A three-dimensional kinematic analysis of bipedal walking in a white-handed gibbon (Hylobates lar) on a horizontal pole and flat surface

Net metabolic cost of walking normalized by body mass (C(W.BM(-1)); in J.kg(-1).m(-1)) is greater in obese than in normal-weight individuals, and biomechanical differences could be responsible for this greater net metabolic cost. We hypothesized that, in obese individuals, greater mediolateral body center of mass (COM) displacement and lower recovery of mechanical energy could induce an increase in the external mechanical work required to lift and accelerate the COM and thus in net C(W.BM(-1)). Body composition and standing metabolic rate were measured in 23 obese and 10 normal-weight adolescents. Metabolic and mechanical energy costs were assessed while walking along an outdoor track at four speeds (0.75-1.50 m/s). Three-dimensional COM accelerations were measured by means of a tri-axial accelerometer and gyroscope and integrated twice to obtain COM velocities, displacements, and fluctuations in potential and kinetic energies. Last, external mechanical work (J.kg(-1).m(-1)), mediolateral COM displacement, and the mechanical energy recovery of the inverted pendulum were calculated. Net C(W.BM(-1)) was 25% higher in obese than in normal-weight subjects on average across speeds, and net C(W.BM(-67)) (J.kg(-0.67).m(-1)) was significantly related to percent body fat (r(2) = 0.46). However, recovery of mechanical energy and the external work performed (J.kg(-1).m(-1)) were similar in the two groups. The mediolateral displacement was greater in obese subjects and significantly related to percent body fat (r(2) = 0.64). The mediolateral COM displacement, likely due to greater step width, was significantly related to net C(W.BM(-67)) (r(2) = 0.49). In conclusion, we speculate that the greater net C(W.BM(-67)) in obese subjects may be partially explained by the greater step-to-step transition costs associated with wide gait during walking.

The movement of the center of mass (COM) during human walking has been hypothesized to follow a sinusoidal pattern in the vertical and mediolateral directions. The vertical COM displacement has been shown to increase with velocity, but little is known about the mediolateral movement of the COM. In our evaluation of the mediolateral COM displacement at several walking speeds, 10 normal subjects walked at their self-selected speed and then at 0.7, 1.0, 1.2, and 1.6 m/s in random order. We calculated COM location from a 15-segment, full-body kinematic model using segmental analysis. Mediolateral COM displacement was 6.99 +/- 1.34 cm at the slowest walking speed and decreased to 3.85 +/- 1.41 cm at the fastest speed (p < 0.05). Vertical COM excursion increased from 2.74 +/- 0.52 at the slowest speed to 4.83 +/- 0.92 at the fastest speed (p < 0.05). The data suggest that the relationship between the vertical and mediolateral COM excursions changes substantially with walking speed. Clinicians who use observational gait analysis to assess walking problems should be aware that even normal individuals show significant mediolateral COM displacement at slow speeds. Excessive vertical COM displacement that is obvious at moderate walking speeds may be masked at slow walking speeds.

Background Tai chi is recognized worldwide for its rehabilitation abilities and healthcare benefits. However, in recent years, some movements associated with tai chi have been shown to damage the lower limb joints. The purpose of this study was to investigate and compare the effects of different movements, postures, center of mass (COM) movements, and range of knee movement of tai chi exercises on knee joint load. Methods Fourteen professional tai chi practitioners in two postures (high and low) were enrolled to perform the following four typical tai chi movements: wild horse's mane (WHM), repulse monkey (RM), wave-hand in cloud (WHIC), and grasp the bird's tail (GBT). Kinematic and kinetics data were synchronously collected using the Vicon infrared high-speed motion capture system and a three-dimensional (3D) force measurement platform. Variance analysis and partial correlation analysis were performed to investigate factors influencing peak knee joint moment and vertical ground reaction force (VGRF). Results The results showed that the peak knee extension and abduction moment were larger in WHM and RM than those in WHIC and GBT (p < 0.05). WHM was associated with greater rotation moment than the other typical movements (p < 0.05). VGRF and joint moment among different poses were significantly different. Low-pose tai chi typical movements were associated with greater VGRF, knee joint extension and abduction, and rotation moments than high-pose movements (p < 0.05). The anteroposterior and mediolateral COM displacements were strongly and positively associated with VGRF (p < 0.001), while the mediolateral COM displacement was negatively associated with knee extension moment (p < 0.001). The knee internal-external rotation ROM and anteroposterior and mediolateral COM displacements were positively associated with knee abduction moment (p < 0.01). Conclusion For long-term tai chi exercises, choosing a suitable posture based on an individual exercise level and reasonable control of knee ROM and COM displacement can reduce the risk of knee injury during exercise.

Limited work comparing the effect of heavier carried loads (greater than 30 kg) between men and women has attributed observed differences to sex with the possibility that anthropometric differences may have contributed to those discrepancies. With the recent decision permitting women to enter Combat Arms roles, knowledge of sex-based differences in gait response to load carriage is more operationally relevant, as military loads are absolute and not relative to body weight. The purpose of this study was to describe differences in gait parameters at light to heavy loads between anthropometrically similar male and female soldiers. Eight female and 8 male soldiers, frequency-matched (1-to-1) on height (±0.54 cm) and mass (±0.52 kg), walked at 1.34 m∙s-1 for 10-min bouts on a level treadmill while unloaded (BM) and then carrying randomized vest-borne loads of 15, 35, and 55 kg. Spatiotemporal and kinematic data were collected for 30 s after 5 min. Two-way repeated measures analyses of variance were conducted to compare the gait parameter variables between sexes at each load. As load increased, overall, the percent double support increased, step frequency increased, stride length decreased, hip and ankle range of motion (ROM) increased, and vertical center of mass (COM) displacement increased. Sex-based significant differences were observed in knee ROM and mediolateral COM displacement. Among the male participants, knee ROM increased significantly for all loads greater than BM. For mediolateral COM displacement, male remained constant as load increased, whereas female values decreased between BM and 35 kg. Spatiotemporal and kinematic differences in gait parameters were primarily because of increases in load magnitude. The observed sex-related differences with increasing loads suggest that women may require a more stable gait to support the additional load carried.

[Purpose] The strategy of trunk lean gait to reduce external knee adduction moment (KAM) may affect multi-segmental synergy control of center of mass (COM) displacement. Uncontrolled manifold (UCM) analysis is an evaluation index to understand motor variability. The purpose of this study was to investigate how motor variability is affected by using UCM analysis on adjustment of the trunk lean angle. [Subjects and Methods] Fifteen healthy young adults walked at their preferred speed under two conditions: normal and trunk lean gait. UCM analysis was performed with respect to the COM displacement during the stance phase. The KAM data were analyzed at the points of the first KAM peak during the stance phase. [Results] The KAM during trunk lean gait was smaller than during normal gait. Despite a greater segmental configuration variance with respect to mediolateral COM displacement during trunk lean gait, the synergy index was not significantly different between the two conditions. The synergy index with respect to vertical COM displacement during trunk lean gait was smaller than that during normal gait. [Conclusion] These results suggest that trunk lean gait is effective in reducing KAM; however, it may decrease multi-segmental movement coordination of COM control in the vertical direction.

Stability is an important concern during human walking and can limit mobility in clinical populations. Mediolateral stability can be efficiently controlled through appropriate foot placement, although the underlying neuromechanical strategy is unclear. We hypothesized that humans control mediolateral foot placement through swing leg muscle activity, basing this control on the mechanical state of the contralateral stance leg. Participants walked under Unperturbed and Perturbed conditions, in which foot placement was intermittently perturbed by moving the right leg medially or laterally during the swing phase (by ∼50-100 mm). We quantified mediolateral foot placement, electromyographic activity of frontal-plane hip muscles, and stance leg mechanical state. During Unperturbed walking, greater swing-phase gluteus medius (GM) activity was associated with more lateral foot placement. Increases in GM activity were most strongly predicted by increased mediolateral displacement between the center of mass (CoM) and the contralateral stance foot. The Perturbed walking results indicated a causal relationship between stance leg mechanics and swing-phase GM activity. Perturbations that reduced the mediolateral CoM displacement from the stance foot caused reductions in swing-phase GM activity and more medial foot placement. Conversely, increases in mediolateral CoM displacement caused increased swing-phase GM activity and more lateral foot placement. Under both Unperturbed and Perturbed conditions, humans controlled their mediolateral foot placement by modulating swing-phase muscle activity in response to the mechanical state of the contralateral leg. This strategy may be disrupted in clinical populations with a reduced ability to modulate muscle activity or sense their body's mechanical state.

The Effect Of Visual Dual-Tasking Interference On Walking In Healthy Young Adults

Coordination of Dynamic Balance During Gait Training in People With Acquired Brain Injury

Motor adjustments during time-constrained sit-to-walk in people with Parkinson's disease

Effects of narrow base gait on mediolateral balance control in young and older adults

Dynamic balance control during human walking can be described by the distance between the mediolateral (ML) extrapolated center of mass (XCoM) position and the base of support, the margin of stability (MoS). The ML center of mass (CoM) position during treadmill walking can be estimated based on kinematic data (marker-based method) and a combination of ground reaction forces and center of pressure positions (GRF-based method). Here, we compare a GRF-based method with a full-body marker-based method for estimating the ML CoM, ML XCoM and ML MoS. Fifteen healthy adults walked on a dual-belt treadmill at comfortable walking speed for three minutes. Kinetic and kinematic data were collected and analyzed using a GRF-based and marker-based method to compare the ML CoM, ML XCoM and ML MoS. High correlation coefficients (r > 0.98) and small differences (Root Mean Square Difference < 0.0072 m) in ML CoM and ML XCoM were found between the GRF-based and marker-based methods. The GRF-based method resulted in larger ML XCoM excursion (0.0118 ± 0.0074 m) and smaller ML MoS values (0.0062 ± 0.0028 m) than the marker-based method, but these differences were consistent across participants. In conclusion, the GRF-based method is a valid method to determine the ML CoM, XCoM and MoS. One should be aware of higher ML XCoM and smaller ML MoS values in the GRF-based method when comparing absolute values between studies. The GRF-based method strongly reduces measurement times and can be used to provide real-time CoM-CoP feedback during treadmill gait training.

Gait initiation (GI) involves passing from bipedal to unipedal stance. It requires a rapid movement of the center of foot pressure (CoP) towards the future swing foot and of the center of mass (CoM) in the direction of the stance foot prior to the incoming step. This anticipatory postural adjustment (APA) allows disengaging the swing leg from the ground and establishing favorable conditions for stepping. This study aimed to describe the neuro-mechanical process that underlies the goal-directed medio-lateral (ML) APA. We hypothesized that controlled knee flexion of the stance leg contributes to the initial ML displacement of the CoP and to the calibration of the first step. Fourteen subjects initiated gait starting from three different initial stance widths of 15 cm (Small), 30 cm (Medium), and 45 cm (Large). Optoelectronic, force platform and electromyogram (EMG) measurements were performed. During APA, soleus activity diminished bilaterally, while tibialis anterior (TA) activity increased, more so in the stance leg than in the swing leg, and to a larger extent with increasing initial stance width. Knee flexion of the stance leg was observed during APA and correlated with the ML CoP displacement towards the swing leg. ML CoP and CoM displacements during APA increased with increasing stance width. The activity of stance-leg TA was correlated with the degree of knee flexion. Swing-leg tensor fasciae latae (TFL) was also active during APA. Across subjects, when stance-leg tibialis activity was low, TFL activity was large and vice versa. The modulation of the ML CoP position during APA allowed the gravity-driven torque to place the CoM just lateral to the stance foot during step execution. Accordingly, the gravity-driven torque, the ML CoM velocity during step execution, and the step width at foot contact (FC) were lower in the Small and greater in the Large condition. Consequently, the position of the stepping foot at FC remained close to the sagittal plane in all three conditions. Conclusively, coordinated activation of hip abductors and ankle dorsiflexors during APA displaces the CoP towards the swing leg, and sets the contact position for the swing foot.

ObjectiveCamptocormia contributes to vertical gait instability and, at times, may also lead to forward instability in experimental settings in Parkinson’s disease (PD) patients. However, these aspects, along with compensatory mechanisms, remain largely unexplored. This study comprehensively investigated gait instability and compensatory strategies in PD patients with camptocormia (PD+CC).MethodsTen PD+CC patients, 30 without camptocormia (PD-CC), and 27 healthy controls (HCs) participated. Self-paced gait tasks were analyzed using three-dimensional motion capture systems to assess gait stability as well as spatiotemporal and kinematic parameters. Unique cases with pronounced forward gait stability or instability were first identified, followed by group comparisons. Correlation analysis was performed to examine associations between trunk flexion angles (lower/upper) and gait parameters. The significance level was set at 0.05.ResultsExcluding one unique case, the PD+CC group presented a significantly lower vertical center of mass (COM) position (p=0.019) increased mediolateral COM velocity (p=0.004) and step width (p=0.013), compared to the PD-CC group. Both PD groups presented greater anterior‒posterior margins of stability than did the HCs (p<0.001). Significant correlations were found between lower/upper trunk flexion angles and a lower vertical COM position (r=-0.690/-0.332), as well as increased mediolateral COM velocity (r=0.374/0.446) and step width (r=0.580/0.474).ConclusionMost PD+CC patients presented vertical gait instability, increased fall risk, and adopted compensatory strategies involving greater lateral COM shift and a wider base of support, with these trends intensifying as trunk flexion angles increased. These findings may guide targeted interventions for gait instability in PD+CC patients.

Our ability to balance upright provides a stable platform to perform daily activities. Balance deficits associated with various clinical conditions may affect activities of daily living, highlighting the importance of quantifying standing balance in ecological environments. Although typically performed in laboratory settings, the growing availability of low-cost inertial measurement units (IMUs) allows the assessment of balance in the real world. However, it is unclear how many IMUs are required to adequately estimate linear displacements of the centre of mass (CoM) at stance widths associated with daily activities. While wearing IMUs on their head, sternum, back, right thigh, right shank, and left shank, 16 participants stood quietly on a force platform in narrow, hip-width, and shoulder-width stances, each for three two-minute trials. Using a multi-segment biomechanical model, we estimated CoM displacements from all possible combinations of the IMUs. We then calculated the correlation between the IMU- and force platform- CoM estimates to determine the minimal number of IMUs needed to estimate CoM sway. Four IMUs were necessary to accurately estimate anteroposterior (AP) and mediolateral (ML) CoM displacements across stance widths. Using IMUs on the back, right thigh, and both shanks, we found strong correlations between the IMU CoM estimation and the force platform CoM estimation in narrow stance (AP: r = 0.92±0.04, RMSE = 2.39±2.08 mm; ML: r = 0.97±0.02, RMSE = 1.16±0.77 mm), hip-width stance (AP: r = 0.93±0.04, RMSE = 2.00±1.18 mm; ML: r = 0.92±0.06, RMSE = 0.92±0.70 mm), and shoulder-width stance (AP: r = 0.93±0.03, RMSE = 1.95±1.66 mm; ML: r = 0.86±0.13, RMSE = 1.39±1.46 mm). These results indicate that IMUs can be used to estimate CoM displacements during quiet standing and that four IMUs are necessary to do so. Using an algorithm based on a simple biomechanical model, researchers and clinicians can estimate whole-body CoM displacements accurately during unperturbed quiet standing. This approach can improve the ecological validity of standing balance research and opens the possibility for assessing/monitoring patients with standing balance deficits.

Metabolic and Mechanical Energy Costs of Reducing Vertical Center of Mass Movement During Gait