Center Of Mass Velocity Research Articles

Walking in circles: a modelling approach.

Blindfolded or disoriented people have the tendency to walk in circles rather than on a straight line even if they wanted to. Here, we use a minimalistic walking model to examine this phenomenon. The bipedal spring-loaded inverted pendulum exhibits asymptotically stable gaits with centre of mass (CoM) dynamics and ground reaction forces similar to human walking in the sagittal plane. We extend this model into three dimensions, and show that stable walking patterns persist if the leg is aligned with respect to the body (here: CoM velocity) instead of a world reference frame. Further, we demonstrate that asymmetric leg configurations, which are common in humans, will typically lead to walking in circles. The diameter of these circles depends strongly on parameter configuration, but is in line with empirical data from human walkers. Simulation results suggest that walking radius and especially direction of rotation are highly dependent on leg configuration and walking velocity, which explains inconsistent veering behaviour in repeated trials in human data. Finally, we discuss the relation between findings in the model and implications for human walking.

Effect of Leg Dominance on The Center-of-Mass Kinematics During an Inside-of-the-Foot Kick in Amateur Soccer Players.

Soccer kicking kinematics has received wide interest in literature. However, while the instep-kick has been broadly studied, only few researchers investigated the inside-of-the-foot kick, which is one of the most frequently performed techniques during games. In particular, little knowledge is available about differences in kinematics when kicking with the preferred and non-preferred leg. A motion analysis system recorded the three-dimensional coordinates of reflective markers placed upon the body of nine amateur soccer players (23.0 ± 2.1 years, BMI 22.2 ± 2.6 kg/m2), who performed 30 pass-kicks each, 15 with the preferred and 15 with the non-preferred leg. We investigated skill kinematics while maintaining a perspective on the complete picture of movement, looking for laterality related differences. The main focus was laid on: anatomical angles, contribution of upper limbs in kick biomechanics, kinematics of the body Center of Mass (CoM), which describes the whole body movement and is related to balance and stability. When kicking with the preferred leg, CoM displacement during the ground-support phase was 13% higher (p<0.001), normalized CoM height was 1.3% lower (p<0.001) and CoM velocity 10% higher (p<0.01); foot and shank velocities were about 5% higher (p<0.01); arms were more abducted (p<0.01); shoulders were rotated more towards the target (p<0.01, 6° mean orientation difference).We concluded that differences in motor control between preferred and non-preferred leg kicks exist, particularly in the movement velocity and upper body kinematics. Coaches can use these results to provide effective instructions to players in the learning process, moving their focus on kicking speed and upper body behavior.

Neutral atomic jet generation by laser ablation of copper targets.

This work aimed the obtainment of a neutral atomic jet departing from a plume generated by laser ablation of copper targets. A pair of electrodes together with a transducer pressure sensor was used to study the ablated plume charge composition and also to measure the ion extraction from the plasma plume. The neutral beam was produced with this setup and the relative abundance of neutrals in the plasma was measured, it decreases from 30% to 8% when the laser fluence is varied from 20 J/cm(2) to 32 J/cm(2). The necessary voltage to completely remove the ions from the plume varied from 10 V to 230 V in the same fluence range. TOF analysis resulted in center of mass velocities between 3.4 and 4.6 km/s, longitudinal temperature in the range from 1 × 10(4) K to 2.4 × 10(4) K and a Mach number of M = 2.36, calculated using purely hydrodynamic expansion approximation.

The effect of actual and imaginary handgrip on postural stability during different balance conditions

The stabilizing effect of holding an object on upright posture has been demonstrated in a variety of settings. The mechanism of this effect is unknown but could be attributed to either additional sensorimotor activity triggered by a hand contact or cognitive efforts related to performance of a supra-postural task. A potential mechanism was investigated by comparing postural stability in young healthy individuals while gripping a custom instrumented wooden stick with a 5N force and while imagining holding the same stick in the hand. Twenty subjects were tested during three standing balance conditions: on a stationary surface, on a freely moving rockerboard, and with an unexpected perturbation of 10° forward rockerboard tipping. Postural stability was evaluated as velocity of the center of mass (COM) and center of pressure (COP) compared across all experimental conditions. COM and COP velocities were equally reduced when subjects gripped the stick and imagined gripping while standing stationary and on the rockerboard. When perturbed, subjects failed to show any postural stability improvements regardless of handgrip task. Results indicate a stabilizing effect of focusing attention on motor task performance. This cognitive strategy does not appear to contribute any additional stabilization when subjects are perturbed. This study adds to the current understanding of postural stabilization strategies.

Body sway and performance at competition in male pistol and rifle Olympic shooters

Summary Study aim: We examine the body sway differences between a) pistol and rifle and b) elite and national level senior male Olympic shooters, as well as the possible relation between body sway and performance at competition in Olympic shooting. Material and methods: Two body sway tests (feet together and feet apart) were performed by 28 Spanish male senior Olympic shooters just before competition. Performance was measured as the actual score at competition. Total center of mass (COM) areas and average/maximum COM velocities were calculated from force platform data. ANCOVA tests were implemented with age as a covariable. The non-parametric test U of Mann Whitney was used to study the differences between national and elite shooters. Pearson correlations were used to examine the relation between performance and total COM area. Results: At the feet apart position, rifle and elite shooters were found to have statistically less body sway than pistol and national level shooters respectively (total COM areas: F1,25 = 6.7; p &lt; 0.05, and Z = 2.36; p &lt; 0.01). No statistically significant differences were found regarding the feet together position, regardless the level or discipline (total COM areas: F1,25 = 1.49 ; p &gt; 0.05; 1 – β = 0.22, average COM velocities: F1,25 = 0.58; p &gt; 0.05; 1 – β = 0.11, maximum COM velocities: F1,25 = 0.03; p &gt; 0.05; 1 – β = 0.05). No significant relation was found between body sway and performance at competition (feet together: r = 0.13, feet apart: r = 0.14, p &gt; 0.05). Age and body sway were not found to be significantly correlated (F1,25 = 0.23; p &gt; 0.05; 1 – β = 0.08). Conclusions: Easy to carry out, non-specific body sway tests can be used for the selection of novice shooters.

Impact on the biomechanics of overground gait of using an ‘Echelon’ hydraulic ankle–foot device in unilateral trans-tibial and trans-femoral amputees

BackgroundIf a prosthetic foot creates resistance to forwards shank rotation as it deforms during loading, it will exert a braking effect on centre of mass progression. The present study determines whether the centre of mass braking effect exerted by an amputee's habitual rigid ‘ankle’ foot was reduced when they switched to using an ‘Echelon’ hydraulic ankle–foot device. MethodsNineteen lower limb amputees (eight trans-femoral, eleven trans-tibial) walked overground using their habitual dynamic-response foot with rigid ‘ankle’ or ‘Echelon’ hydraulic ankle–foot device. Analysis determined changes in how the centre of mass was transferred onto and above the prosthetic-foot, freely chosen walking speed, and spatio-temporal parameters of gait. FindingsWhen using the hydraulic device both groups had a smoother/more rapid progression of the centre of pressure beneath the prosthetic hindfoot (p≤0.001), and a smaller reduction in centre of mass velocity during prosthetic-stance (p<0.001). As a result freely chosen walking speed was higher in both groups when using the device (p≤0.005). In both groups stance and swing times and cadence were unaffected by foot condition whereas step length tended (p<0.07) to increase bilaterally when using the hydraulic device. Effect size differences between foot types were comparable across groups. InterpretationUse of a hydraulic ankle–foot device reduced the foot's braking effect for both amputee groups. Findings suggest that attenuation of the braking effect from the foot in early stance may be more important to prosthetic-foot function than its ability to return energy in late stance.

Ground reaction force and center of mass velocity during turning

Examining whole-body center of mass (COM) motion is one of method being used to quantify dynamic balance and energy during gait. One common method for estimating the COM position is to apply an anthropometric model to a marker set and calculate the weighted sum from known segmental COM positions. Several anthropometric models are available to perform such a calculation. However, to date there has been no study of how the anthropometric model affects whole-body COM calculations during gait. This information is pertinent to researchers because the choice of anthropometric model may influence gait research findings and currently the trend is to consistently use a single model. In this study we analyzed a single stride of gait data from 103 young adult participants. We compared the whole-body COM motion calculated from 4 different anthropometric models (Plagenhoef et al., 1983; Winter, 1990; de Leva, 1996; Pavol et al., 2002). We found that anterior-posterior motion calculations are relatively unaffected by the anthropometric model. However, medial-lateral and vertical motions are significantly affected by the use of different anthropometric models. Our findings suggest that the researcher carefully choose an anthropometric model to fit their study populations when interested in medial-lateral or vertical motions of the COM. Our data can provide researchers a priori information on the model determination depending on the particular variable and how conservative they may want to be with COM comparisons between groups.

장애물 보행 시 노화에 따른 신체질량중심의 변화

PURPOSE: The purpose of this study was to compare three dimensional displacement and peak velocity of the center of mass (COM) during obstacle crossing in young and older adults. METHODS: 10 young adults (6 males/4 females, <TEX>$24.6{\pm}1.9$</TEX> years, age range: 22.0-26.9) and 10 older adults (1 male/9 females, <TEX>$76.9{\pm}5.1$</TEX> years, age range: 65.2-81.2) participated in the study. Both groups crossed an obstacle, which is 10% of leg length, and COM was measured using motion analysis system. Independent t-test was used to find significant differences between two groups. RESULTS: The older adults showed significantly greater and faster COM displacement and peak velocity in mediolateral (M-L) direction as compared with young adults (p<.01 and p<.001 respectively). However, the young adults showed significantly greater and faster COM displacement and peak velocity in anteroposterior (A-P) direction as compared with older adults (p<.05 and p<.001 respectively). Furthermore, the young adults showed faster peak velocity of COM in vertical direction as compared with older adults (p<.001). However, no significant difference was found in the COM displacement in vertical direction between two groups. CONCLUSION: Greater and faster COM displacement and peak velocity in M-L direction in older adults were due to compensatory adjustment for appropriate contact on base of support of swing limb. Thus, the motion of the COM in M-L direction may be a crucial factor to identify risk of falls in older adults.

Slipping during side-step cutting: Anticipatory effects and familiarization

The aim of the present study was to verify whether the expectation of perturbations while performing side-step cutting manoeuvres influences lower limb EMG activity, heel kinematics and ground reaction forces. Eighteen healthy men performed two sets of 90° side-step cutting manoeuvres. In the first set, 10 unperturbed trials (Base) were performed while stepping over a moveable force platform. In the second set, subjects were informed about the random possibility of perturbations to balance throughout 32 trials, of which eight were perturbed (Pert, 10cm translation triggered at initial contact), and the others were “catch” trials (Catch). Center of mass velocity (CoMVEL), heel acceleration (HAC), ground reaction forces (GRF) and surface electromyography (EMG) from lower limb and trunk muscles were recorded for each trial. Surface EMG was analyzed prior to initial contact (PRE), during load acceptance (LA) and propulsion (PRP) periods of the stance phase. In addition, hamstrings-quadriceps co-contraction ratios (CCR) were calculated for these time-windows. The results showed no changes in CoMVEL, HAC, peak GRF and surface EMG PRE among conditions. However, during LA, there were increases in tibialis anterior EMG (30–50%) concomitant to reduced EMG for quadriceps muscles, gluteus and rectus abdominis for Catch and Pert conditions (15–40%). In addition, quadriceps EMG was still reduced during PRP (p<.05). Consequently, CCR was greater for Catch and Pert in comparison to Base (p<.05). These results suggest that there is modulation of muscle activity towards anticipating potential instability in the lower limb joints and assure safety to complete the task.

Approximation of the CoM Estimate

The extent to which small errors from simplified methods of measurements can be tolerated may be useful for clinical studies where time and logistical considerations often override the need to be very precise. We demonstrate here two kinematic methods to approximate the vertical trajectory of the body center of mass (CoM) during walking: the mid-shoulder and navel regions compared to a full-body CoM model. The navel marker achieved a near-perfect correlation with the CoM model for displacement and velocity. In the acceleration data, deviations from the CoM model for both the navel and mid-shoulder markers were observed around the points of inflection. The estimation of CoM displacement and velocity using the navel marker appears to be adequate for clinical use in comparing between subjects, while CoM acceleration may be more suited for studying the relative change between conditions in the same subject.

The role of series ankle elasticity in bipedal walking

The elastic stretch-shortening cycle of the Achilles tendon during walking can reduce the active work demands on the plantarflexor muscles in series. However, this does not explain why or when this ankle work, whether by muscle or tendon, needs to be performed during gait. We therefore employ a simple bipedal walking model to investigate how ankle work and series elasticity impact economical locomotion. Our model shows that ankle elasticity can use passive dynamics to aid push-off late in single support, redirecting the body's center-of-mass (COM) motion upward. An appropriately timed, elastic push-off helps to reduce dissipative collision losses at contralateral heelstrike, and therefore the positive work needed to offset those losses and power steady walking. Thus, the model demonstrates how elastic ankle work can reduce the total energetic demands of walking, including work required from more proximal knee and hip muscles. We found that the key requirement for using ankle elasticity to achieve economical gait is the proper ratio of ankle stiffness to foot length. Optimal combination of these parameters ensures proper timing of elastic energy release prior to contralateral heelstrike, and sufficient energy storage to redirect the COM velocity. In fact, there exist parameter combinations that theoretically yield collision-free walking, thus requiring zero active work, albeit with relatively high ankle torques. Ankle elasticity also allows the hip to power economical walking by contributing indirectly to push-off. Whether walking is powered by the ankle or hip, ankle elasticity may aid walking economy by reducing collision losses.

Center of pressure velocity reflects body acceleration rather than body velocity during quiet standing

The purpose of this study was to test the hypothesis that the center of pressure (COP) velocity reflects the center of mass (COM) acceleration due to a large derivative gain in the neural control system during quiet standing. Twenty-seven young (27.2±4.5years) and twenty-three elderly (66.2±5.0years) subjects participated in this study. Each subject was requested to stand quietly on a force plate for five trials, each 90s long. The COP and COM displacements, the COP and COM velocities, and the COM acceleration were acquired via a force plate and a laser displacement sensor. The amount of fluctuation of each variable was quantified using the root mean square. Following the experimental study, a simulation study was executed to investigate the experimental findings. The experimental results revealed that the COP velocity was correlated with the COM velocity, but more highly correlated with the COM acceleration. The equation of motion of the inverted pendulum model, however, accounts only for the correlation between the COP and COM velocities. These experimental results can be meaningfully explained by the simulation study, which indicated that the neural motor command presumably contains a significant portion that is proportional to body velocity. In conclusion, the COP velocity fluctuation reflects the COM acceleration fluctuation rather than the COM velocity fluctuation, implying that the neural motor command controlling quiet standing posture contains a significant portion that is proportional to body velocity.

Control of dynamic foot-ground interactions in male and female soccer athletes: Females exhibit reduced dexterity and higher limb stiffness during landing

Controlling dynamic interactions between the lower limb and ground is important for skilled locomotion and may influence injury risk in athletes. It is well known that female athletes sustain anterior cruciate ligament (ACL) tears at higher rates than male athletes, and exhibit lower extremity biomechanics thought to increase injury risk during sport maneuvers. The purpose of this study was to examine whether lower extremity dexterity (LED) – the ability to dynamically control endpoint force magnitude and direction as quantified by compressing an unstable spring with the lower limb at submaximal forces – is a potential contributing factor to the “at-risk” movement behavior exhibited by female athletes. We tested this hypothesis by comparing LED-test performance and single-limb drop jump biomechanics between 14 female and 14 male high school soccer players. We found that female athletes exhibited reduced LED-test performance (p=0.001) and higher limb stiffness during landing (p=0.008) calculated on average within 51ms of foot contact. Females also exhibited higher coactivation at the ankle (p=0.001) and knee (p=0.02) before landing. No sex differences in sagittal plane joint angles and center of mass velocity at foot contact were observed. Collectively, our results raise the possibility that the higher leg stiffness observed in females during landing is an anticipatory behavior due in part to reduced lower extremity dexterity. The reduced lower extremity dexterity and compensatory stiffening strategy may contribute to the heightened risk of ACL injury in this population.

The Dynamic Analyses of the Eccentric Cylinder Moving on the Inclined Plane

The conservation principle of energy and the mass center movement theorem of rigid body and the moment of momentum theorem relative to the center of mass were used to study the dynamic problems of the eccentric cylinder on the inclined plane. The mass center velocity and the acceleration of the cylinder and the normal pressure and the friction force of the cylinder acting on the inclined plane and etc are given. An example is introduced to show the variations of the physical variants, and the numerical results agree with the theoretical analyses.

Dual-Task Effect on Gait Balance Control in Adolescents With Concussion

ObjectiveTo prospectively and longitudinally examine how concussion affects gait balance control in adolescents during single- and dual-task walking. DesignCohort, prospective, repeated-measures design. SettingMotion analysis laboratory. ParticipantsAdolescents (N=20) identified as suffering a concussion were matched with healthy control subjects (N=20) and tested 5 times across a 2-month period after injury. InterventionsNot applicable. Main Outcome MeasuresGait temporal-distance parameters included average walking speed, step length, and step width; whole body center of mass (COM) parameters included medial/lateral displacement and peak COM medial/lateral and anterior velocities; dual-task cost, which was defined as percent change from single- to dual-task conditions; and Stroop test accuracy. ResultsNo between-group differences were observed for step length and step width. The dual-task cost for average walking speed for subjects with concussion was greater than control subjects across the 2-month testing period (main effect of group P=.019), as was the dual-task costs for peak anterior COM velocity (main effect of group P=.017) and total COM medial/lateral displacement (main effect of group P=.013). The total COM medial/lateral displacement (group × task interaction P=.006) and peak COM medial/lateral velocity (main effect of group P=.027; main effect of task P=.01) were significantly greater in subjects with concussion compared with control subjects during dual-task walking. Subjects with concussion were significantly less accurate than controls on the Stroop test (main effect of group P=.004). ConclusionsThe findings suggest that concussion affects the ability of adolescents to control body posture during gait up to 2 months after injury. Furthermore, dual-task paradigms may provide additional useful information in the clinical assessment and recovery of concussion.

Walking pattern generation for a humanoid robot with compliant joints

This work presents a walking pattern generator based on the control of the center of mass (COM) states and its experimental validations on the compliant humanoid robot COMAN powered by intrinsically compliant joints. To cope with the inaccuracies of the joint position tracking resulted by the physical compliance, the proposed pattern generator uses the feedback states of the COM and on-line computes the updated COM references. The position and velocity of the COM are the state variables, and the constrained ground reaction force (GRF) limited by the support polygon is the control effort to drive the real COM states to track the desired references. The frequency analysis of the COM demonstrates its low frequency spectrum that indicates the demand of a low control bandwidth which is suitable for a robot system with compliant joints. The effectiveness of the proposed gait generation method was demonstrated by the experiments performed on the COMAN robot. The experimental data such as the COM position and velocity tracking, the GRF applied on feet, the measured step length and the walking velocity are analyzed. The effect of the passive compliance is also discussed.

Altered center of mass control during sit-to-walk in elderly adults with and without history of falling

Sit-to-walk (STW) is a commonly performed activity of daily living that requires a precise coordination between momentum generation and balance control. However, there is a lack of biomechanical data demonstrating how the center of mass (COM) momentum and balance control interact. This study examines COM kinetic energy distribution in three movement directions and COM-Ankle inclination angles during STW among 15 healthy young adults, 15 elderly non-fallers, and 15 elderly fallers. We found that elderly adults, especially elderly fallers, chose a COM control strategy that provided more stability than mobility to perform STW. A smaller forward COM velocity, a more upward COM momentum distribution, and a smaller anterior–posterior COM-Ankle angle characterize this strategy. Healthy elderly adults modified their STW movement around seat-off so that they achieved a more upright position before walking. Elderly fallers not only altered COM control around seat-off but also showed limitation in COM control during gait initiation. Furthermore, their COM control in the medial-lateral direction might be perturbed at swing-off due to an increased distribution of kinetic energy. Examining COM momentum distribution in different movement directions and the relationship between positions of the COM and supporting foot during STW could enhance our ability to identify elderly adults who are at risk of falling.

Age‐Related Difference in Postural Control During Recovery from Forward and Backward Falls

Decreased reactive postural responses in elderly adults may place them at increased risk for falls and related injuries (30–40% of adults over 65 fall each year). To determine age‐related differences in reactive postural responses, we utilized the tether‐release method to evaluate kinematic variables in healthy young (n=10, mean age=25.4±5.34) and healthy elderly subjects (n=10, mean age=66.8±6.29). All subjects were instrumented and data were collected in a motion analysis lab during recovery from anterior and posterior perturbations. Kinematic dependent variables included reaction time, step length, step time, peak center of mass (COM) velocity, and recovery time. Each subject's first 3 successful trials were averaged and compared between groups using separate Mann‐Whitney U Tests (p≤0.01). No differences were found between groups for recovery from anterior perturbations. However, during posterior perturbations, healthy elderly subjects exhibited shorter step length (p=.006), slower peak COM velocity (p=.01), and longer recovery time (p=.01) compared to young subjects. These results suggest that slowness of movement, coupled with prolonged recovery time, may impair the ability of elderly adults to regain stability after posterior perturbations. Further examination of kinematic and kinetic variables is important to determine specific deficiencies contributing to falls in the elderly.Grant Funding Source: University of Utah College of Health

Frontal plane dynamic margins of stability in individuals with and without transtibial amputation walking on a loose rock surface

Uneven walking surfaces pose challenges to balance, especially in individuals with lower extremity amputation. The purpose of this study was to determine if lateral stability of persons with unilateral transtibial amputation (TTA) is compromised when walking on a loose rock surface. Thirteen TTA and 15 healthy controls walked over level ground and over a loose rock surface at four controlled speeds. Dependent measures, including medial–lateral center of mass (COM) motion, step width variability, lateral arm swing velocity, and mean and variability of the minimum margins of stability (MOSmin), were compared between subject groups and across conditions. TTA had greater average MOSmin than Control subjects (p=0.018). TTA exhibited decreased MOSmin on their prosthetic limbs compared to their intact limbs (p=0.036), while Control subjects did not exhibit side to side differences. Both groups increased MOSmin with increasing walking speed (p≤0.001). There was no difference in the average MOSmin between walking surfaces (p=0.724). However, the variability of MOSmin was greater on the rocks compared to level ground. Both subject groups increased step width, step width variability, COM range of motion and peak COM velocity when walking on the rock surface. TTA exhibited greater variability of both step width and MOSmin, which suggests that they made larger step-to-step corrective responses, more often, to achieve the same average result.

Upper torso and pelvis linear velocity during the downswing of elite golfers

BackgroundDuring a golf swing, analysis of the movement in upper torso and pelvis is a key step to determine a motion control strategy for accurate and consistent shots. However, a majority of previous studies that have evaluated this movement limited their analysis only to the rotational movement of segments, and translational motions were not examined. Therefore, in this study, correlations between translational motions in the 3 axes, which occur between the upper torso and pelvis, were also examined.MethodsThe experiments were carried out with 14 male pro-golfers (age: 29 ± 8 years, career: 8.2 ± 4.8years) who registered in the Korea Professional Golf Association (KPGA). Six infrared cameras (VICON; Oxford Metrics, Oxford, UK) and SB-Clinc software (SWINGBANK Ltd, Korea) were used to collect optical marker trajectories. The center of mass (CoM) of each segment was calculated based on kinematic principal. In addition, peak value of CoM velocity and the time that each peak occurred in each segment during downswing was calculated. Also, using cross-correlation analysis, the degree of coupling and time lags of peak values occurred between and within segments (pelvis and upper torso) were investigated.ResultsAs a result, a high coupling strength between upper torso and pelvis with an average correlation coefficient = 0.86 was observed, and the coupling between segments was higher than that within segments (correlation coefficient = 0.81 and 0.77, respectively).ConclusionsSuch a high coupling at the upper torso and pelvis can be used to reduce the degree of motion control in the central nervous system and maintain consistent patterns in the movement. The result of this study provides important information for the development of optimal golf swing movement control strategies in the future.