Surprisingly, no difference in preferred speed was observed between groups, possibly explained by an optimization of the mechanical cost of transport in both groups (the mechanical cost to travel a given distance; J/kg/m). The majority of limb kinematics and kinetics were also similar between groups, with the exception of greater ankle dorsiflexion angles during stance in CHF. Nevertheless, over two times greater ankle plantarflexion work during stance and per distance traveled is required for a given triceps surae muscle volume in CHF patients. This, together with a greater reliance on the ankle compared to the hip to power walking in CHF patients, especially at faster speeds, may contribute to the earlier onset of fatigue in CHF patients. This observation also helps explain the high correlation between triceps surae muscle volume and exercise capacity that has previously been reported in CHF. Considering the key role played by the plantarflexors in powering walking and their association with exercise capacity, our findings strongly suggest that exercise-based rehabilitation in CHF should not omit the ankle muscle group.