A model of foot placement during gait

Abstract

Foot placement is known to affect balance during gait; however, how foot placements are chosen is unknown. Objectives of this research were to analyze swing trajectories of the foot during gait with respect to the pelvis, and to propose a model of foot placement control which provides a stable base of support. Effects of gait speed and vision on this model of foot placement were then examined. Foot trajectories were analyzed using spherical coordinates referenced to the pelvis, termed the pelvic spherical coordinates (PSCs). A model was developed based on this coordinate system which predicts foot placement in terms of position and velocity with respect to the pelvis. It is proposed that foot placements are chosen to minimize the sum of PSC coordinates of the stance and swing feet. Foot velocity at heel contact is proposed to minimize the sum of the PSC stance and swing angular velocities. Experimental data were collected to test this model during walking trials of different speeds, both with and without vision. Results showed that sums of stance and swing feet PSCs were very close to zero at heel contact, supporting the positional control hypothesis. Sums of PSC velocities, however, were not zero at heel contact. Rather, individual swing leg PSC velocities were zero at heel contact, suggesting independent swing leg velocity control. Vision did not have an effect on position or velocity variables at heel contact. Gait speed did have an effect, particularly on PSC velocities at heel contact. Results of this study support the proposition that foot placements are dependent upon location of the stance foot with respect to the pelvis in order to help maintain balance during gait.