Altered gait parameters in distracted walking: a bio-evolutionary and prognostic health perspective on passive listening and active responding during cell phone use

The underpinnings of bipedal gait are reviewed from an evolutionary biology and prognostic health perspective to better understand issues and concerns related to cell phone use during ambulation and under conditions of distraction and interference. We also consider gait-related health issues associated with the fear of or risk of falling and include prognostic dimensions associated with cognitive decline, dementia, and mortality. Data were acquired on 21 healthy young adults without hearing loss, vestibular, balance, otological or neurological dysfunction using a computerized walkway (GAITRite® Walkway System) combined with specialized software algorithms to extract gait parameters. Four experimental conditions and seven temporo-spatial gait parameters were studied: gait velocity, cadence, stride length, ambulatory time, single-support time, double-support time, and step count. Significant main effects were observed for ambulation time, velocity, stride velocity, and double-support time. The greatest impact of distraction and interference occurred during the texting condition, although other significant effects occurred when participants were verbally responding to queries and passively listening to a story. These experimental observations show that relatively simple distraction and interference tasks implemented through the auditory sensory modality can induce significant perturbations in gait while individuals were ambulating and using a cell phone. Herein, emphasis is placed on the use of quantifiable gait parameters in medical, psychological, and audiological examinations to serve as a foundation for identifying and potentially averting gait-related disturbances.

There is an obstetrical dilemma: Misconceptions about the evolution of human childbirth and pelvic form

Compared to other primates, modern humans face high rates of maternal and neonatal morbidity and mortality during childbirth. Since the early 20th century, this "difficulty" of human parturition has prompted numerous evolutionary explanations, typically assuming antagonistic selective forces acting on maternal and fetal traits, which has been termed the "obstetrical dilemma." Recently, there has been a growing tendency among some anthropologists to question the difficulty of human childbirth and its evolutionary origin in an antagonistic selective regime. Partly, this stems from the motivation to combat increasing pathologization and overmedicalization of childbirth in industrialized countries. Some authors have argued that there is no obstetrical dilemma at all, and that the difficulty of childbirth mainly results from modern lifestyles and inappropriate and patriarchal obstetric practices. The failure of some studies to identify biomechanical and metabolic constraints on pelvic dimensions is sometimes interpreted as empirical support for discarding an obstetrical dilemma. Here we explain why these points are important but do not invalidate evolutionary explanations of human childbirth. We present robust empirical evidence and solid evolutionary theory supporting an obstetrical dilemma, yet one that is much more complex than originally conceived in the 20th century. We argue that evolutionary research does not hinder appropriate midwifery and obstetric care, nor does it promote negative views of female bodies. Understanding the evolutionary entanglement of biological and sociocultural factors underlying human childbirth can help us to understand individual variation in the risk factors of obstructed labor, and thus can contribute to more individualized maternal care.

Consistency of limb preference across unimanual feeding, bipedal locomotion, and social grooming in golden snub-nosed monkeys (Rhinopithecus roxellana)

The golden snub-nosed monkey (Rhinopithecus roxellana) is a typical arboreal group-living Old World primate. While limb preference has been extensively studied in this species, limb preference consistency has not yet been explored. Here, based on 26 R. roxellana adults, we investigated whether individuals exhibit consistent motor biases in manual- (e.g., unimanual feeding and social grooming) and foot-related (e.g., bipedal locomotion) tasks and whether limb preference consistency is influenced by increased social interactions during social grooming. Results showed no consistency in the direction or strength of limb preference among tasks, except for lateral strength in handedness for unimanual feeding and footedness in the initiation of locomotion. Population-level foot preference was only found among right-handers. Marked lateral bias was found in unimanual feeding, indicating that it may be a sensitive behavioural measure for assessing manual preference, especially for provisioned populations. This study not only improves our understanding of the relationship between hand and foot preference in R. roxellana but also reveals potential differential hemispheric regulation of limb preference and the influence of increased social interaction on handedness consistency.

Human talar ontogeny: Insights from morphological and trabecular changes during postnatal growth

Objectives

The study of the development of human bipedalism can provide a unique perspective on the evolution of morphology and behavior across species. To generate new knowledge of these mechanisms, we analyze changes in both internal and external morphology of the growing human talus in a sample of modern human juveniles using an innovative approach.

Materials and Methods

The sample consists of high‐resolution microCT scans of 70 modern juvenile tali, aged between 8 postnatal weeks and 10 years old, from a broad chronological range from Middle/Late Neolithic, that is, between 4800 and 4500 BCE, to the 20th century. We applied geometric morphometric and whole‐bone trabecular analysis (bone volume fraction, degree of anisotropy, trabecular number, thickness, and spacing) to all specimens to identify changes in the external and internal morphology during growth. Morphometric maps were also generated.

Results

During the first year of life, the talus has an immature and globular shape, with a dense, compact, and rather isotropic trabecular architecture, with numerous trabeculae packed closely together. This pattern changes while children acquire a more mature gait, and the talus tends to have a lower bone volume fraction, a higher anisotropy, and a more mature shape.

Discussion

The changes in talar internal and external morphologies reflect the different loading patterns experienced during growth, gradually shifting from an “unspecialized” morphology to a more complex one, following the development of bipedal gait. Our research shows that talar plasticity, even though genetically driven, may show mechanical influences and contribute to tracking the main locomotor milestones.

Recent Advances in Bipedal Walking Robots: Review of Gait, Drive, Sensors and Control Systems

Currently, there is an intensive development of bipedal walking robots. The most known solutions are based on the use of the principles of human gait created in nature during evolution. Modernbipedal robots are also based on the locomotion manners of birds. This review presents the current state of the art of bipedal walking robots based on natural bipedal movements (human and bird) as well as on innovative synthetic solutions. Firstly, an overview of the scientific analysis of human gait is provided as a basis for the design of bipedal robots. The full human gait cycle that consists of two main phases is analysed and the attention is paid to the problem of balance and stability, especially in the single support phase when the bipedal movement is unstable. The influences of passive or active gait on energy demand are also discussed. Most studies are explored based on the zero moment. Furthermore, a review of the knowledge on the specific locomotor characteristics of birds, whose kinematics are derived from dinosaurs and provide them with both walking and running abilities, is presented. Secondly, many types of bipedal robot solutions are reviewed, which include nature-inspired robots (human-like and birdlike robots) and innovative robots using new heuristic, synthetic ideas for locomotion. Totally 45 robotic solutions are gathered by thebibliographic search method. Atlas was mentioned as one of the most perfect human-like robots, while the birdlike robot cases were Cassie and Digit. Innovative robots are presented, such asslider robot without knees, robots with rotating feet (3 and 4 degrees of freedom), and the hybrid robot Leo, which can walk on surfaces and fly. In particular, the paper describes in detail the robots' propulsion systems (electric, hydraulic), the structure of the lower limb (serial, parallel, mixed mechanisms), the types and structures of control and sensor systems, and the energy efficiency of the robots. Terrain roughness recognition systems using different sensor systems based on light detection and ranging or multiple cameras are introduced. A comparison of performance, control and sensor systems, drive systems, and achievements of known human-like and birdlike robots is provided. Thirdly, for the first time, the review comments on the future of bipedal robots in relation to the concepts of conventional (natural bipedal) and synthetic unconventional gait. We critically assess and compare prospective directions for further research that involve the development of navigation systems, artificial intelligence, collaboration with humans, areas for the development of bipedal robot applications in everyday life, therapy, and industry.

Morphological correlates of distal fibular morphology with locomotion in great apes, humans, and Australopithecus afarensis

OBJECTIVES

Recent studies highlighted the importance of the fibula to further our understanding of locomotor adaptations in fossil hominins. In this study, we present a three-dimensional geometric morphometric (3D-GM) investigation of the distal fibula in extant hominids and Australopithecus afarensis with the aim of pointing out morphological correlations to arboreal behavior.

METHODS

Three-dimensional surface meshes of the distal fibula were obtained using computer tomography for 40 extant hominid specimens and laser scanner for five A. afarensis specimens. Distal fibula morphology was quantified positioning 11 fixed landmarks, 40 curve semilandmarks, and 20 surface landmarks on each specimen. A generalized Procrustes analysis (GPA) was carried out on all landmark coordinates followed by Procrustes ANOVA. Principal component analysis (PCA) was performed on the GPA-aligned shape coordinates. Kruskal-Wallis tests and Mann-Whitney test were performed on scores along PCs.

RESULTS

Great apes are characterized by a shorter subcutaneous triangular surface (STS), more downward facing fibulotalar articular facets, more anteriorly facing lateral malleolus and wider/deeper malleolar fossa than humans. Within great apes, orangutans are characterized by more medially facing fibulotalar articular facets. Australopithecus afarensis shows a unique distal fibular morphology with several traits that are generally associated more to arboreality and less to bipedalism such as a short STS, a more anteriorly facing, laterally pointing malleolus and deeper and larger malleolar fossa.

CONCLUSIONS

The distal fibula morphology is indicative of locomotor patterns within extant hominids. The 3D-GM method presented here can be successfully used to further our understanding of arboreal adaptations in fossil hominins.

Kinematic trajectories in response to speed perturbations in walking suggest modular task-level control of leg angle and length

Navigating complex terrains requires dynamic interactions between the substrate, musculoskeletal and sensorimotor systems. Current perturbation studies have mostly used visible terrain height perturbations, which do not allow us to distinguish among the neuromechanical contributions of feedforward control, feedback-mediated and mechanical perturbation responses. Here, we use treadmill belt speed perturbations to induce a targeted perturbation to foot speed only, and without terrain-induced changes in joint posture and leg loading at stance onset. Based on previous studies suggesting a proximo-distal gradient in neuromechanical control, we hypothesized that distal joints would exhibit larger changes in joint kinematics, compared to proximal joints. Additionally, we expected birds to use feedforward strategies to increase the intrinsic stability of gait. To test these hypotheses, seven adult guinea fowl were video recorded while walking on a motorized treadmill, during both steady and perturbed trials. Perturbations consisted of repeated exposures to a deceleration and acceleration of the treadmill belt speed. Surprisingly, we found that joint angular trajectories and center of mass fluctuations remain very similar, despite substantial perturbation of foot velocity by the treadmill belt. Hip joint angular trajectories exhibit the largest changes, with the birds adopting a slightly more flexed position across all perturbed strides. Additionally, we observed increased stride duration across all strides, consistent with feedforward changes in the control strategy. The speed perturbations mainly influenced the timing of stance and swing, with the largest kinematic changes in the strides directly following a deceleration. Our findings do not support the general hypothesis of a proximo-distal gradient in joint control, as distal joint kinematics remain largely unchanged. Instead, we find that leg angular trajectory and the timing of stance and swing are most sensitive to this specific perturbation, and leg length actuation remains largely unchanged. Our results are consistent with modular task-level control of leg length and leg angle actuation, with different neuromechanical control and perturbation sensitivity in each actuation mode. Distal joints appear to be sensitive to changes in vertical loading but not foot fore-aft velocity. Future directions should include in vivo studies of muscle activation and force-length dynamics to provide more direct evidence of the sensorimotor control strategies for stability in response to belt speed perturbations.

BALLU2: A Safe and Affordable Buoyancy Assisted Biped

This work presents the first full disclosure of BALLU, Buoyancy Assisted Lightweight Legged Unit, and describes the advantages and challenges of its concept, the hardware design of a new implementation (BALLU2), a motion analysis, and a data-driven walking controller. BALLU is a robot that never falls down due to the buoyancy provided by a set of helium balloons attached to the lightweight body, which solves many issues that hinder current robots from operating close to humans. The advantages gained also lead to the platform’s distinct difficulties caused by severe nonlinearities and external forces such as buoyancy and drag. The paper describes the nonconventional characteristics of BALLU as a legged robot and then gives an analysis of its unique behavior. Based on the analysis, a data-driven approach is proposed to achieve non-teleoperated walking: a statistical process using Spearman Correlation Coefficient is proposed to form low-dimensional state vectors from the simulation data, and an artificial neural network-based controller is trained on the same data. The controller is tested both on simulation and on real-world hardware. Its performance is assessed by observing the robot’s limit cycles and trajectories in the Cartesian coordinate. The controller generates periodic walking sequences in simulation as well as on the real-world robot even without additional transfer learning. It is also shown that the controller can deal with unseen conditions during the training phase. The resulting behavior not only shows the robustness of the controller but also implies that the proposed statistical process effectively extracts a state vector that is low-dimensional yet contains the essential information of the high-dimensional dynamics of BALLU’s walking.

Phase transformation-driven artificial muscle mimics the multifunctionality of avian wing muscle

Skeletal muscle provides a compact solution for performing multiple tasks under diverse operational conditions, a capability lacking in many current engineered systems. Here, we evaluate if shape memory alloy (SMA) components can serve as artificial muscles with tunable mechanical performance. We experimentally impose cyclic stimuli, electric and mechanical, to an SMA wire and demonstrate that this material can mimic the response of the avian humerotriceps, a skeletal muscle that acts in the dynamic control of wing shapes. We next numerically evaluate the feasibility of using SMA springs as artificial leg muscles for a bipedal walking robot. Altering the phase offset between mechanical and electrical stimuli was sufficient for both synthetic and natural muscle to shift between actuation, braking and spring-like behaviour.

Comparative radiographic analysis of three-dimensional innate mobility of the foot bones under axial loading of humans and African great apes

The human foot is considered to be morphologically adapted for habitual bipedal locomotion. However, how the mobility and mechanical interaction of the human foot with the ground under a weight-bearing condition differ from those of African great apes is not well understood. We compared three-dimensional (3D) bone kinematics of cadaver feet under axial loading of humans and African great apes using a biplanar X-ray fluoroscopy system. The calcaneus was everted and the talus and tibia were internally rotated in the human foot, but such coupling motion was much smaller in the feet of African great apes, possibly due to the difference in morphology of the foot bones and articular surfaces. This study also found that the changes in the length of the longitudinal arch were larger in the human foot than in the feet of chimpanzees and gorillas, indicating that the human foot is more deformable, possibly to allow storage and release of the elastic energy during locomotion. The coupling motion of the calcaneus and the tibia, and the larger capacity to be flattened due to axial loading observed in the human foot are possibly morphological adaptations for habitual bipedal locomotion that has evolved in the human lineage.

Bootstrapping Virtual Bipedal Walkers with Robotics Scaffolded Learning

We reach walking optimality from a very early age by using natural supports, which can be the hands of our parents, chairs, and training wheels, and bootstrap a new knowledge from the recently acquired one. The idea behind bootstrapping is to use the previously acquired knowledge from simpler tasks to accelerate the learning of more complicated ones. In this paper, we propose a scaffolded learning method from an evolutionary perspective, where a biped creature achieves stable and independent bipedal walking while exploiting the natural scaffold of its changing morphology to create a third limb. The novelty of this work is speeding up the learning process with an artificially recreated scaffolded learning. We compare three conditions of scaffolded learning (free, time-constrained, and performance-based scaffolded learning) to reach bipedalism, and we prove that a performance-based scaffold, which is designed by the walking velocity obtained, is the most conducive to bootstrap the learning of bipedal walking. The scope of this work is not to study bipedal locomotion but to investigate the contribution from scaffolded learning to a faster learning process. Beyond a pedagogical experiment, this work presents a powerful tool to accelerate the learning of complex tasks in the Robotics field.

Human inspired fall arrest strategy for humanoid robots based on stiffness ellipsoid optimisation

Falls are a common risk and impose severe threats to both humans and humanoid robots as a product of bipedal locomotion. Inspired by human fall arrest, we present a novel humanoid robot fall prevention strategy by using arms to make contact with environmental objects. Firstly, the capture point method is used to detect falling. Once the fall is inevitable, the arm of the robot will be actuated to gain contact with an environmental object to prevent falling. We propose a hypothesis that humans naturally favour to select a pose that can generate a suitable Cartesian stiffness of the arm end-effector. Based on this principle, a configuration optimiser is designed to choose a pose of the arm that maximises the value of the stiffness ellipsoid of the endpoint along the impact force direction. During contact, the upper limb acts as an adjustable active spring-damper and absorbs impact shock to steady itself. To validate the proposed strategy, several simulations are performed in MATLAB & Simulink by having the humanoid robot confront a wall as a case study in which the strategy is proved to be effective and feasible. The results show that using the proposed strategy can reduce the joint torque during impact when the arms are used to arrest the fall.

Efficient bipedal locomotion on rough terrain via compliant ankle actuation with energy regulation

Legged locomotion enables robotic platforms to traverse on rough terrain, which is quite challenging for other locomotion types, such as in wheeled and tracked systems. However, this benefit-moving robustly on rough terrain-comes with an inherent drawback due to the higher cost of transport in legged robots. The ultimate need for energy efficiency motivated the utilization of passive dynamics in legged locomotion. Nevertheless, a handicap in passive dynamic walking is the fragile basin of attraction that limits the locomotion capabilities of such systems. There have been various extensions to overcome such limitations by incorporating additional actuators and active control approaches at the expense of compromising the benefits of passivity. Here, we present a novel actuation and control framework, enabling efficient and sustained bipedal locomotion on significantly rough terrain. The proposed approach reinforces the passive dynamics by intermittent active feedback control within a bio-inspired compliant ankle actuation framework. Specifically, we use once-per-step energy regulation to adjust the spring precompression of the compliant ankle based on the liftoff instants-when the toe liftoffs from the ground-of the locomotion. Our results show that the proposed approach achieves highly efficient (with a cost of transport of 0.086) sustained locomotion on rough terrain, withstanding height variations up to 15% of the leg length. We provide theoretical and numerical analysis to demonstrate the performance of our approach, including systematic comparisons with the recent and state-of-the-art techniques in the literature.

Omnidirectional Walking Pattern Generator Combining Virtual Constraints and Preview Control for Humanoid Robots

This paper presents a novel omnidirectional walking pattern generator for bipedal locomotion combining two structurally different approaches based on the virtual constraints and the preview control theories to generate a flexible gait that can be modified on-line. The proposed strategy synchronizes the displacement of the robot along the two planes of walking: the zero moment point based preview control is responsible for the lateral component of the gait, while the sagittal motion is generated by a more dynamical approach based on virtual constraints. The resulting algorithm is characterized by a low computational complexity and high flexibility, requisite for a successful deployment to humanoid robots operating in real world scenarios. This solution is motivated by observations in biomechanics showing how during a nominal gait the dynamic motion of the human walk is mainly generated along the sagittal plane. We describe the implementation of the algorithm and we detail the strategy chosen to enable omnidirectionality and on-line gait tuning. Finally, we validate our strategy through simulation experiments using the COMAN + platform, an adult size humanoid robot developed at Istituto Italiano di Tecnologia. Finally, the hybrid walking pattern generator is implemented on real hardware, demonstrating promising results: the WPG trajectories results in open-loop stable walking in the absence of external disturbances.

Soft tissue vibration: a biologically-inspired mechanism for stabilizing bipedal locomotion

Humans are made up of mostly soft tissue that vibrates during locomotion. This vibration has been shown to store and dissipate energy during locomotion. However, the effects of soft tissue vibration (wobbling masses) on the dynamics of bipedal walking have not been assessed in terms of stability. Given that much of the human body is vibrating just following foot-ground contact, it may have dynamic implications on the stability of walking. A rigid bipedal walker and a bipedal walker with soft tissue were simulated to quantify the effects of soft tissue vibration on gait periodicity, orbital stability, global stability, and robustness to uneven terrain. It was found that moderate amounts of energy dissipation resulted in much more stable walking dynamics relative to that of a rigid bipedal walker.

Virtual Point Control for Step-Down Perturbations and Downhill Slopes in Bipedal Running

Bipedal running is a difficult task to realize in robots, since the trunk is underactuated and control is limited by intermittent ground contacts. Stabilizing the trunk becomes even more challenging if the terrain is uneven and causes perturbations. One bio-inspired method to achieve postural stability is the virtual point (VP) control, which is able to generate natural motion. However, so far it has only been studied for level running. In this work, we investigate whether the VP control method can accommodate single step-down perturbations and downhill terrains. We provide guidelines on the model and controller parameterizations for handling varying terrain conditions. Next, we show that the VP method is able to stabilize single step-down perturbations up to 40 cm, and downhill grades up to 20-40° corresponding to running speeds of 2-5 ms-1. Our results show that the VP approach leads to asymmetrically bounded ground reaction forces for downhill running, unlike the commonly-used symmetric friction cone constraints. Overall, VP control is a promising candidate for terrain-adaptive running control of bipedal robots.

Comparing Surface and Fine-Wire Electromyography Activity of Lower Leg Muscles at Different Walking Speeds

Ankle plantar flexor muscles are active in the stance phase of walking to propel the body forward. Increasing walking speed requires increased plantar flexor excitation, frequently assessed using surface electromyography (EMG). Despite its popularity, validity of surface EMG applied on shank muscles is mostly unclear. Thus, we examined the agreement between surface and intramuscular EMG at a range of walking speeds. Ten participants walked overground at slow, preferred, fast, and maximum walking speeds (1.01 ± 0.13, 1.43 ± 0.19, 1.84 ± 0.23, and 2.20 ± 0.38 m s^-1, respectively) while surface and fine-wire EMG activities of flexor hallucis longus (FHL), soleus (SOL), medial gastrocnemius (MG) and lateral gastrocnemius (LG), and tibialis anterior (TA) muscles were recorded. Surface and intramuscular peak-normalised EMG amplitudes were compared for each muscle and speed across the stance phase using Statistical Parametric Mapping. In FHL, we found differences around peak activity at all speeds except fast. There was no difference in MG at any speed or in LG at slow and preferred speeds. For SOL and LG, differences were seen in the push-off phase at fast and maximum walking speeds. In SOL and TA, surface EMG registered activity during phases in which intramuscular EMG indicated inactivity. Our results suggest that surface EMG is generally a suitable method to measure MG and LG EMG activity across several walking speeds. Minimising cross-talk in FHL remains challenging. Furthermore, SOL and TA muscle onset/offset defined by surface EMG should be interpreted cautiously. These findings should be considered when recording and interpreting surface EMG of shank muscles in walking.

Morphology of the Homo naledi femora from Lesedi

OBJECTIVES

The femoral remains recovered from the Lesedi Chamber are among the most complete South African fossil hominin femora discovered to date and offer new and valuable insights into the anatomy and variation of the bone in Homo naledi. While the femur is one of the best represented postcranial elements in the H. naledi assemblage from the Dinaledi Chamber, the fragmentary and commingled nature of the Dinaledi femoral remains has impeded the assessment of this element in its complete state.

MATERIALS AND METHODS

Here we analyze and provide descriptions of three new relatively well-preserved femoral specimens of H. naledi from the Lesedi Chamber: U.W. 102a-001, U.W. 102a-003, and U.W. 102a-004. These femora are quantitatively and qualitatively compared to multiple extinct hominin femoral specimens, extant hominid taxa, and, where possible, each other.

RESULTS

The Lesedi femora are morphologically similar to the Dinaledi femora for all overlapping regions, with differences limited to few traits of presently unknown significance. The Lesedi distal femur and mid-diaphysis preserve anatomy previously unidentified or unconfirmed in the species, including an anteroposteriorly expanded midshaft and anteriorly expanded patellar surface. The hypothesis that the Lesedi femoral sample may represent two individuals is supported.

DISCUSSION

The Lesedi femora increase the range of variation of femoral morphology in H. naledi. Newly described features of the diaphysis and distal femur are either taxonomically uninformative or Homo-like. Overall, these three new femora are consistent with previous functional interpretations of the H. naledi lower limb as belonging to a species adapted for long distance walking and, possibly, running.

Human-Inspired Online Path Planning and Biped Walking Realization in Unknown Environment

The focus of research in biped locomotion has moved toward real-life scenario applications, like walking on uneven terrain, passing through doors, climbing stairs and ladders. As a result, we are witnessing significant advances in the locomotion of biped robots, enabling them to move in hazardous environments while simultaneously accomplishing complex manipulation tasks. Yet, considering walking in an unknown environment, the efficiency of humanoid robots is still far from being comparable with the human. Currently, bipeds are very sensitive to external changes and they have severe constraints for adaptation of walk to conditions from such a complex environment. Promising approaches for efficient generation and realization of walking in a complex environment are based on biological solutions that have been developed for many years of evolution. This work presents one such human-inspired methodology for path planning and realization of biped walk appropriate for motion in a complex unfamiliar environment. Path planning results in calculating clothoid curves that represent well the human-like walking path. The robot walk is realized by the composition of parametric motion primitives. Such an approach enables on-line modification of planned path and walk parameters at any moment, instantly. To establish the relationship between high-level path planner and the low-level joint motion realization, we had to find a way to extract the parameters of the clothoid paths that can be linked with the parameters of the walk and consequently to motion primitive parameters. This enabled the robot to adopt its walking for avoiding the obstacles and for a smooth transition between different paths. In this paper we provide a complete framework that integrates the following components: (i) bio-inspired online path planning, (ii) path-dependent automatic calculation of high-level gait parameters (step length, walking speed, direction, and the height of the foot sole), and (iii) automatic calculation of low-level joint movements and corresponding control terms (driving motor voltage) through the adaptation of motion primitives which realize walking pattern and preserves the dynamic balance of the robot.

From template to anchors: transfer of virtual pendulum posture control balance template to adaptive neuromuscular gait model increases walking stability

Biomechanical models with different levels of complexity are of advantage to understand the underlying principles of legged locomotion. Following a minimalistic approach of gradually increasing model complexity based on Template & Anchor concept, in this paper, a spring-loaded inverted pendulum-based walking model is extended by a rigid trunk, hip muscles and reflex control, called nmF (neuromuscular force modulated compliant hip) model. Our control strategy includes leg force feedback to activate hip muscles (originated from the FMCH approach), and a discrete linear quadratic regulator for adapting muscle reflexes. The nmF model demonstrates human-like walking kinematic and dynamic features such as the virtual pendulum (VP) concept, inherited from the FMCH model. Moreover, the robustness against postural perturbations is two times higher in the nmF model compared to the FMCH model and even further increased in the adaptive nmF model. This is due to the intrinsic muscle dynamics and the tuning of the reflex gains. With this, we demonstrate, for the first time, the evolution of mechanical template models (e.g. VP concept) to a more physiological level (nmF model). This shows that the template model can be successfully used to design and control robust locomotor systems with more realistic system behaviours.

The functional importance of human foot muscles for bipedal locomotion

Human feet have evolved uniquely among primates, losing an opposable first digit in favor of a pronounced arch to enhance our ability to walk and run with an upright posture. Recent work suggests that muscles within our feet are key to how the foot functions during bipedal walking and running. Here we show direct evidence for the significance of these foot muscles in supporting the mechanical performance of the human foot. Contrary to expectations, the intrinsic foot muscles contribute minimally to supporting the arch of the foot during walking and running. However, these muscles do influence our ability to produce forward propulsion from one stride into the next, highlighting their role in bipedal locomotion.

Human feet have evolved to facilitate bipedal locomotion, losing an opposable digit that grasped branches in favor of a longitudinal arch (LA) that stiffens the foot and aids bipedal gait. Passive elastic structures are credited with supporting the LA, but recent evidence suggests that plantar intrinsic muscles (PIMs) within the foot actively contribute to foot stiffness. To test the functional significance of the PIMs, we compared foot and lower limb mechanics with and without a tibial nerve block that prevented contraction of these muscles. Comparisons were made during controlled limb loading, walking, and running in healthy humans. An inability to activate the PIMs caused slightly greater compression of the LA when controlled loads were applied to the lower limb by a linear actuator. However, when greater loads were experienced during ground contact in walking and running, the stiffness of the LA was not altered by the block, indicating that the PIMs’ contribution to LA stiffness is minimal, probably because of their small size. With the PIMs blocked, the distal joints of the foot could not be stiffened sufficiently to provide normal push-off against the ground during late stance. This led to an increase in stride rate and compensatory power generated by the hip musculature, but no increase in the metabolic cost of transport. The results reveal that the PIMs have a minimal effect on the stiffness of the LA when absorbing high loads, but help stiffen the distal foot to aid push-off against the ground when walking or running bipedally.

Benchmarking the HRP-2 Humanoid Robot During Locomotion

In this paper we report results on benchmarking a HRP-2 humanoid robot. The humanoid robots of this serie are known to be very robust. They have been successfully used by several research groups for the design of new motion generation algorithms. As such it is a reference in the category of electrically driven humanoid robot. As new humanoid robots are continuously built it is interesting to compare the performances of these new prototypes to those of HRP-2. This benchmarking study was realized through a campaign of measurements in an advanced equipped testing laboratory that provides a well adapted controlled environment. We have investigated the effect of temperatures variation on the robot walking capabilities. In order to benchmark various environmental conditions and algorithms we computed a set of performance indicators for bipedal locomotion. The scope of the algorithms for motion generation evaluated here ranges from analytical solution to numerical optimization approach, enabling real-time walking or multi-contacts motions.

Arrangement of foot interosseous muscles in African great apes

OBJECTIVES

The dorsal interossei of the human foot are arranged so that they abduct the digits around the second digit, while those of non-hominoid anthropoid primates are mostly arranged around the third or fourth digit. This is thought to relate to the medial shift in the functional axis, an essential modification in the evolution of the human foot. However, studies of the arrangement of interosseous muscles are relatively limited and there is some debate about their arrangement in great apes. In particular, some researchers claim that the interossei of chimpanzees are arranged around the second digit, whereas others claim that their foot axis lies on the third digit.

MATERIALS AND METHODS

We examined the arrangement of the foot interosseous muscles in ten chimpanzees, one bonobo, and three gorillas.

RESULTS

The interossei were arranged around the second digit in two chimpanzees, one bonobo, and one gorilla, whereas the third digit was the axis in the other specimens.

DISCUSSIONS

The variation observed suggests that the arrangement of the interosseous muscles of the great apes is in a transitional condition from monkey-type to human-type. Considering that osteological and foot pressure research supports the idea that the foot axis is on the second digit in great apes, modification in the interosseous muscles appears to lag behind modification in the metatarsals and foot motion.

Minimally Actuated Walking: Identifying Core Challenges to Economical Legged Locomotion Reveals Novel Solutions

Terrestrial organisms adept at locomotion employ strut-like legs for economical and robust movement across the substrate. Although it is relatively easy to observe and analyze details of the solutions these organic systems have arrived at, it is not as easy to identify the problems these movement strategies have solved. As such, it is useful to investigate fundamental challenges that effective legged locomotion overcomes in order to understand why the mechanisms employed by biological systems provide viable solutions to these challenges. Such insight can inform the design and development of legged robots that may eventually match or exceed animal performance. In the context of human walking, we apply control optimization as a design strategy for simple bipedal walking machines with minimal actuation. This approach is used to discuss key facilitators of energetically efficient locomotion in simple bipedal walkers. Furthermore, we extrapolate the approach to a novel application-a theoretical exoskeleton attached to the trunk of a human walker-to demonstrate how coordinated efforts between bipedal actuation and a machine oscillator can potentially alleviate a meaningful portion of energetic exertion associated with leg function during human walking.

Skipping on uneven ground: trailing leg adjustments simplify control and enhance robustness

It is known that humans intentionally choose skipping in special situations, e.g. when descending stairs or when moving in environments with lower gravity than on Earth. Although those situations involve uneven locomotion, the dynamics of human skipping on uneven ground have not yet been addressed. To find the reasons that may motivate this gait, we combined experimental data on humans with numerical simulations on a bipedal spring-loaded inverted pendulum model (BSLIP). To drive the model, the following parameters were estimated from nine subjects skipping across a single drop in ground level: leg lengths at touchdown, leg stiffness of both legs, aperture angle between legs, trailing leg angle at touchdown (leg landing first after flight phase), and trailing leg retraction speed. We found that leg adjustments in humans occur mostly in the trailing leg (low to moderate leg retraction during swing phase, reduced trailing leg stiffness, and flatter trailing leg angle at lowered touchdown). When transferring these leg adjustments to the BSLIP model, the capacity of the model to cope with sudden-drop perturbations increased.

Three-Axis Ground Reaction Force Distribution during Straight Walking

We measured the three-axis ground reaction force (GRF) distribution during straight walking. Small three-axis force sensors composed of rubber and sensor chips were fabricated and calibrated. After sensor calibration, 16 force sensors were attached to the left shoe. The three-axis force distribution during straight walking was measured, and the local features of the three-axis force under the sole of the shoe were analyzed. The heel area played a role in receiving the braking force, the base area of the fourth and fifth toes applied little vertical or shear force, the base area of the second and third toes generated a portion of the propulsive force and received a large vertical force, and the base area of the big toe helped move the body’s center of mass to the other foot. The results demonstrate that measuring the three-axis GRF distribution is useful for a detailed analysis of bipedal locomotion.

Three-dimensional innate mobility of the human foot bones under axial loading using biplane X-ray fluoroscopy

The anatomical design of the human foot is considered to facilitate generation of bipedal walking. However, how the morphology and structure of the human foot actually contribute to generation of bipedal walking remains unclear. In the present study, we investigated the three-dimensional kinematics of the foot bones under a weight-bearing condition using cadaver specimens, to characterize the innate mobility of the human foot inherently prescribed in its morphology and structure. Five cadaver feet were axially loaded up to 588 N (60 kgf), and radiographic images were captured using a biplane X-ray fluoroscopy system. The present study demonstrated that the talus is medioinferiorly translated and internally rotated as the calcaneus is everted owing to axial loading, causing internal rotation of the tibia and flattening of the medial longitudinal arch in the foot. Furthermore, as the talus is internally rotated, the talar head moves medially with respect to the navicular, inducing external rotation of the navicular and metatarsals. Under axial loading, the cuboid is everted simultaneously with the calcaneus owing to the osseous locking mechanism in the calcaneocuboid joint. Such detailed descriptions about the innate mobility of the human foot will contribute to clarifying functional adaptation and pathogenic mechanisms of the human foot.

A bipedal mammalian model for spinal cord injury research: The tammar wallaby

Background: Most animal studies of spinal cord injury are conducted in quadrupeds, usually rodents. It is unclear to what extent functional results from such studies can be translated to bipedal species such as humans because bipedal and quadrupedal locomotion involve very different patterns of spinal control of muscle coordination. Bipedalism requires upright trunk stability and coordinated postural muscle control; it has been suggested that peripheral sensory input is less important in humans than quadrupeds for recovery of locomotion following spinal injury.

Methods: We used an Australian macropod marsupial, the tammar wallaby (Macropuseugenii), because tammars exhibit an upright trunk posture, human-like alternating hindlimb movement when swimming and bipedal over-ground locomotion. Regulation of their muscle movements is more similar to humans than quadrupeds. At different postnatal (P) days (P7–60) tammars received a complete mid-thoracic spinal cord transection. Morphological repair, as well as functional use of hind limbs, was studied up to the time of their pouch exit.

Results: Growth of axons across the lesion restored supraspinal innervation in animals injured up to 3 weeks of age but not in animals injured after 6 weeks of age. At initial pouch exit (P180), the young injured at P7-21 were able to hop on their hind limbs similar to age-matched controls and to swim albeit with a different stroke. Those animals injured at P40-45 appeared to be incapable of normal use of hind limbs even while still in the pouch.

Conclusions: Data indicate that the characteristic over-ground locomotion of tammars provides a model in which regrowth of supraspinal connections across the site of injury can be studied in a bipedal animal. Forelimb weight-bearing motion and peripheral sensory input appear not to compensate for lack of hindlimb control, as occurs in quadrupeds. Tammars may be a more appropriate model for studies of therapeutic interventions relevant to humans.

An intermittent control model of flexible human gait using a stable manifold of saddle-type unstable limit cycle dynamics

Stability of human gait is the ability to maintain upright posture during walking against external perturbations. It is a complex process determined by a number of cross-related factors, including gait trajectory, joint impedance and neural control strategies. Here, we consider a control strategy that can achieve stable steady-state periodic gait while maintaining joint flexibility with the lowest possible joint impedance. To this end, we carried out a simulation study of a heel-toe footed biped model with hip, knee and ankle joints and a heavy head-arms-trunk element, working in the sagittal plane. For simplicity, the model assumes a periodic desired joint angle trajectory and joint torques generated by a set of feed-forward and proportional-derivative feedback controllers, whereby the joint impedance is parametrized by the feedback gains. We could show that a desired steady-state gait accompanied by the desired joint angle trajectory can be established as a stable limit cycle (LC) for the feedback controller with an appropriate set of large feedback gains. Moreover, as the feedback gains are decreased for lowering the joint stiffness, stability of the LC is lost only in a few dimensions, while leaving the remaining large number of dimensions quite stable: this means that the LC becomes saddle-type, with a low-dimensional unstable manifold and a high-dimensional stable manifold. Remarkably, the unstable manifold remains of low dimensionality even when the feedback gains are decreased far below the instability point. We then developed an intermittent neural feedback controller that is activated only for short periods of time at an optimal phase of each gait stride. We characterized the robustness of this design by showing that it can better stabilize the unstable LC with small feedback gains, leading to a flexible gait, and in particular we demonstrated that such an intermittent controller performs better if it drives the state point to the stable manifold, rather than directly to the LC. The proposed intermittent control strategy might have a high affinity for the inverted pendulum analogy of biped gait, providing a dynamic view of how the step-to-step transition from one pendular stance to the next can be achieved stably in a robust manner by a well-timed neural intervention that exploits the stable modes embedded in the unstable dynamics.

Are various forms of locomotion-speed diverse or unique performance quality?

The forward-sprint is considered to be, and is regularly performed as, a unique measure of “on-ground” linear-speed performance. Thus far, no investigation has simultaneously studied different forms of linear-speed or investigated whether different forms of linear-speed should be observed as unique performance quality. The purpose of this study was to determine (I) the achievements (i.e. execution time), and (II) the reliability and inter-relationships between various linear-speed performances. The participants were 42 male physical education students with substantial sport-specific backgrounds. We applied a total of six tests: three quadrupedal (supine backward, supine forward, and pronate backward locomotion) and three bipedal-performances (forward sprinting, backward sprinting, lateral shuffling). All of the tests showed appropriate reliability parameters (Cronbach Alpha ranged from 0.91 to 0.97; Inter-Item-R 0.78–0.92; Coefficient-of-Variation 1.3–9.1). The tests used in this study shared between 9% and 50% of the common variance. Our results suggest that different activities require activity-specific tests of linear-speed. This is particularly significant in those sports and activities in which quadrupedal locomotion patterns are highly important (wrestling, physically trained military services, law enforcement, fire and rescue, protective services).

Future developments in brain-machine interface research

Neuroprosthetic devices based on brain-machine interface technology hold promise for the restoration of body mobility in patients suffering from devastating motor deficits caused by brain injury, neurologic diseases and limb loss. During the last decade, considerable progress has been achieved in this multidisciplinary research, mainly in the brain-machine interface that enacts upper-limb functionality. However, a considerable number of problems need to be resolved before fully functional limb neuroprostheses can be built. To move towards developing neuroprosthetic devices for humans, brain-machine interface research has to address a number of issues related to improving the quality of neuronal recordings, achieving stable, long-term performance, and extending the brain-machine interface approach to a broad range of motor and sensory functions. Here, we review the future steps that are part of the strategic plan of the Duke University Center for Neuroengineering, and its partners, the Brazilian National Institute of Brain-Machine Interfaces and the École Polytechnique Fédérale de Lausanne (EPFL) Center for Neuroprosthetics, to bring this new technology to clinical fruition.

High-temperature environments of human evolution in East Africa based on bond ordering in paleosol carbonates

Many important hominid-bearing fossil localities in East Africa are in regions that are extremely hot and dry. Although humans are well adapted to such conditions, it has been inferred that East African environments were cooler or more wooded during the Pliocene and Pleistocene when this region was a central stage of human evolution. Here we show that the Turkana Basin, Kenya--today one of the hottest places on Earth--has been continually hot during the past 4 million years. The distribution of (13)C-(18)O bonds in paleosol carbonates indicates that soil temperatures during periods of carbonate formation were typically above 30 degrees C and often in excess of 35 degrees C. Similar soil temperatures are observed today in the Turkana Basin and reflect high air temperatures combined with solar heating of the soil surface. These results are specific to periods of soil carbonate formation, and we suggest that such periods composed a large fraction of integrated time in the Turkana Basin. If correct, this interpretation has implications for human thermophysiology and implies a long-standing human association with marginal environments.

Fossils, feet and the evolution of human bipedal locomotion

We review the evolution of human bipedal locomotion with a particular emphasis on the evolution of the foot. We begin in the early twentieth century and focus particularly on hypotheses of an ape-like ancestor for humans and human bipedal locomotion put forward by a succession of Gregory, Keith, Morton and Schultz. We give consideration to Morton's (1935) synthesis of foot evolution, in which he argues that the foot of the common ancestor of modern humans and the African apes would be intermediate between the foot of Pan and Hylobates whereas the foot of a hypothetical early hominin would be intermediate between that of a gorilla and a modern human. From this base rooted in comparative anatomy of living primates we trace changing ideas about the evolution of human bipedalism as increasing amounts of postcranial fossil material were discovered. Attention is given to the work of John Napier and John Robinson who were pioneers in the interpretation of Plio-Pleistocene hominin skeletons in the 1960s. This is the period when the wealth of evidence from the southern African australopithecine sites was beginning to be appreciated and Olduvai Gorge was revealing its first evidence for Homo habilis. In more recent years, the discovery of the Laetoli footprint trail, the AL 288-1 (A. afarensis) skeleton, the wealth of postcranial material from Koobi Fora, the Nariokotome Homo ergaster skeleton, Little Foot (Stw 573) from Sterkfontein in South Africa, and more recently tantalizing material assigned to the new and very early taxa Orrorin tugenensis, Ardipithecus ramidus and Sahelanthropus tchadensis has fuelled debate and speculation. The varying interpretations based on this material, together with changing theoretical insights and analytical approaches, is discussed and assessed in the context of new three-dimensional morphometric analyses of australopithecine and Homo foot bones, suggesting that there may have been greater diversity in human bipedalism in the earlier phases of our evolutionary history than previously suspected.