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Varma V, Trkov M. Investigation of intersegmental coordination patterns in human walking. Gait Posture 2024; 112:88-94. [PMID: 38749294 DOI: 10.1016/j.gaitpost.2024.05.010] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Received: 12/12/2023] [Revised: 03/07/2024] [Accepted: 05/11/2024] [Indexed: 06/23/2024]
Abstract
BACKGROUND Intersegmental coordination between thigh, shank, and foot plays a crucial role in human gait, facilitating stable and efficient human walking. Limb elevation angles during the gait cycle form a planar manifold describes the by the planar covariation law, a recognized fundamental aspect of human locomotion. RESEARCH QUESTION How does the walking speed, age, BMI, and height, affect the size and orientation of the intersegmental coordination manifold and covariation plane? METHODS This study introduces novel metrics for quantifying intersegmental coordination, including the mean radius of the manifold, rotation of the manifold about the origin, and the orientation of the plane with respect to the coordinate planes. A statistical investigation is conducted on a publicly available human walking dataset for subjects aged 19-67 years, walking at speeds between 0.18 and 2.3 m s-1 to determine correlations of the proposed quantities. We used two sample t-test and ANOVA to find statistical significance of changes in the metrics with respect to gender and walking speed, respectively. Regression analysis was used to establish relationships between the introduced metrics and walking speed. RESULTS High correlations are observed between walking speed and the computed metrics, highlighting the sensitivity of these metrics to gait characteristics. Conversely, negligible correlations are found for demographic parameters like age, body mass index (BMI), and height. Male and female groups exhibit no practically significant differences in any of the considered metrics. Additionally, metrics tend to increase in magnitude as walking speed increases. SIGNIFICANCE This study contributes numerical metrics to characterize ISC of lower limbs with respect to walking speed along with regression models to estimate these metrics and related kinematic quantities. These findings hold significance for enhancing clinical gait analysis, generating optimal walking trajectories for assistive devices, prosthetics, or rehabilitation, aiming to replicate natural gaits and improve the functionality of biomechanical devices.
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Affiliation(s)
- Vaibhavsingh Varma
- Department of Mechanical Engineering, Rowan University, Glassboro, NJ 08028, USA
| | - Mitja Trkov
- Department of Mechanical Engineering, Rowan University, Glassboro, NJ 08028, USA.
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2
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Mesquita RM, Willems PA, Catavitello G, Dewolf AH. Kinematics and mechanical changes with step frequency at different running speeds. Eur J Appl Physiol 2024; 124:607-622. [PMID: 37684396 DOI: 10.1007/s00421-023-05303-3] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/24/2023] [Accepted: 08/22/2023] [Indexed: 09/10/2023]
Abstract
PURPOSE Running at a given speed can be achieved by taking large steps at a low frequency or on the contrary by taking small steps at a high frequency. The consequences of a change in step frequency, at a fixed speed, affects the stiffness of the lower limb differently. In this study, we compared the running mechanics and kinematics at different imposed step frequencies (from 2 step s-1 to 3.6 step s-1) to understand the relationship between kinematic and kinetic parameters. METHODS Eight recreational male runners ran on a treadmill at 5 different speeds and 5 different step frequencies. The lower-limb segment motion and the ground reaction forces were recorded. Mechanical powers, general gait parameters, lower-limb movements and coordination were investigated. RESULTS At low step frequencies, in order to limit the magnitude of the ground reaction force, the vertical stiffness is reduced and thus runners deviate from an elastic rebound. At high step frequencies, the stiffness is increased and the elastic rebound is optimised in its ability to absorb and restore energy during the contact phase. CONCLUSION We studied the consequences of a change in step frequency on the bouncing mechanics of running. We showed that the lower limb stiffness and the intersegmental coordination of the lower-limb segments are affected by running step frequency rather than speed. The runner rather adapts their lower limb stiffness to match a step frequency for a given speed than the opposite.
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Affiliation(s)
- R M Mesquita
- Laboratory of Biomechanics and Physiology of Locomotion, Institute of NeuroScience, Université Catholique de Louvain, Place P. de Coubertin, 1, 1348, Louvain-la-Neuve, Belgium
| | - P A Willems
- Laboratory of Biomechanics and Physiology of Locomotion, Institute of NeuroScience, Université Catholique de Louvain, Place P. de Coubertin, 1, 1348, Louvain-la-Neuve, Belgium
| | - G Catavitello
- Laboratory of Biomechanics and Physiology of Locomotion, Institute of NeuroScience, Université Catholique de Louvain, Place P. de Coubertin, 1, 1348, Louvain-la-Neuve, Belgium
| | - A H Dewolf
- Laboratory of Biomechanics and Physiology of Locomotion, Institute of NeuroScience, Université Catholique de Louvain, Place P. de Coubertin, 1, 1348, Louvain-la-Neuve, Belgium.
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3
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Sherif T, Twele F, Meller S, Müller-Anders A, Volk HA. Quantification of phenobarbital-induced ataxia in dogs with idiopathic epilepsy. Front Vet Sci 2023; 10:1168335. [PMID: 37275612 PMCID: PMC10232958 DOI: 10.3389/fvets.2023.1168335] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/17/2023] [Accepted: 05/03/2023] [Indexed: 06/07/2023] Open
Abstract
Ataxia is a clinical sign seen in several neurological diseases and has been reported as an adverse effect of anti-seizure medication such as phenobarbital (PB). Efforts to objectify canine ataxia in order to provide appropriate treatment or monitor adverse effects of drugs remain limited. Automated quantitative gait analysis can be useful for the acquisition of objective data for the evaluation and monitoring of ataxia in dogs. The aim of this prospective clinical study was to examine the gait characteristics of dogs with PB induced ataxia and compare them with healthy dogs using a computer- and treadmill-based gait analysis system. Six healthy dogs and five dogs with idiopathic epilepsy (IE) with PB-induced ataxia underwent video- and computer-assisted gait analysis during slow walking (maximum speed of 0.7 m/s) on a treadmill with four ground reaction force plates (one plate per limb). Kinetic and spatio-temporal gait parameters of dogs' locomotion were analyzed, including individually calculated coefficients of variation. Dogs with IE treated with PB showed higher variability in spatio-temporal but not in kinetic gait parameters. Double support phase of gait cycles was increased on the cost of single support and swing phases. Body weight standardized ground reaction forces in vertical, craniocaudal, and mediolateral direction were severely affected by ataxia. Compensatory mechanisms in locomotion of dogs with PB-induced ataxia included spatio-temporal and kinetic gait characteristics, most likely in order to compensate imbalance caused by limb incoordination.
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Affiliation(s)
- Tamara Sherif
- Department of Small Animal Medicine and Surgery, University of Veterinary Medicine Hannover, Hannover, Germany
| | - Friederike Twele
- Department of Small Animal Medicine and Surgery, University of Veterinary Medicine Hannover, Hannover, Germany
| | - Sebastian Meller
- Department of Small Animal Medicine and Surgery, University of Veterinary Medicine Hannover, Hannover, Germany
| | - Alexandra Müller-Anders
- Department of Small Animal Medicine and Surgery, University of Veterinary Medicine Hannover, Hannover, Germany
| | - Holger A Volk
- Department of Small Animal Medicine and Surgery, University of Veterinary Medicine Hannover, Hannover, Germany
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Pérez Bayas MÁ, Cely J, Sintov A, García Cena CE, Saltaren R. Method to Develop Legs for Underwater Robots: From Multibody Dynamics with Experimental Data to Mechatronic Implementation. SENSORS (BASEL, SWITZERLAND) 2022; 22:8462. [PMID: 36366159 PMCID: PMC9655683 DOI: 10.3390/s22218462] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 09/07/2022] [Revised: 10/28/2022] [Accepted: 10/28/2022] [Indexed: 06/16/2023]
Abstract
Exploration of the seabed may be complex, and different parameters must be considered for a robotic system to achieve tasks in this environment, such as soil characteristics, seabed gait, and hydrodynamic force in this extreme environment. This paper presents a gait simulation of a quadrupedal robot used on a typical terrigenous sediment seabed, considering the mechanical properties of the type of soil, stiffness, and damping and friction coefficients, referenced with the specialized literature and applied in a computational multibody model with many experimental data in a specific underwater environment to avoi hydrodynamic effects. The requirements of the positions and torque in the robot's active joints are presented in accordance with a 5R mechanism for the leg and the natural pattern shown in the gait of a dog on the ground. These simulation results are helpful for the design of a testbed, with a leg prototype and its respective hardware and software architecture and a subsequent comparison with the real results.
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Affiliation(s)
- Miguel Ángel Pérez Bayas
- Centre for Automation and Robotics UPM-CSIC, Universidad Politécnica de Madrid, 28006 Madrid, Spain
- Escuela Superior Politécnica de Chimborazo, Riobamba 060155, Ecuador
| | - Juan Cely
- Centre for Automation and Robotics UPM-CSIC, Universidad Politécnica de Madrid, 28006 Madrid, Spain
| | - Avishai Sintov
- School of Mechanical Engineering, Tel Aviv University, Tel Aviv 6997801, Israel
| | - Cecilia E. García Cena
- Centre for Automation and Robotics UPM-CSIC, Escuela Técnica Superior de Ingeniería y Diseño Industrial ETSIDI-Universidad Politécnica de Madrid, Ronda de Valencia 3, 28012 Madrid, Spain
| | - Roque Saltaren
- Centre for Automation and Robotics UPM-CSIC, Universidad Politécnica de Madrid, 28006 Madrid, Spain
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Sato Y, Kondo T, Uchida A, Sato K, Yoshino-Saito K, Nakamura M, Okano H, Ushiba J. Preserved Intersegmental Coordination During Locomotion after Cervical Spinal Cord Injury in Common Marmosets. Behav Brain Res 2022; 425:113816. [DOI: 10.1016/j.bbr.2022.113816] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/06/2021] [Revised: 02/21/2022] [Accepted: 02/22/2022] [Indexed: 11/27/2022]
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Santosuosso E, Leguillette R, Vinardell T, Filho S, Massie S, McCrae P, Johnson S, Rolian C, David F. Kinematic Analysis During Straight Line Free Swimming in Horses: Part 2 - Hindlimbs. Front Vet Sci 2022; 8:761500. [PMID: 35174237 PMCID: PMC8843043 DOI: 10.3389/fvets.2021.761500] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/19/2021] [Accepted: 12/08/2021] [Indexed: 11/24/2022] Open
Abstract
Background Swimming is used for rehabilitation and conditioning purposes in equine sports medicine. We described the swimming kinematics of the equine forelimbs in Part 1. The aim of Part 2 is to assess stifle, tarsus, and hind fetlock joints kinematics in swimming horses. The objectives were 1- to calculate and compare joint angles during swimming against passive mobilizations (PM), 2- to determine joints angular velocities during a swimming stride cycle. Methods Eleven elite endurance horses were used to swim in a 100-meter straight pool. Underwater (swimming) and overground PM videos were recorded from the horses' left side. Joint markers were applied on the lateral hoof wall, lateral metatarsal epicondyle, lateral aspect of the talus, lateral femoral epicondyle, and great trochanter of the femur. As a reference, maximal fetlock, tarsus, and stifle flexion/extension angles were determined during PM overground. Differences between angle extrema, angular velocities, and range of motion (ROM) were statistically compared. Results The tarsus ROM was similar during PM and swimming. The stifle and fetlock ROM were greater during PM, although the stifle flexion was greater during swimming. The stifle and tarsus had the greatest hindlimb angular velocity during the swimming cycle. Greater angular velocities were observed during the retraction phase for all the hindlimb joints. Conclusion A short retraction phase with great angular velocity for the joints of interest characterized the swimming pattern observed. Swimming may be beneficial in horses when an increased ROM of the tarsus and stifle or a reduced fetlock extension is indicated for rehabilitation purposes.
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Affiliation(s)
- Emma Santosuosso
- Faculty of Veterinary Medicine, University of Calgary, Calgary, AB, Canada
| | - Renaud Leguillette
- Faculty of Veterinary Medicine, University of Calgary, Calgary, AB, Canada
| | - Tatiana Vinardell
- Equine Veterinary Medical Center, Member of Qatar Foundation, Doha, Qatar
- College of Health and Life Sciences, Hamad Bin Khalifa University, Member of Qatar Foundation, Doha, Qatar
| | - Silvio Filho
- Al Shaqab's Endurance Department, Member of Qatar Foundation, Doha, Qatar
| | - Shannon Massie
- Faculty of Veterinary Medicine, University of Calgary, Calgary, AB, Canada
| | - Persephone McCrae
- Faculty of Veterinary Medicine, University of Calgary, Calgary, AB, Canada
| | - Sarah Johnson
- Equine Veterinary Medical Center, Member of Qatar Foundation, Doha, Qatar
| | - Campbell Rolian
- Faculty of Veterinary Medicine, University of Calgary, Calgary, AB, Canada
| | - Florent David
- Equine Veterinary Medical Center, Member of Qatar Foundation, Doha, Qatar
- *Correspondence: Florent David ;
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Abstract
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.
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Affiliation(s)
- Alain Frigon
- Department of Pharmacology-Physiology, Faculty of Medicine and Health Sciences, Université de Sherbrooke, Quebec, Canada
| | - Turgay Akay
- Department of Medical Neuroscience, Atlantic Mobility Action Project, Brain Repair Center, Dalhousie University, Halifax, Nova Scotia, Canada
| | - Boris I Prilutsky
- School of Biological Sciences, Georgia Institute of Technology, Atlanta, Georgia, USA
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Fukuhara A, Koizumi Y, Baba T, Suzuki S, Kano T, Ishiguro A. Simple decentralized control mechanism that enables limb adjustment for adaptive quadruped running. Proc Biol Sci 2021; 288:20211622. [PMID: 34727718 PMCID: PMC8564617 DOI: 10.1098/rspb.2021.1622] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/20/2021] [Accepted: 10/13/2021] [Indexed: 11/12/2022] Open
Abstract
Quadrupeds exhibit versatile and adaptive running by exploiting the flying phase during the stride cycle. Various interlimb coordination mechanisms focusing on mechanical loads during the stance phase have been proposed to understand the underlying control mechanism, and various gait patterns have been reproduced. However, the essential control mechanism required to achieve both steady running patterns and non-steady behaviours, such as jumping and landing, remains unclear. Therefore, we focus on the vertical motions of the body parts and propose a new decentralized interlimb coordination mechanism. The simulation results demonstrate that the robot can generate efficient and various running patterns in response to the morphology of the body. Furthermore, the proposed model allows the robot to smoothly change its behaviour between steady running and non-steady landing depending on the situation. These results suggest that the steady and non-steady behaviours in quadruped adaptive running may share a common simple control mechanism based on the mechanical loads and vertical velocities of the body parts.
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Affiliation(s)
- Akira Fukuhara
- Research Institute of Electrical Communication, Tohoku University, Sendai, Japan
| | - Yukihiro Koizumi
- Research Institute of Electrical Communication, Tohoku University, Sendai, Japan
| | - Tomoyuki Baba
- Research Institute of Electrical Communication, Tohoku University, Sendai, Japan
| | - Shura Suzuki
- Research Institute of Electrical Communication, Tohoku University, Sendai, Japan
- Japan Society for Promotion of Science, Tokyo, Japan
| | - Takeshi Kano
- Research Institute of Electrical Communication, Tohoku University, Sendai, Japan
| | - Akio Ishiguro
- Research Institute of Electrical Communication, Tohoku University, Sendai, Japan
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O’Rourke S, Wills A. A comparison of stride parameters and carpal and tarsal joint angles during terrestrial and swimming locomotion in domestic dogs. COMPARATIVE EXERCISE PHYSIOLOGY 2021. [DOI: 10.3920/cep200076] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/19/2022]
Abstract
In recent years, canine hydrotherapy has become increasingly popular to treat a range of conditions despite a lack of empirical evidence. It is currently unclear whether joint angles and limb movements performed by dogs during swimming are quantifiably beneficial for healthy animals. This study investigated the swimming kinematics of healthy dogs to establish baseline data for this activity and compare limb kinematics to that of overground locomotion. Kinematic data were recorded from eight healthy dolichocephalic dogs (mean age: 3.4±2.2) of a variety of breeds. Overground data were collected prior to swimming and consisted of dogs trotting on a flat surface. Swimming data were collected using an underwater camera during a standard hydrotherapy session conducted by a trained canine hydrotherapist. Range of motion, primarily due to an increase in flexion, was significantly greater (P<0.005) during swimming than trotting. Stride length (P<0.001) and frequency (P<0.005) were both significantly reduced in swimming compared to trot. Swimming kinematics recorded in this study are consistent with previously published data on canine aquatic locomotion but differ from those previously reported for water treadmill exercise. This study provides an insight into aquatic locomotion in healthy dogs indicating that range of motion exceeds that of terrestrial gaits. It is unclear whether these changes are beneficial for healthy animals and therefore further research is required to develop evidence-based protocols for industry practice.
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Affiliation(s)
- S. O’Rourke
- Department of Animal and Agriculture, Hartpury University, Hartpury, Gloucester, Gloucestershire, GL19 3BE, United Kingdom
| | - A.P. Wills
- Department of Animal and Agriculture, Hartpury University, Hartpury, Gloucester, Gloucestershire, GL19 3BE, United Kingdom
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Itoi T, Kawata S, Fukuda Y, Maejima S. Effect of a Corset on the Gait of Healthy Beagle Dogs. Animals (Basel) 2021; 11:ani11092650. [PMID: 34573619 PMCID: PMC8471024 DOI: 10.3390/ani11092650] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/13/2021] [Revised: 08/27/2021] [Accepted: 09/08/2021] [Indexed: 11/04/2022] Open
Abstract
Simple Summary In recent years, corsets have been used in the prevention of nerve diseases in dogs and in their rehabilitation following surgery. The Anifull Dog’s Corset Pro, made by Daiya Industry Co., Ltd., is manufactured and sold for this purpose, but no studies have yet been conducted to verify its effectiveness. To evaluate the effects of the corset, we analyzed the gait of healthy beagle dogs that were or were not wearing the Anifull Dog’s Corset Pro. We found no difference in the walking speed of the dogs, but wearing the corset reduced the horizontal sway of the back. In conclusion, this corset does not affect the gait of dogs and may help body stability. Therefore, the Anifull Dog’s Corset Pro may be useful for the treatment of dog nerve conditions. Abstract The prognosis for intervertebral disc disease (IVDD), a common neurologic disease in dogs, varies, with some cases requiring long-term rehabilitation. Corsets are used as part of the physical rehabilitation of dogs, and one of these, the Anifull Dog’s Corset Pro, is manufactured and sold by Daiya Industry Co., Ltd. This corset is used to relieve pain caused by spinal cord and vertebral diseases, and to prevent neurological conditions from worsening, by limiting spinal movement. However, the effect of the Anifull Dog’s Corset Pro on gait has not yet been clarified. Therefore, we aimed to evaluate the effects of this corset on the gait of dogs using kinematic and kinetic analyses. Five healthy beagle dogs wearing corsets were trotted, kinematic and kinetic parameters were measured using motion capture and force plates, and the results were compared to those obtained when the dogs were not wearing a corset. The range of motion of the angle formed by the 13th thoracic vertebra and the 7th lumbar vertebra at the apex of the 7th cervical vertebra was significantly reduced in the corset-wearing dogs. Thus, the Anifull Dog’s Corset Pro may improve trunk stability without affecting gait.
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Affiliation(s)
- Takamasa Itoi
- Faculty of Veterinary Medicine, Okayama University of Science, Imabari 794-8555, Ehime, Japan
- Department of Comparative Animal Science, Kurashiki University of Science and the Arts, Kurashiki 712-8505, Okayama, Japan
- Correspondence:
| | - Shuji Kawata
- Anifull, Division of Vet Supplies, Daiya Industry Co., Ltd., Okayama 701-0203, Okayama, Japan;
| | - Yoshiyuki Fukuda
- Department of R&D, Daiya Industry Co., Ltd., Okayama 701-0203, Okayama, Japan;
| | - Saori Maejima
- Animal Rehabilitation Community, Okayama 701-1332, Okayama, Japan;
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Rohwedder T. Biomechanics of the Canine Elbow Joint. Vet Med Sci 2021. [DOI: 10.5772/intechopen.99569] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022] Open
Abstract
The canine elbow joint is a complex joint, whose musculoskeletal anatomy is well investigated. During the last 30 years kinematic analysis has gained importance in veterinary research and kinematics of the healthy and medial coronoid disease affected canine elbow joint are progressively investigated. Video-kinematographic analysis represents the most commonly used technique and multiple studies have investigated the range of motion, angular velocity, duration of swing and stance phase, stride length and other kinematic parameters, mostly in the sagittal plane only. However, this technique is more error-prone and data gained by video-kinematography represent the kinematics of the whole limb including the soft tissue envelope. A more precise evaluation of the in vivo bone and joint movement can only been achieved using fluoroscopic kinematography. Based on recent studies significant differences in the motion pattern between healthy joints and elbows with medial coronoid disease could be detected. Thereby not only adaptive changes, caused by pain and lameness, could be described, but primary changes in the micromotion of the joint forming bones could be found, which potentially represent new factors in the pathogenesis of medial coronoid disease. This chapter gives a review of current literature on elbow joint kinematics, with particular focus onto pathologic biomechanics in dysplastic canine elbows.
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Kuraoka M, Aoki Y, Takeda S. Development of outcome measures according to dystrophic phenotypes in canine X-linked muscular dystrophy in Japan. Exp Anim 2021; 70:419-430. [PMID: 34135266 PMCID: PMC8614006 DOI: 10.1538/expanim.21-0072] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/31/2022] Open
Abstract
Duchenne muscular dystrophy (DMD) is an X-linked lethal muscle disorder characterized by primary muscle degeneration. Therapeutic strategies for DMD have been extensively explored, and some are in the stage of human clinical trials. Along with the development of new therapies, sensitive outcome measures are needed to monitor the effects of new treatments. Therefore, we investigated outcome measures such as biomarkers and motor function evaluation in a dystrophic model of beagle dogs, canine X-linked muscular dystrophy in Japan (CXMDJ). Osteopontin (OPN), a myogenic inflammatory cytokine, was explored as a potential biomarker in dystrophic dogs over the disease course. The serum OPN levels of CXMDJ dystrophic dogs were elevated, even in the early disease phase, and this could be related to the presence of regenerating muscle fibers; as such, OPN would be a promising biomarker for muscle regeneration. Next, accelerometry, which is an efficient method to quantify performance in validated tasks, was used to evaluate motor function longitudinally in dystrophic dogs. We measured three-axis acceleration and angular velocity with wireless hybrid sensors during gait evaluations. Multiple parameters of acceleration and angular velocity showed notedly lower values in dystrophic dogs compared with wild-type dogs, even at the onset of muscle weakness. These parameters accordingly decreased with exacerbation of clinical manifestations along with the disease course. Multiple parameters also indicated gait abnormalities in dystrophic dogs, such as a waddling gait. These outcome measures could be applicable in clinical trials of patients with DMD or other muscle disorders.
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Affiliation(s)
- Mutsuki Kuraoka
- Laboratory of Experimental Animal Science, Nippon Veterinary and Life Science University.,Department of Molecular Therapy, National Institute of Neuroscience, National Center of Neurology and Psychiatry
| | - Yoshitsugu Aoki
- Department of Molecular Therapy, National Institute of Neuroscience, National Center of Neurology and Psychiatry
| | - Shin'ichi Takeda
- National Institute of Neuroscience, National Center of Neurology and Psychiatry
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Naniwa K, Sugimoto Y, Osuka K, Aonuma H. Novel Method for Analyzing Flexible Locomotion Patterns of Animals by Using Polar Histogram. JOURNAL OF ROBOTICS AND MECHATRONICS 2020. [DOI: 10.20965/jrm.2020.p0812] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Abstract
In general, legged robots are designed to walk with a fixed rhythmic pattern. However, most animals can adapt their limb movements while walking. It is necessary to understand the mechanism of adaptability during locomotion when designing bio-inspired legged robots. In this paper, we propose an approach to analyze the flexible locomotion pattern of animals using a polar histogram. Field crickets were used to investigate variations in leg movement of insects depending on the environment. Crickets have a tripod gait; however, their leg movement changes depending on the texture of the ground. There was a significant difference between the leg movement when walking and when swimming. Our approach can explain how animals move their legs during locomotion. This study is useful for evaluating the movements of legged robots.
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Dewolf AH, Sylos-Labini F, Cappellini G, Lacquaniti F, Ivanenko Y. Emergence of Different Gaits in Infancy: Relationship Between Developing Neural Circuitries and Changing Biomechanics. Front Bioeng Biotechnol 2020; 8:473. [PMID: 32509753 PMCID: PMC7248179 DOI: 10.3389/fbioe.2020.00473] [Citation(s) in RCA: 20] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/19/2020] [Accepted: 04/23/2020] [Indexed: 12/13/2022] Open
Abstract
How does gait-specific pattern generation evolve in early infancy? The idea that neural and biomechanical mechanisms underlying mature walking and running differ to some extent and involve distinct spinal and supraspinal neural circuits is supported by various studies. Here we consider the issue of human gaits from the developmental point of view, from neonate stepping to adult mature gaits. While differentiating features of the walk and run are clearly distinct in adults, the gradual and progressive developmental bifurcation between the different gaits suggests considerable sharing of circuitry. Gaits development and their biomechanical determinants also depend on maturation of the musculoskeletal system. This review outlines the possible overlap in the neural and biomechanical control of walking and running in infancy, supporting the idea that gaits may be built starting from common, likely phylogenetically conserved elements. Bridging connections between movement mechanics and neural control of locomotion could have profound clinical implications for technological solutions to understand better locomotor development and to diagnose early motor deficits. We also consider the neuromuscular maturation time frame of gaits resulting from active practice of locomotion, underlying plasticity of development.
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Affiliation(s)
- Arthur Henri Dewolf
- Department of Systems Medicine and Center of Space Biomedicine, University of Rome Tor Vergata, Rome, Italy
| | | | - Germana Cappellini
- Laboratory of Neuromotor Physiology, IRCCS Santa Lucia Foundation, Rome, Italy.,Department of Pediatric Neurorehabilitation, IRCCS Santa Lucia Foundation, Rome, Italy
| | - Francesco Lacquaniti
- Department of Systems Medicine and Center of Space Biomedicine, University of Rome Tor Vergata, Rome, Italy.,Laboratory of Neuromotor Physiology, IRCCS Santa Lucia Foundation, Rome, Italy
| | - Yury Ivanenko
- Laboratory of Neuromotor Physiology, IRCCS Santa Lucia Foundation, Rome, Italy
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Toeda M, Aoi S, Fujiki S, Funato T, Tsuchiya K, Yanagihara D. Gait Generation and Its Energy Efficiency Based on Rat Neuromusculoskeletal Model. Front Neurosci 2020; 13:1337. [PMID: 32009870 PMCID: PMC6978804 DOI: 10.3389/fnins.2019.01337] [Citation(s) in RCA: 7] [Impact Index Per Article: 1.8] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/29/2019] [Accepted: 11/27/2019] [Indexed: 01/20/2023] Open
Abstract
Changing gait is crucial for adaptive and smooth animal locomotion. Although it remains unclear what makes animals decide on a specific gait, energy efficiency is an important factor. It has been reported that the relationship of oxygen consumption with speed is U-shaped for each horse gait and that different gaits have different speeds at which oxygen consumption is minimized. This allows the horse to produce energy-efficient locomotion in a wide speed range by changing gait. However, the underlying mechanisms causing oxygen consumption to be U-shaped and the speeds for the minimum consumption to be different between different gaits are unclear. In the present study, we used a neuromusculoskeletal model of the rat to examine the mechanism from a dynamic viewpoint. Specifically, we constructed the musculoskeletal part of the model based on empirical anatomical data on rats and the motor control model based on the physiological concepts of the spinal central pattern generator and muscle synergy. We also incorporated the posture and speed regulation models at the levels of the brainstem and cerebellum. Our model achieved walking through forward dynamic simulation, and the simulated joint kinematics and muscle activities were compared with animal data. Our model also achieved trotting by changing only the phase difference of the muscle-synergy-based motor commands between the forelimb and hindlimb. Furthermore, the speed of each gait varied by changing only the extension phase duration and amplitude of the muscle synergy-based motor commands and the reference values for the regulation models. The relationship between cost of transport (CoT) and speed was U-shaped for both the generated walking and trotting, and the speeds for the minimum CoT were different for the two gaits, as observed in the oxygen consumption of horses. We found that the resonance property and the posture and speed regulations contributed to the CoT shape and difference in speeds for the minimum CoT. We further discussed the energy efficiency of gait based on the simulation results.
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Affiliation(s)
- Misaki Toeda
- Department of Life Sciences, Graduate School of Arts and Sciences, The University of Tokyo, Tokyo, Japan
| | - Shinya Aoi
- Department of Aeronautics and Astronautics, Graduate School of Engineering, Kyoto University, Kyoto, Japan
| | - Soichiro Fujiki
- Department of Physiology and Biological Information, School of Medicine, Dokkyo Medical University, Tochigi, Japan
| | - Tetsuro Funato
- Department of Mechanical Engineering and Intelligent Systems, Graduate School of Informatics and Engineering, The University of Electro-Communications, Tokyo, Japan
| | - Kazuo Tsuchiya
- Department of Aeronautics and Astronautics, Graduate School of Engineering, Kyoto University, Kyoto, Japan
| | - Dai Yanagihara
- Department of Life Sciences, Graduate School of Arts and Sciences, The University of Tokyo, Tokyo, Japan
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16
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Oshima H, Aoi S, Funato T, Tsujiuchi N, Tsuchiya K. Variant and Invariant Spatiotemporal Structures in Kinematic Coordination to Regulate Speed During Walking and Running. Front Comput Neurosci 2019; 13:63. [PMID: 31616271 PMCID: PMC6764191 DOI: 10.3389/fncom.2019.00063] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.6] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/12/2019] [Accepted: 08/27/2019] [Indexed: 12/20/2022] Open
Abstract
Humans walk, run, and change their speed in accordance with circumstances. These gaits are rhythmic motions generated by multi-articulated movements, which have specific spatiotemporal patterns. The kinematic characteristics depend on the gait and speed. In this study, we focused on the kinematic coordination of locomotor behavior to clarify the underlying mechanism for the effect of speed on the spatiotemporal kinematic patterns for each gait. In particular, we used seven elevation angles for the whole-body motion and separated the measured data into different phases depending on the foot-contact condition, that is, single-stance phase, double-stance phase, and flight phase, which have different physical constraints during locomotion. We extracted the spatiotemporal kinematic coordination patterns with singular value decomposition and investigated the effect of speed on the coordination patterns. Our results showed that most of the whole-body motion could be explained by only two sets of temporal and spatial coordination patterns in each phase. Furthermore, the temporal coordination patterns were invariant for different speeds, while the spatial coordination patterns varied. These findings will improve our understanding of human adaptation mechanisms to tune locomotor behavior for changing speed.
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Affiliation(s)
- Hiroko Oshima
- Department of Mechanical and Systems Engineering, Faculty of Science and Engineering, Doshisha University, Kyoto, Japan.,Department of Aeronautics and Astronautics, Graduate School of Engineering, Kyoto University, Kyoto, Japan
| | - Shinya Aoi
- Department of Aeronautics and Astronautics, Graduate School of Engineering, Kyoto University, Kyoto, Japan
| | - Tetsuro Funato
- Department of Mechanical Engineering and Intelligent Systems, Graduate School of Informatics and Engineering, The University of Electro-Communications, Tokyo, Japan
| | - Nobutaka Tsujiuchi
- Department of Mechanical and Systems Engineering, Faculty of Science and Engineering, Doshisha University, Kyoto, Japan
| | - Kazuo Tsuchiya
- Department of Aeronautics and Astronautics, Graduate School of Engineering, Kyoto University, Kyoto, Japan
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17
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Jones S, Franklin S, Martin C, Steel C. Complete upper airway collapse and apnoea during tethered swimming in horses. Equine Vet J 2019; 52:352-358. [PMID: 31495963 DOI: 10.1111/evj.13177] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.4] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/22/2019] [Accepted: 08/22/2019] [Indexed: 12/26/2022]
Abstract
BACKGROUND There is limited knowledge of the breathing strategy and impact on the patency of the upper respiratory tract (URT) in swimming horses. OBJECTIVES To describe the respiratory responses and endoscopic appearance of the URT during tethered swimming in horses. STUDY DESIGN Prospective descriptive study. METHODS Ten race-fit horses, with no history of URT obstruction, were examined during tethered swimming. Endoscopic examination, heart rate, sound recordings and above and below water video recordings were obtained. Plasma lactate concentration was measured before and 5 min after swimming and tracheal endoscopy was performed 30 min after exercise to assess for presence of blood or mucus. Four horses also underwent endoscopy during exercise on the track. RESULTS Mean (±s.d.) breathing frequency was 28 ± 5 breaths/min during swimming, with a brief inspiration (mean ± s.d. TI = 0.51 ± 0.08 s), followed by a period of apnoea (1.59 ± 0.53 s) and then a short, forced expiration (TE = 0.42 ± 0.5 s). During apnoea all horses exhibited complete collapse of the URT including closure of the external nares, nasopharynx and rima glottidis (with bilateral adduction of the arytenoid cartilages and vocal folds) and, in two horses, epiglottic retroversion. No horses had URT collapse during overground exercise. Locomotor-respiratory coupling was not observed during swimming. Median (IQR) plasma lactate post swim was 4.71 mmol/L (2.08-8.09 mmol/L) vs 0.68 mmol/L (0.65-0.71 mmol/L) preswim. Post swim endoscopy revealed grade 1 exercise-induced pulmonary haemorrhage (EIPH) in 2 horses. Median mucus grade was 1 (range 0-3). MAIN LIMITATIONS Overground endoscopy was not performed in all horses. CONCLUSIONS Horses experienced complete URT collapse associated with post inspiratory apnoea when swimming. The reason for this is unknown but may be to aid buoyancy or associated with the mammalian dive response - a survival reflex to preserve oxygen stores and prevent water entering the lungs.
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Affiliation(s)
- S Jones
- University of Melbourne Equine Centre, Melbourne, Victoria, Australia
| | - S Franklin
- University of Adelaide Equine Health and Performance Centre, Roseworthy, South Australia, Australia
| | - C Martin
- Sperero Pty Ltd, Melbourne, Victoria, Australia
| | - C Steel
- University of Melbourne Equine Centre, Melbourne, Victoria, Australia
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18
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Li Y, Fish F, Chen Y, Ren T, Zhou J. Bio-inspired robotic dog paddling: kinematic and hydro-dynamic analysis. BIOINSPIRATION & BIOMIMETICS 2019; 14:066008. [PMID: 31430730 DOI: 10.1088/1748-3190/ab3d05] [Citation(s) in RCA: 11] [Impact Index Per Article: 2.2] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/10/2023]
Abstract
Research on quadrupedal robots inspired by canids or felids have been widely reported and demonstrated. However, none of these legged robots can deal with difficult environments that include water, such as small lakes, streams, rain, mud, flooded terrain, etc. In this paper, we present for the first time a kinematic analysis and a hydrodynamic model of dog paddling motion in a robotic system. The quadrupedal paddling gait of dogs was first analyzed based on underwater video recording. Hydrodynamic drag force analysis in a paddling gait cycle was conducted for a prototype robotic dog. The prototype robotic dog was developed using four pre-charged pneumatics soft actuators with consideration of relative positions of CG (center of gravity) and CB (center of buoyancy) and their dynamic variation in paddling. It was found that such soft actuators have great potential in developing amphibious legged robots, because they are inherently water-tight, anti-rusty, simple in structural design, and have large hydrodynamic advantage due to their mostly hemi-cylindrical shape design. Trotting and paddling of the prototype robotic dog was also demonstrated. It is believed that our findings reported in this research will provide useful guidance in future development of amphibious robotic dogs.
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Affiliation(s)
- Yunquan Li
- Department of Mechanical Engineering, The University of Hong Kong, Pokfulam Road, Hong Kong, People's Republic of China
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19
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Aoi S, Ohashi T, Bamba R, Fujiki S, Tamura D, Funato T, Senda K, Ivanenko Y, Tsuchiya K. Neuromusculoskeletal model that walks and runs across a speed range with a few motor control parameter changes based on the muscle synergy hypothesis. Sci Rep 2019; 9:369. [PMID: 30674970 PMCID: PMC6344546 DOI: 10.1038/s41598-018-37460-3] [Citation(s) in RCA: 35] [Impact Index Per Article: 7.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/30/2018] [Accepted: 12/07/2018] [Indexed: 01/14/2023] Open
Abstract
Humans walk and run, as well as change their gait speed, through the control of their complicated and redundant musculoskeletal system. These gaits exhibit different locomotor behaviors, such as a double-stance phase in walking and flight phase in running. The complex and redundant nature of the musculoskeletal system and the wide variation in locomotion characteristics lead us to imagine that the motor control strategies for these gaits, which remain unclear, are extremely complex and differ from one another. It has been previously proposed that muscle activations may be generated by linearly combining a small set of basic pulses produced by central pattern generators (muscle synergy hypothesis). This control scheme is simple and thought to be shared between walking and running at different speeds. Demonstrating that this control scheme can generate walking and running and change the speed is critical, as bipedal locomotion is dynamically challenging. Here, we provide such a demonstration by using a motor control model with 69 parameters developed based on the muscle synergy hypothesis. Specifically, we show that it produces both walking and running of a human musculoskeletal model by changing only seven key motor control parameters. Furthermore, we show that the model can walk and run at different speeds by changing only the same seven parameters based on the desired speed. These findings will improve our understanding of human motor control in locomotion and provide guiding principles for the control design of wearable exoskeletons and prostheses.
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Affiliation(s)
- Shinya Aoi
- Department of Aeronautics and Astronautics, Graduate School of Engineering, Kyoto University, Kyoto daigaku-Katsura, Nishikyo-ku, Kyoto, 615-8540, Japan.
| | - Tomohiro Ohashi
- Department of Aeronautics and Astronautics, Graduate School of Engineering, Kyoto University, Kyoto daigaku-Katsura, Nishikyo-ku, Kyoto, 615-8540, Japan
| | - Ryoko Bamba
- Department of Aeronautics and Astronautics, Graduate School of Engineering, Kyoto University, Kyoto daigaku-Katsura, Nishikyo-ku, Kyoto, 615-8540, Japan
| | - Soichiro Fujiki
- Department of Life Sciences, Graduate School of Arts and Sciences, The University of Tokyo, 3-8-1 Komaba, Meguro-ku, Tokyo, 153-8902, Japan
| | - Daiki Tamura
- Department of Aeronautics and Astronautics, Graduate School of Engineering, Kyoto University, Kyoto daigaku-Katsura, Nishikyo-ku, Kyoto, 615-8540, Japan
| | - Tetsuro Funato
- Department of Mechanical Engineering and Intelligent Systems, Graduate School of Informatics and Engineering, The University of Electro-Communications, 1-5-1 Choufugaoka, Choufu-shi, Tokyo, 182-8585, Japan
| | - Kei Senda
- Department of Aeronautics and Astronautics, Graduate School of Engineering, Kyoto University, Kyoto daigaku-Katsura, Nishikyo-ku, Kyoto, 615-8540, Japan
| | - Yury Ivanenko
- Laboratory of Neuromotor Physiology, IRCCS Santa Lucia Foundation, 00179, Rome, Italy
| | - Kazuo Tsuchiya
- Department of Aeronautics and Astronautics, Graduate School of Engineering, Kyoto University, Kyoto daigaku-Katsura, Nishikyo-ku, Kyoto, 615-8540, Japan
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20
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Kuraoka M, Nitahara-Kasahara Y, Tachimori H, Kato N, Shibasaki H, Shin A, Aoki Y, Kimura E, Takeda S. Accelerometric outcomes of motor function related to clinical evaluations and muscle involvement in dystrophic dogs. PLoS One 2018; 13:e0208415. [PMID: 30533017 PMCID: PMC6289438 DOI: 10.1371/journal.pone.0208415] [Citation(s) in RCA: 6] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/06/2018] [Accepted: 11/16/2018] [Indexed: 12/25/2022] Open
Abstract
Duchenne muscular dystrophy (DMD) is an X-linked muscle disorder characterized by primary muscle degeneration. Patients with DMD reveal progressive muscle weakness leading to ambulatory dysfunction. Novel outcome measures are needed for more sensitive evaluation of therapeutic effects in clinical trials. Multiple parameters of acceleration and angular velocity are used as efficient indicators to quantify the motion of subjects, and these parameters have been recently applied for evaluation of motor function in DMD. In the present study, we evaluated gait in a dystrophic dog model, CXMDJ, by measuring three-axial acceleration and angular velocity over the course of months. Hybrid sensors were placed on the dorsal thoracic and lumbar regions of dogs to detect a wide range of acceleration (±8 G) and angular velocity (±1000 degrees per second). Multiple parameters showed lower values in dystrophic dogs compared to wild-type (WT) dogs, and declined over the course of months. Acceleration magnitude (AM) at the thoracic region in dystrophic dogs was prominently lower compared with WT dogs, even at the age of 2 months, the onset of muscle weakness, whereas AM at the lumbar region drastically declined throughout the disease course. The angular velocity index in the vertical direction in the lumbar region increased in dystrophic dogs, suggesting waddling at the girdle. These parameters also accordingly decreased with exacerbation of clinical manifestations and a decrease in spontaneous locomotor activity. The AM of dystrophic dogs was analyzed with magnetic resonance imaging to look for a correlation with crus muscle involvement. Results showed that acceleration and angular velocity are multifaceted kinematic indices that can be applied to assess outcomes in clinical trials for hereditary neuromuscular disorders including DMD.
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Affiliation(s)
- Mutsuki Kuraoka
- Department of Molecular Therapy, National Institute of Neuroscience, National Center of Neurology and Psychiatry, Kodaira, Tokyo, Japan
- Laboratory of Experimental Animal Science, Nippon Veterinary and Life Science University, Musashino, Tokyo, Japan
| | - Yuko Nitahara-Kasahara
- Department of Molecular Therapy, National Institute of Neuroscience, National Center of Neurology and Psychiatry, Kodaira, Tokyo, Japan
- Department of Biochemistry and Molecular Biology, Nippon Medical School, Bunkyo-ku, Tokyo, Japan
| | - Hisateru Tachimori
- Department of Clinical Epidemiology, Translational Medical Center, National Center of Neurology and Psychiatry, Kodaira, Tokyo, Japan
| | - Naohiro Kato
- Research Center for Medical and Health Data Science, The Institute of Statistical Mathematics, Tachikawa, Tokyo, Japan
| | - Hiroyuki Shibasaki
- Department of Molecular Therapy, National Institute of Neuroscience, National Center of Neurology and Psychiatry, Kodaira, Tokyo, Japan
- Department of Gene Regulation, Faculty of Pharmaceutical Sciences, Tokyo University of Science, Noda, Chiba, Japan
| | - Akihiko Shin
- School of Medicine, Shinshu University, Matsumoto, Nagano, Japan
| | - Yoshitsugu Aoki
- Department of Molecular Therapy, National Institute of Neuroscience, National Center of Neurology and Psychiatry, Kodaira, Tokyo, Japan
| | - En Kimura
- Department of Molecular Therapy, National Institute of Neuroscience, National Center of Neurology and Psychiatry, Kodaira, Tokyo, Japan
- Translational Medical Center, National Center of Neurology and Psychiatry, Kodaira, Tokyo, Japan
| | - Shin’ichi Takeda
- Department of Molecular Therapy, National Institute of Neuroscience, National Center of Neurology and Psychiatry, Kodaira, Tokyo, Japan
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21
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Catavitello G, Ivanenko Y, Lacquaniti F. A kinematic synergy for terrestrial locomotion shared by mammals and birds. eLife 2018; 7:38190. [PMID: 30376448 PMCID: PMC6257815 DOI: 10.7554/elife.38190] [Citation(s) in RCA: 23] [Impact Index Per Article: 3.8] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/08/2018] [Accepted: 10/28/2018] [Indexed: 01/13/2023] Open
Abstract
Locomotion of tetrapods on land adapted to different environments and needs resulting in a variety of different gait styles. However, comparative analyses reveal common principles of limb movement control. Here, we report that a kinematic synergy involving the planar covariation of limb segment motion holds in 54 different animal species (10 birds and 44 mammals), despite large differences in body size, mass (ranging from 30 g to 4 tonnes), limb configuration, and amplitude of movements. This kinematic synergy lies at the interface between the neural command signals output by locomotor pattern generators, the mechanics of the body center of mass and the external environment, and it may represent one neuromechanical principle conserved in evolution to save mechanical energy. Animals have evolved very different body shapes and styles of movement that are adapted to their needs in the habitats they live in. For example, mice, lions and many other animals use four limbs to walk, while humans and birds only use two limbs. The styles animals use to walk also differ in terms of how long each foot is on the ground during a single stride, and for four-legged animals, in how long a forefoot lags behind the hindfoot on the same side of the body during the stride. Yet, there are general principles in how walking is organized that are shared between animals of vastly different shapes and sizes. Many animals save energy during walking by swinging the center of their body mass back and forth like a pendulum. Networks of neurons are responsible for controlling how and when animals move, and these networks have similar architectures and patterns of activity in many different mammals and birds. How do signals from the nervous system regulate the position of the center of body mass while an animal walks? Here, Catavitello et al. addressed this question by analyzing how over 50 different species of birds and mammals walked around in zoo enclosures and other semi-natural or natural environments. The species studied ranged in size from mice weighing around 30 grams to elephants weighing around 4 tonnes. The team also studied human volunteers walking on treadmills. The experiments show that all the species studied coordinate their limbs in the same way, so that the angle to which a particular segment of a limb can bend varies together with the angles that the other limb segments bend. This coordination implies that the movement of the center of body mass is regulated and energy is saved. Along with providing new insight into how walking evolved, these findings may aid research into new approaches to treat walking impairments in humans and other animals.
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Affiliation(s)
- Giovanna Catavitello
- Centre of Space Bio-medicine, University of Rome Tor Vergata, Rome, Italy.,Laboratory of Neuromotor Physiology, IRCCS Santa Lucia Foundation, Rome, Italy
| | - Yury Ivanenko
- Laboratory of Neuromotor Physiology, IRCCS Santa Lucia Foundation, Rome, Italy
| | - Francesco Lacquaniti
- Centre of Space Bio-medicine, University of Rome Tor Vergata, Rome, Italy.,Laboratory of Neuromotor Physiology, IRCCS Santa Lucia Foundation, Rome, Italy.,Department of Systems Medicine, University of Rome Tor Vergata, Rome, Italy
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22
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Fukuhara A, Owaki D, Kano T, Kobayashi R, Ishiguro A. Spontaneous gait transition to high-speed galloping by reconciliation between body support and propulsion. Adv Robot 2018. [DOI: 10.1080/01691864.2018.1501277] [Citation(s) in RCA: 5] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/28/2022]
Affiliation(s)
- A. Fukuhara
- Research Institute of Electric and Communication, Tohoku University, Sendai, Japan
| | - D. Owaki
- Department of Robotics, Graduate School of Engineering, Tohoku University, Sendai, Japan
| | - T. Kano
- Research Institute of Electric and Communication, Tohoku University, Sendai, Japan
| | - R. Kobayashi
- Graduate School of Science, Hiroshima University, Hiroshima, Japan
| | - A. Ishiguro
- Research Institute of Electric and Communication, Tohoku University, Sendai, Japan
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23
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Lorke M, Willen M, Lucas K, Beyerbach M, Wefstaedt P, Murua Escobar H, Nolte I. Comparative kinematic gait analysis in young and old Beagle dogs. J Vet Sci 2018; 18:521-530. [PMID: 28385001 PMCID: PMC5746446 DOI: 10.4142/jvs.2017.18.4.521] [Citation(s) in RCA: 12] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/01/2016] [Revised: 12/01/2016] [Accepted: 01/02/2017] [Indexed: 11/20/2022] Open
Abstract
Age-related involution in dogs involves loss of muscle mass and changes in connective tissue and articular cartilage. The aim of this study was to examine whether an age-related influence on joint mobility can be detected in the absence of disease. Five young (mean age 2.0 years) and five old (mean age 10.4 years) healthy and sound Beagle dogs underwent computer-assisted gait analysis during locomotion on a treadmill. Shoulder, elbow, carpal, hip, stifle, and tarsal joint angles including joint angle progression curves, minimum and maximum joint angles, and range of motion (ROM) in degrees were analyzed. The old group had a smaller maximum joint angle (p = 0.037) and ROM (p = 0.037) of the carpal joint; there were similar tendencies in the shoulder, elbow, and carpal joints. Descriptive analysis of the progression curves revealed less flexion and extension of the forelimb joints. The results indicate restricted joint mobility of the forelimb in old dogs, primarily of the carpal joint. Results in the joints of the hindlimb were inconsistent, and the contrasting alterations may be due to a compensatory mechanism. As most alterations were found in the distal joints, these should receive particular attention when examining elderly dogs.
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Affiliation(s)
- Malin Lorke
- Small Animal Clinic, University of Veterinary Medicine Hannover, D-30559 Hannover, Germany
| | - Maray Willen
- Small Animal Clinic, University of Veterinary Medicine Hannover, D-30559 Hannover, Germany
| | - Karin Lucas
- Small Animal Clinic, University of Veterinary Medicine Hannover, D-30559 Hannover, Germany
| | - Martin Beyerbach
- Institute for Biometry, Epidemiology and Information Processing, University of Veterinary Medicine Hannover, D-30559 Hannover, Germany
| | - Patrick Wefstaedt
- Small Animal Clinic, University of Veterinary Medicine Hannover, D-30559 Hannover, Germany
| | - Hugo Murua Escobar
- Small Animal Clinic, University of Veterinary Medicine Hannover, D-30559 Hannover, Germany.,Division of Medicine Clinic III, Hematology, Oncology and Palliative Medicine, University of Rostock, D-18057 Rostock, Germany
| | - Ingo Nolte
- Small Animal Clinic, University of Veterinary Medicine Hannover, D-30559 Hannover, Germany
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24
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Planar covariance of upper and lower limb elevation angles during hand-foot crawling in healthy young adults. Exp Brain Res 2017; 235:3287-3294. [PMID: 28801797 DOI: 10.1007/s00221-017-5060-y] [Citation(s) in RCA: 4] [Impact Index Per Article: 0.6] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/02/2017] [Accepted: 08/04/2017] [Indexed: 10/19/2022]
Abstract
Habitual quadrupeds have been shown to display a planar covariance of segment elevation angle waveforms in the fore and hind limbs during many forms of locomotion. The purpose of the current study was to determine if humans generate similar patterns in the upper and lower limbs during hand-foot crawling. Nine healthy young adults performed hand-foot crawling on a treadmill at speeds of 1, 2, and 3 km/h. A principal component analysis (PCA) was applied to the segment elevation angle waveforms for the upper (upper arm, lower arm, and hand) and lower (thigh, shank, and foot) limbs separately. The planarity of the elevation angle waveforms was determined using the sum of the variance explained by the first two PCs and the orientation of the covariance plane was quantified using the direction cosines of the eigenvector orthogonal to the plane, projected upon each of the segmental semi-axes. Results showed that planarity of segment elevation angles was maintained in the upper and lower limbs (explained variance >97%), although a slight decrease was present in the upper limb when crawling at 3 km/h. The orientation of the covariance plane was highly limb-specific, consistent with animal studies and possibly related to the functional neural control differences between the upper and lower limbs. These results may suggest that the motor patterns stored in the central nervous system for quadrupedal locomotion may be retained through evolution and may still be exploited when humans perform such tasks.
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