Function Of Walking Speed Research Articles

A Swing-Assist Controller for Enhancing Knee Flexion in a Semi-Powered Transfemoral Prosthesis.

This work proposes a new swing controller for semi-powered low impedance transfemoral prostheses that resolves the issue of potentially competing inputs between artificial assistive power and user-sourced power. Rather than add power as an exogeneous input, the control approach uses power to modify the homogeneous portion of the shank dynamics, and therefore need not construct or curate an input that is coordinated with user input. The implemented controller requires a single control parameter at a given walking speed, where the value of that parameter is a function of walking speed, as determined by an adaptive algorithm, such that peak knee angles are commensurate with walking-speed-dependent behaviors of individuals without any negative gait pathologies. The controller and parameter selection algorithm are described in the paper, and subsequently validated in walking experiments with three participants with unilateral transfemoral amputation. The experiments demonstrate that the proposed controller increases peak knee angle and minimum toe clearance during swing phase without increasing hip compensatory actions, relative to the users' daily-use devices.

Contractile Work of the Soleus and Biarticular Mechanisms of the Gastrocnemii Muscles Increase the Net Ankle Mechanical Work at High Walking Speeds.

Increasing walking speed is accompanied by an increase of the mechanical power and work performed at the ankle joint despite the decrease of the intrinsic muscle force potential of the soleus (Sol) and gastrocnemius medialis (GM) muscles. In the present study, we measured Achilles tendon (AT) elongation and, based on an experimentally determined AT force-elongation relationship, quantified AT force at four walking speeds (slow 0.7 m.s-1, preferred 1.4 m.s-1, transition 2.0 m.s-1, and maximum 2.6 ± 0.3 m.s-1). Further, we investigated the mechanical power and work of the AT force at the ankle joint and, separately, the mechanical power and work of the monoarticular Sol at the ankle joint and the biarticular gastrocnemii at the ankle and knee joints. We found a 21% decrease in maximum AT force at the two higher speeds compared to the preferred; however, the net work of the AT force at the ankle joint (ATF work) increased as a function of walking speed. An earlier plantar flexion accompanied by an increased electromyographic activity of the Sol and GM muscles and a knee-to-ankle joint energy transfer via the biarticular gastrocnemii increased the net ATF mechanical work by 1.7 and 2.4-fold in the transition and maximum walking speed, respectively. Our findings provide first-time evidence for a different mechanistic participation of the monoarticular Sol muscle (i.e., increased contractile net work carried out) and the biarticular gastrocnemii (i.e., increased contribution of biarticular mechanisms) to the speed-related increase of net ATF work.

Effect of different walking speeds on joint and muscle force estimation using AnyBody and OpenSim.

To be able to use muscluloskeletal models in clinical settings, it is important to understand the effect of walking speed on joint and muscle force estimations in different generic musculoskeletal models. The aim of the current study is to compare estimated joint and muscle forces as a function of walking speed between two standard approaches offered in two different modelling environments (AnyBody and OpenSim). Experimental data of 10 healthy participants were recorded at three different walking speeds (self-selected, 25 % slower, 25 % faster) using a ten-camera motion capture system together with four force plates embedded into a ten-meter walkway. Joint compression forces and muscle forces were calculated with a generic model in AnyBody and OpenSim. Trend analyses, mean absolute error (MAE) and correlation coefficients were used to compare joint compression forces and muscle forces between the two approaches. A one-way and two-way ANOVA with repeated measures were used to compare MAE and trend analysis changes, respectively (α = 0.05, Bonferroni corrected post-hoc tests). Trend analyses showed the same speed effect for AnyBody and OpenSim. MAEs increased significantly from slow to fast walking for knee joint compression forces, biceps femoris long head, gluteus maximus, gluteus medius and vastus intermedius. Lower correlation coefficients during slower walking were found for quadriceps muscles, gluteus maximus and biceps femoris compared to normal and faster walking. Lower correlation coefficients during slower walking are assumed to be due to a higher amount of solutions solving the muscle recruitment in musculoskeletal models. This indicates that decreasing walking speed is more prone to speed dependent differences regarding variability, while the absolute error increased with increasing walking speed. To conclude, different modelling environments can react differently to changes in walking speed, but overall results are promising regarding the generalization across different generic musculoskeletal models.

Modulation of spatial and temporal modules in lower limb muscle activations during walking with simulated reduced gravity

Gravity plays a crucial role in shaping patterned locomotor output to maintain dynamic stability during locomotion. The present study aimed to clarify the gravity-dependent regulation of modules that organize multiple muscle activities during walking in humans. Participants walked on a treadmill at seven speeds (1–6 km h−1 and a subject- and gravity-specific speed determined by the Froude number (Fr) corresponding to 0.25) while their body weight was partially supported by a lift to simulate walking with five levels of gravity conditions from 0.07 to 1 g. Modules, i.e., muscle-weighting vectors (spatial modules) and phase-dependent activation coefficients (temporal modules), were extracted from 12 lower-limb electromyographic (EMG) activities in each gravity (Fr ~ 0.25) using nonnegative matrix factorization. Additionally, a tensor decomposition model was fit to the EMG data to quantify variables depending on the gravity conditions and walking speed with prescribed spatial and temporal modules. The results demonstrated that muscle activity could be explained by four modules from 1 to 0.16 g and three modules at 0.07 g, and the modules were shared for both spatial and temporal components among the gravity conditions. The task-dependent variables of the modules acting on the supporting phase linearly decreased with decreasing gravity, whereas that of the module contributing to activation prior to foot contact showed nonlinear U-shaped modulation. Moreover, the profiles of the gravity-dependent modulation changed as a function of walking speed. In conclusion, reduced gravity walking was achieved by regulating the contribution of prescribed spatial and temporal coordination in muscle activities.

Musculoskeletal Model Personalization Affects Metabolic Cost Estimates for Walking.

Assessment of metabolic cost as a metric for human performance has expanded across various fields within the scientific, clinical, and engineering communities. As an alternative to measuring metabolic cost experimentally, musculoskeletal models incorporating metabolic cost models have been developed. However, to utilize these models for practical applications, the accuracy of their metabolic cost predictions requires improvement. Previous studies have reported the benefits of using personalized musculoskeletal models for various applications, yet no study has evaluated how model personalization affects metabolic cost estimation. This study investigated the effect of musculoskeletal model personalization on estimates of metabolic cost of transport (CoT) during post-stroke walking using three commonly used metabolic cost models. We analyzed walking data previously collected from two male stroke survivors with right-sided hemiparesis. The three metabolic cost models were implemented within three musculoskeletal modeling approaches involving different levels of personalization. The first approach used a scaled generic OpenSim model and found muscle activations via static optimization (SOGen). The second approach used a personalized electromyographic (EMG)-driven musculoskeletal model with personalized functional axes but found muscle activations via static optimization (SOCal). The third approach used the same personalized EMG-driven model but calculated muscle activations directly from EMG data (EMGCal). For each approach, the muscle activation estimates were used to calculate each subject’s CoT at different gait speeds using three metabolic cost models (Umberger et al., 2003; Bhargava et al., 2004; Umberger, 2010). The calculated CoT values were compared with published CoT data as a function of walking speed, step length asymmetry, stance time asymmetry, double support time asymmetry, and severity of motor impairment (i.e., Fugl-Meyer score). Overall, only SOCal and EMGCal with the Bhargava metabolic cost model were able to reproduce accurately published experimental trends between CoT and various clinical measures of walking asymmetry post-stroke. Tuning of the parameters in the different metabolic cost models could potentially resolve the observed CoT magnitude differences between model predictions and experimental measurements. Realistic CoT predictions may allow researchers to predict human performance, surgical outcomes, and rehabilitation outcomes reliably using computational simulations.

Metabolic Costs of Standing and Walking in Healthy Military-Age Adults: A Meta-regression.

The Load Carriage Decision Aid (LCDA) is a U.S. Army planning tool that predicts physiological responses of soldiers during different dismounted troop scenarios. We aimed to develop an equation that calculates standing and walking metabolic rates in healthy military-age adults for the LCDA using a meta-regression. We searched for studies that measured the energetic cost of standing and treadmill walking in healthy men and women via indirect calorimetry. We used mixed effects meta-regression to determine an optimal equation to calculate standing and walking metabolic rates as a function of walking speed (S, m·s). The optimal equation was used to determine the economical speed at which the metabolic cost per distance walked is minimized. The estimation precision of the new LCDA walking equation was compared with that of seven reference predictive equations. The meta-regression included 48 studies. The optimal equation for calculating normal standing and walking metabolic rates (W·kg) was 1.44 + 1.94S + 0.24S. The economical speed for level walking was 1.39 m·s (~ 3.1 mph). The LCDA walking equation was more precise across all walking speeds (bias ± SD, 0.01 ± 0.33 W·kg) than the reference predictive equations. Practitioners can use the new LCDA walking equation to calculate energy expenditure during standing and walking at speeds <2 m·s in healthy, military-age adults. The LCDA walking equation avoids the errors estimated by other equations at lower and higher walking speeds.

Economical Speed and Energetically Optimal Transition Speed Evaluated by Gross and Net Oxygen Cost of Transport at Different Gradients.

The oxygen cost of transport per unit distance (CoT; mL·kg-1·km-1) shows a U-shaped curve as a function of walking speed (v), which includes a particular walking speed minimizing the CoT, so called economical speed (ES). The CoT-v relationship in running is approximately linear. These distinctive walking and running CoT-v relationships give an intersection between U-shaped and linear CoT relationships, termed the energetically optimal transition speed (EOTS). This study investigated the effects of subtracting the standing oxygen cost for calculating the CoT and its relevant effects on the ES and EOTS at the level and gradient slopes (±5%) in eleven male trained athletes. The percent effects of subtracting the standing oxygen cost (4.8 ± 0.4 mL·kg-1·min-1) on the CoT were significantly greater as the walking speed was slower, but it was not significant at faster running speeds over 9.4 km·h-1. The percent effect was significantly dependent on the gradient (downhill > level > uphill, P < 0.001). The net ES (level 4.09 ± 0.31, uphill 4.22 ± 0.37, and downhill 4.16 ± 0.44 km·h-1) was approximately 20% slower than the gross ES (level 5.15 ± 0.18, uphill 5.27 ± 0.20, and downhill 5.37 ± 0.22 km·h-1, P < 0.001). Both net and gross ES were not significantly dependent on the gradient. In contrast, the gross EOTS was slower than the net EOTS at the level (7.49 ± 0.32 vs. 7.63 ± 0.36 km·h-1, P = 0.003) and downhill gradients (7.78 ± 0.33 vs. 8.01 ± 0.41 km·h-1, P < 0.001), but not at the uphill gradient (7.55 ± 0.37 vs. 7.63 ± 0.51 km·h-1, P = 0.080). Note that those percent differences were less than 2.9%. Given these results, a subtraction of the standing oxygen cost should be carefully considered depending on the purpose of each study.

Metabolic rate of carrying added mass: A function of walking speed, carried mass and mass location

The effort of carrying additional mass at different body locations is important in ergonomics and in designing wearable robotics. We investigate the metabolic rate of carrying a load as a function of its mass, its location on the body and the subject’s walking speed. Novel metabolic rate prediction equations for walking while carrying loads at the ankle, knees and back were developed based on experiments where subjects walked on a treadmill at 4, 5 or 6km/h bearing different amounts of added mass (up to 2kg per leg and 22kg for back). Compared to previously reported equations, ours are 7–69% more accurate. Results also show that relative cost for carrying a mass at a distal versus a proximal location changes with speed and mass. Contrary to mass carried on the back, mass attached to the leg cannot be modeled as an increase in body mass.

Relation Between Aerobic Capacity and Walking Ability in Older Adults With a Lower-Limb Amputation

ObjectivesTo determine the relative aerobic load, walking speed, and walking economy of older adults with a lower-limb prosthesis, and to predict the effect of an increased aerobic capacity on their walking ability. DesignCross-sectional. SettingHuman motion laboratory at a rehabilitation center. ParticipantsConvenience sample of older adults (n=36) who underwent lower-limb amputation because of vascular deficiency or trauma and able-bodied controls (n=21). InterventionsNot applicable. Main Outcome MeasuresPeak aerobic capacity and oxygen consumption while walking were determined. The relative aerobic load and walking economy were assessed as a function of walking speed, and a data-based model was constructed to predict the effect of an increased aerobic capacity on walking ability. ResultsPeople with a vascular amputation walked at a substantially higher (45.2%) relative aerobic load than people with an amputation because of trauma. The preferred walking speed in both groups of amputees was slower than that of able-bodied controls and below their most economical walking speed. We predicted that a 10% increase in peak aerobic capacity could potentially result in a reduction in the relative aerobic load of 9.1%, an increase in walking speed of 17.3% and 13.9%, and an improvement in the walking economy of 6.8% and 2.9%, for people after a vascular or traumatic amputation, respectively. ConclusionsCurrent findings corroborate the notion that, especially in people with a vascular amputation, the peak aerobic capacity is an important determinant for walking ability. The data provide quantitative predictions on the effect of aerobic training; however, future research is needed to experimentally confirm these predictions.

The impact of odor and ambient flow speed on the kinematics of the crayfish antennular flick: implications for sampling turbulent odor plumes

Before organisms extract relevant information from olfactory cues, animals often actively sample the environment through sniffing, wing beating, or flicking of olfactory appendages. These processes serve to increase the local flow velocity and to facilitate the movement of chemical signals from the environment to receptor sites. Crustaceans flick their antennules to sample. While the kinematics of this process is beginning to be understood, modulation of antennular flicking in response to increases in ambient flow velocity or through stimulation from chemicals is unknown at this time. This manuscript details two studies that were performed to understand the kinematics on this behavior and their implications on sensory perception. In the first study, the kinematics of a flick from a restrained crayfish was analyzed in response to flow velocities of 1, 3, and 5 cm/s and in the presence and absence of odor at these three velocities. The second study sought to determine whether antennular flicking behavior changes as a function of crayfish’s walking speed or in response to variations in odor source concentration. The first study clearly shows that flick kinematic parameters (flick acceleration, flick velocity, and flick angle deflection) are increased as the ambient flow is increased and are increased in response to chemical stimulation. The second study shows that bilateral antennular flicking is not performed during chemical orientation and that antennular flicking behavior does change as a function of walking speed of the crayfish or increases in source concentration.

The 3D path of body centre of mass during adult human walking on force treadmill

Three-dimensional (3D) path of the body centre of mass (CM) over an entire stride was computed from ground reaction forces during walking at constant average speed on a treadmill mounted on 3D force sensors. Data were obtained from 18 healthy adults at speeds ranging from 0.30 to 1.40 m s −1, in 0.1 m s −1 increments. Six subsequent strides were analyzed for each subject and speed (total strides=1296). The test session lasted about 30 min (10 min for walking). The CM path had an upward concave figure-of-eight shape that was highly consistent within and across subjects. Vertical displacement of the CM increased monotonically as a function of walking speed. The forward and particularly lateral displacements of the CM showed a U-shaped relationship to speed. The same held for the total 3D displacement (25.6–16.0 cm, depending on the speed). The results provide normative benchmarks and suggest hypotheses for further physiologic and clinical research. The familiar inverted pendulum model might be expanded to gyroscopic, “spin-and-turn” models. Abnormalities of the 3D path might flag motor impairments and recovery.

Effects of Down syndrome on three-dimensional motion during walking at different speeds

The inherent joint laxity and muscle hypotonia of adults with Down syndrome (DS) may result in reduced gait stability and increased energetic cost. These factors vary as a function of walking speed and may be reflected in gait patterns. The present study therefore examined whether the three-dimensional motion of the body center of mass (COM) and stepping characteristics differ between adults with and without DS as a function of speed. Fifteen adults with DS and 15 adults without DS underwent a series of treadmill walking trials. Walking speeds were determined as Froude numbers, based on leg length. Participants walked at Froude numbers of 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, and, for adults without DS, 0.7. Whole-body kinematic data were collected for 30–35 steps at each speed. Across speeds, adults with DS showed greater and more variable mediolateral COM motion than adults without DS. COM anteroposterior velocity and vertical motion did not differ in range between groups, but were more variable in adults with DS. Adults with DS also showed smaller-duration steps and varied their step widths and step lengths more than adults without DS. The results suggest a gait pattern with lesser stability and greater energetic cost among adults with DS.

Changes in axial stiffness of the trunk as a function of walking speed

Research suggests that abnormal coordination patterns between the thorax and pelvis in the transverse plane observed in patients with Parkinson's disease and the elderly might be due to alteration in axial trunk stiffness. The purpose of this study was to develop a tool to estimate axial trunk stiffness during walking and to investigate its functional role. Fourteen healthy young subjects participated in this study. They were instructed to walk on the treadmill and kinematic data was collected by 3D motion analysis system. Axial trunk stiffness was estimated from the angular displacement between trunk segments and the amount of torque around vertical axis of rotation. The torque due to arm swing cancelled out the torque due to the axial trunk stiffness during walking and the thoracic rotation was of low amplitude independent of changes in walking speeds within the range used in this study (0.85–1.52 m/s). Estimated axial trunk stiffness increased with increasing walking speed. Functionally, the suppression of axial rotation of thorax may have a positive influence on head stability as well as allowing recoil between trunk segments. Furthermore, the increased stiffness at increased walking speed would facilitate the higher frequency rotation of the trunk in the transverse plane required at the higher walking speeds.

Estimating text legibility of a mobile display on the basis of translational vibration caused by walking

— In this study, the effect of vibration on mobile-phone text legibility caused by walking was examined. Legibility was measured as reading performance and subjective task load when reading from a mobile-phone display while walking on a treadmill at 1.5 km/hour, 3 km/hour, and an individually defined speed (3.9 km/hour on average). Vibration was measured on the vertical, lateral, and fore-and-aft axes during walking. Vibration amplitude was calculated in five different frequency bands (1, 2, 4, 8, and 16 Hz), and correlated with the legibility measures. The amplitude increased most on the vertical and fore-and-aft axes as a function of walking speed, and the increase was largest in the 2-Hz frequency band. Legibility decreased concurrently with increasing vibration. The strong correlation between vibration characteristics and legibility measures suggests that vibration characteristics could, to some degree, be used in estimating small-display legibility while walking.

Biomechanical mechanism for transitions in phase and frequency of arm and leg swing during walking.

As humans increase walking speed, there are concurrent transitions in the frequency ratio between arm and leg movements from 2:1 to 1:1 and in the phase relationship between the movements of the two arms from in-phase to out-of-phase. Superharmonic resonance of a pendulum with monofrequency excitation had been proposed as a potential model for this phenomenon. In this study, an alternative model of paired pendulums with multiple-frequency excitations is explored. It was predicted that the occurrence of the concurrent transitions was a function of (1) changes in the magnitude ratio of shoulder accelerations at step and stride frequencies that accompany changes in walking speed and (2) proximity of these frequencies to the natural resonance frequencies of the arms modeled as a pair of passive pendulums. Model predictions were compared with data collected from 14 healthy young subjects who were instructed to walk on a treadmill. Walking speeds were manipulated between 0.18 and 1.52 m/s in steps of 0.22 m/s. Kinematic data for the arms and shoulders were collected using a 3D motion analysis system, and simulations were conducted in which the movements of a double-pendulum system excited by the accelerations at the suspension point were analyzed to determine the extent to which the arms acted as passive pendulums. It was confirmed that the acceleration waveforms at the shoulder are composed primarily of stride and step frequency components. Between the shoulders, the stride frequency components were out-of-phase, while the step frequency components were in-phase. The amplitude ratio of the acceleration waveform components at the step and stride frequencies changed as a function of walking speed and were associated with the occurrence of the transitions. Simulation results using these summed components as excitatory inputs to the double-pendulum system were in agreement with actual transitions in 80% of the cases. The potential role of state-dependent active muscle contraction at shoulder joints on the occurrence of the transitions was discussed. Due to the tendency of arm movements to stay in the vicinity of their primary resonance frequency, these active muscle forces were hypothesized to function as escapements that created limit cycle oscillations at the shoulder's resonant frequency.

THRESHOLD EXERCISE INTENSITY FOR INDUCING FAT LOSS IN MIDDLE-AGED WOMEN

1882 Aerobic exercise training is known to promote both total and visceral fat loss, but it is not known whether the intensity of training affects the outcome. Since total energy expenditure increases, but fat utilization decreases, as a function of walking speed, we examined in eight middle-aged women (age 47 to 69) the relative role of energy expenditure and lipid utilization during 16 weeks of training at low to moderate exercise intensities. Training consisted of walking 4.8 km/day, five days a week. Women were matched by age, BMI, body fat and fitness level and assigned to exercise at individual intensities above or below their anaerobic threshold (AT) which was determined at the start and after 16 weeks of training. The change in total, abdominal, and thigh fat content was estimated using girth and skinfold measurements at the start and after 16 weeks of training. Preliminary results show that energy expenditure and lipid utilization, estimated from non-steady-state treadmill tests, were not significantly different between the groups. However, walking at intensities below 105% of AT led to body fat gain of 2.4+/−2.5%, and walking between 105 and 115% of AT led to 1.02+/−1.3% body fat loss (t=2.66, p=0.04). In addition, changes in waist and thigh circumferences followed a similar pattern, with slower walkers showing increases, and faster walkers showing decreases, but the results did not attain significance (t=2.371, p=0.6, and t=2.082, p=0.08). These data suggest that approximately 105% of AT is a threshold walking intensity for body fat loss, but neither differential energy expenditure or lipid utilization appear to be the likely cause.

Changes in hippocampal cell discharge patterns and theta rhythm spectral properties as a function of walking velocity in the guinea pig.

Dorsal hippocampal theta rhythm (theta) and extracellular unit activity from CA1 pyramidal layer were recorded in awake guinea pigs, both during standing and during walking on a conveyor belt at increasing speeds. Amplitude, frequency and rhythmicity of theta increased linearly with the movement speed. In this preparation we found the same three types of unit discharge patterns that have been described in anesthetized rats in the presence of spontaneous or induced hippocampal theta: type 1, rhythmic at theta frequency and phase-locked with theta; type 2, discharging non-rhythmically but phase-locked with theta; and type 3, discharging at random. Furthermore, all units modified their firing pattern when the animals walked, either by increasing their rhythmicity and/or phase-locking with theta or by increasing their firing frequency. During walking, some type 3 units changed into type 2 or type 1, type 2 units changed to type 1, and type I increased their rhythmicity. Consequently, the unit discharge rhythmicity and phase-locking with theta increased with the speed of movement. The mean rate of neuronal discharges increased linearly as a function of walking speed. In this paper we show that the progressive spectral theta changes determined by the intensity of movement are concomitant with the increase in rhythmicity of hippocampal cells. Moreover, the firing rate of these cells, and the amplitude, frequency and rhythmicity of theta, increased linearly as a function of walking speed, suggesting that neuronal excitation may be basically responsible for these changes in theta properties.

Normal stride length for children as a function of walking speed

Normal stride length for children as a function of walking speed

Characterization of joint moment patterns as a function of walking speed

Characterization of joint moment patterns as a function of walking speed

A three dimensional multi-segmental analysis of the energetics of normal and pathological human gait

Segmental mechanical energy changes were studied in normal adults as a function of walking speed and in a group of subjects with pathologically impaired gait walking at their normal speed to determine the usefulness of this parameter in evaluating locomotor dysfunction. Of particular significance, the degree of exchange between potential and kinetic energy within and between limb segments was quantitatively evaluated. Due to the nature of most pathological gaits, no assumptions were made to impose symmetry between the right and left extremities and the translational as well as rotational kinetic energy of each of the limb segments was computed in three dimensions. Additionally, the torso was modeled as a group of segments with distributed mass in contrast to the commonly employed concentrated point mass model. In toto, a three dimensional twelve segment energetic analysis of the human body was developed and employed. In normal subjects, this analysis suggests a greater exchange between potential and kinetic energy near individually preferred walking speeds. Patterns of energy change noted in those subjects with locomotor dysfunction varied with the type of pathological disorder.