Ground Reaction Force Patterns Research Articles

Leg compliance is required to explain the ground reaction force patterns and speed ranges in different gaits.

Two simple models, vaulting over stiff legs and rebounding over compliant legs, are employed to describe the mechanics of legged locomotion. It is agreed that compliant legs are necessary for describing running and that legs are compliant while walking. Despite this agreement, stiff legs continue to be employed to model walking. Here, we show that leg compliance is necessary to model walking and, in the process, identify the principles that underpin two important features of legged locomotion: First, at the same speed, step length, and stance duration, multiple gaits that differ in the number of leg contraction cycles are possible. Among them, humans and other animals choose a gait with M-shaped vertical ground reaction forces because it is energetically favored. Second, the transition from walking to running occurs because of the inability to redirect the vertical component of the velocity during the double stance phase. Additionally, we also examine the limits of double spring-loaded pendulum (DSLIP) as a quantitative model for locomotion, and conclude that DSLIP is limited as a model for walking. However, insights gleaned from the analytical treatment of DSLIP are general and will inform the construction of more accurate models of walking.

An evaluation of a bespoke modified UCBL foot orthosis on subjects with flat foot using kinetic measurements and user comfort scores: A randomized controlled trial

AimThe purpose of this study was to assess and evaluate the effect of a bespoke Modified UCBL Foot Orthosis (MUFO) using both kinetic parameters (Centre of Pressure (CoP) and the Ground Reaction Force (GRF) pattern) and comfort scores in subjects diagnosed with flat foot. MethodThis study included thirty-four young adults with symptomatic flatfeet. Two Kistler force plates (100 Hz) were used to record the CoP sway and GRF pattern during four conditions; 1) an MUFO and standard-fit shoe; 2) the University of California-Berkley Lab (UCBL) insole and standard-fit shoe; 3) barefoot and 4) standard-fit shoe only. The magnitude of subject comfort with UCBL and MUFO also was measured by a 10 cm Visual Analogue Scale (VAS) during walking. ResultsThe MUFO decreased mean lateral displacement in the initial phase and midstance of gait compared to barefoot walking. During the propulsion phase use of the new MUFO produced more lateral excursion with a mean difference of 3 mm) P < 0.001(compared to barefoot walking and standard shoe wear. No significant difference in comfort rate was found between the MUFO and UCBL (P = 0.165). ConclusionThe MUFO produced effective pronation control and decreased the CoP displacement in all of stance phase.

Identification of subject-specific responses to footwear during running

Placing a stronger focus on subject-specific responses to footwear may lead to a better functional understanding of footwear’s effect on running and its influence on comfort perception, performance, and pathogenesis of injuries. We investigated subject-specific responses to different footwear conditions within ground reaction force (GRF) data during running using a machine learning-based approach. We conducted our investigation in three steps, guided by the following hypotheses: (I) For each subject x footwear combination, unique GRF patterns can be identified. (II) For each subject, unique GRF characteristics can be identified across footwear conditions. (III) For each footwear condition, unique GRF characteristics can be identified across subjects. Thirty male subjects ran ten times at their preferred (self-selected) speed on a level and approximately 15 m long runway in four footwear conditions (barefoot and three standardised running shoes). We recorded three-dimensional GRFs for one right-foot stance phase per running trial and classified the GRFs using support vector machines. The highest median prediction accuracy of 96.2% was found for the subject x footwear classification (hypothesis I). Across footwear conditions, subjects could be discriminated with a median prediction accuracy of 80.0%. Across subjects, footwear conditions could be discriminated with a median prediction accuracy of 87.8%. Our results suggest that, during running, responses to footwear are unique to each subject and footwear design. As a result, considering subject-specific responses can contribute to a more differentiated functional understanding of footwear effects. Incorporating holistic analyses of biomechanical data is auspicious for the evaluation of (subject-specific) footwear effects, as unique interactions between subjects and footwear manifest in versatile ways. The applied machine learning methods have demonstrated their great potential to fathom subject-specific responses when evaluating and recommending footwear.

GaitRec-Net: A Deep Neural Network for Gait Disorder Detection Using Ground Reaction Force.

Walking (gait) irregularities and abnormalities are predictors and symptoms of disorder and disability. In the past, elaborate video (camera-based) systems, pressure mats, or a mix of the two has been used in clinical settings to monitor and evaluate gait. This article presents an artificial intelligence-based comprehensive investigation of ground reaction force (GRF) pattern to classify the healthy control and gait disorders using the large-scale ground reaction force. The used dataset comprised GRF measurements from different patients. The article includes machine learning- and deep learning-based models to classify healthy and gait disorder patients using ground reaction force. A deep learning-based architecture GaitRec-Net is proposed for this classification. The classification results were evaluated using various metrics, and each experiment was analysed using a fivefold cross-validation approach. Compared to machine learning classifiers, the proposed deep learning model is found better for feature extraction resulting in high accuracy of classification. As a result, the proposed framework presents a promising step in the direction of automatic categorization of abnormal gait pattern.

Discriminating features of ground reaction forces in overweight old and young adults during walking using functional principal component analysis

BackgroundLimited attention has been paid to age- or body size-related changes in the ground reaction forces (GRF) during walking despite their strong associations with lower limb injuries and pathology. Research questionDo the features of GRF during walking associate with age or body size? MethodsFifty-four participants were subdivided into four groups according to their age and body size: overweight old (n = 12), non-overweight old (n = 13), overweight young (n = 13), and non-overweight young (n = 16). Participants were asked to walk at their self-selected speeds on level ground with force plates embedded in the center of walkway. Functional principal component analysis (FPCA) was performed to extract major modes of variation and functional principal component scores (FPCs) in three-dimensional GRFs. Analysis of variance models were employed to investigate the effect of age, body size, or their interactions on the FPCs of each component of the GRF, with the adjustment to gait speed. ResultsSignificant age and body size effects were observed in FPC1 across all three-dimensional GRF. Both overweight and older groups showed greater braking force after heel-strike and greater propulsive forces during pre-swing when compared to the non-overweight and younger groups, respectively. The overweight old group displayed greater medial forces during mid-stance and the overweight young group showed prominently larger medial forces during pre-swing, while non-overweight old showed a tendency of flatter medial-lateral GRF waveforms during the entire stance phase. FPC2 revealed that only body size had an effect on three-dimensional GRF with the highest FPC2 scores in the overweight old group. SignificanceThree-dimensional GRF during walking could be altered by the body size and age, which were more pronounced in the overweight and older group. The more dynamic GRF pattern with greater and/or lower peaks could be contributing factors to the increased joint load and injury rates observed in overweight aged individuals.

Superimposition of ground reaction force on tibial-plateau supporting diagnostics and post-operative evaluations in high-tibial osteotomy. A novel methodology

BackgroundA fully personalised combination of Gait Analysis (GA), including Ground Reaction Force (GRF), and patient-specific knee joint morphology has not yet been reported. This can provide valuable biomechanical insight in normal and pathological conditions. Abnormal knee varus results in medial knee condylar hyper-compression and osteoarthritis, which can be prevented by restoring proper condylar load distribution via High Tibial Osteotomy (HTO). Research questionThis study was aimed at reporting on an original methodology, merging GA, GRF and Computer-Tomography (CT) to depict a patient-specific representation of the knee mechanical condition during locomotion. It was hypothesised that HTO results in a lateralized pattern of GRF with respect to the tibial plateau. MethodsFour patients selected for HTO received clinical, radiological and instrumental examinations, pre- and post-operatively at 6-month follow-up. GA was performed during level walking and more demanding motor tasks using a 9-camera motion-capture system, combined with two force platforms, and an established protocol. Additional skin markers were positioned around the tibial-plateau rim. Weight-bearing CT scans of the knee were collected while still wearing these markers. Proximal tibial and marker morphological models were reconstructed. The markers from CT reconstruction were then registered to the corresponding trajectories as tracked by GA data. Resulting registration matrices were used to report GRF vectors on the plane best matching the tibial-plateau model and the intersection paths were calculated. Results and significanceThe registration procedure was successfully executed, with a max registration error of about 3 mm. GRF intersection paths were found medially to the tibial plateau pre-op, and lateralized post-op, thus much closer to the knee centre, as expected after HTO. The exploitation of the present methodology offers personalised quantification of the original mechanical misalignment and of the effect of surgical correction which could enhance diagnostics and planning of HTO as well as other knee treatments.

A model-based strategy for quadruped running with differentiated fore- and hind-leg morphologies

This article introduces a model-based strategy for a quadruped robot with differentiated fore- and hind-leg ground reaction force patterns to generate animal-like running behavior. The proposed model comprises a rigid body and two eccentric spring-loaded inverted pendulum (eSLIP) legs with dampers. The eSLIP model extends the traditional SLIP model by adding a bar to offset the spring direction. The proposed two-leg eSLIP (TL-eSLIP) model’s fore- and hind legs were designed to have the same offset magnitude but in opposite offset directions, producing different braking and thrusting force patterns. The TL-eSLIP model’s reference leg trajectories were designed based on the fixed-point motion of the eSLIP model. Additionally, the legs were clock torque-controlled to modulate leg motion and stabilize the model to follow its natural dynamics. The model’s equations for motion were derived, and the model’s dynamic behavior was simulated and analyzed. The simulation results indicate that the model with leg offsets and in either trotting or pronking has differentiated leg force patterns, and it is more stable and has larger basins of attraction than the model without leg offsets. A quadruped robot was built for experimental validation. The experimental results demonstrate that the robot with differentiated legs ran with differentiated ground reaction force patterns and ran more stably than another robot with the same leg morphology.

Indicators of cosmonaut locomotor functions stability: A new method for ground-reaction forces analysis

The paper introduces a new method for ground-reaction forces (GRF) analysis for the evaluation of cosmonaut locomotor functions stability after a long-duration spaceflight (LDSF). The method is based on the analysis of GRF profiles obtained before and after LDSF by standard БД-2 treadmill reaction force data readings. Following probabilistic indicators were introduced: distributions of step and step-phase duration probabilities, their extremums, standard deviations and inverse coefficients of variety; step structure variability; the non-stationarity index for step durations arrays; GRF pattern, its width and maximum. Every indicator of one cosmonaut pilot study has changed drastically after LDSF. The new statistics provided appeared to be promising indicators of locomotor function state. A further trial of the new method may provide new knowledge of human movement strategies alterations after LDSF and may establish it as a standard analytical procedure for personalized flight assistance after its reliability verification.

The relationship between skill and ground reaction force variability in amateur golfers

ABSTRACT It is accepted that highly skilled golfers are more consistent in their clubhead presentation and shot outcomes than their lesser skilled counterparts. However, the relationships between movement variability, outcome variability and skill in golf are not particularly well understood. This study examined the ground reaction force variability of one-hundred and four amateur golfers for shots with drivers and 5-irons. Principal component analysis was used as a data reduction technique and allowed all three components of ground reaction force to be considered together. There were statistically significant trends for the higher skilled golfers to display lower variability in two of the five principal components (driver) and four of the five principal components (5-iron). A similar trend was also observed in the other principal components, but these trends were not statistically significant. Intra-individual variability was much lower than inter-individual variability across all golfers; the golfers were each relatively consistent in maintaining their own ground reaction force patterns. Lower variability in ground reaction forces may partly explain how highly skilled golfers maintain lower variability in shot outcomes.

Effects of lumbar spinal disorders on the vertical ground reaction force and Spatio-temporal parameters in gait

BackgroundGround reaction forces are biomechanical data, providing information to investigate pathological gait. The vertical component of ground reaction force introduces the upward thrust force within gait progression. Although alterations in the vertical component in patients with spinal disorders were addressed in the literature, still the corresponding effect on spinal disorders is a major issue to scrutiny. In this study, the effects of two different anatomical spinal disorders on the vertical component pattern were investigated. MethodsTwo groups of patients with lumbar spine stenosis and lumbar intervertebral disc degeneration with lesions at L4-L5 and/or L5-S1 levels, were recruited. The vertical component of ground reaction force and spatio-temporal parameters were obtained and analyzed using one-way analysis of variance. FindingsThe results indicated that all spatio-temporal parameters differed significantly (P < 0.05) except step lengths and stride times (P > 0.05). In a similar test, the Fz2 in patients with lumbar stenosis was higher than that of those with disc degeneration (P < 0.05). Besides, the vertical ground reaction force pattern showed lower slopes in stenosis patients. InterpretationThis study showed that the vertical component of ground reaction force alterations and spatio-temporal parameters could be employed as indicators for certain spinal lesions. The results of this study could implement as an adjunct diagnostic method to help clinicians to differentiate between stenosis and disc degeneration patients and plan for their rehabilitation purposes.

Ankle Instability Patients Exhibit Altered Muscle Activation of Lower Extremity and Ground Reaction Force during Landing: A Systematic Review and Meta-Analysis.

This review aimed to investigate characteristics of muscle activation and ground reaction force (GRF) patterns in patients with ankle instability (AI). Relevant studies were sourced from PubMed, CINAHL, SPORTDiscus, and Web of Science through December 2019 for case-control study in any laboratory setting. Inclusion criteria for study selection were (1) subjects with chronic, functional, or mechanical instability or recurrent ankle sprains; (2) primary outcomes consisted of muscle activation of the lower extremity and GRF during landing; and (3) peer-reviewed articles with full text available, including mean, standard deviation, and sample size, to enable data reanalysis. We evaluated four variables related to landing task: (1) muscle activation of the lower extremity before landing, (2) muscle activation of the lower extremity during landing, (3) magnitude of GRF, and (4) time to peak GRF. The effect size using standardized mean differences (SMD) and 95% confidence intervals (CI) were calculated for these variables to make comparisons across studies. Patients with AI had a lower activation of peroneal muscles before landing (SMD = -0.63, p < 0.001, CI = -0.95 to -0.31), greater peak vertical GRF (SMD = 0.21, p = 0.03, CI = 0.01 to 0.40), and shorter time to peak vertical GRF (SMD = -0.51, p < 0.001, CI = -0.72 to -0.29) than those of normal subjects during landing. There was no significant difference in other muscle activation and GRF components between the patients with AI and normal subjects (p > 0.05). Altered muscle activation and GRF before and during landing in AI cases may contribute to both recurrent ankle and ACL injuries and degenerative change of articular.

Ground reaction force patterns in knees with and without radiographic osteoarthritis and pain: descriptive analyses of a large cohort (the Multicenter Osteoarthritis Study)

To compare ground reaction force patterns (GRF) during walking among legs defined by presence or absence of knee pain and/or radiographic knee osteoarthritis (ROA). Principal component analysis extracted major modes of variation (PCs) in GRF data from the Multicenter Osteoarthritis Study during self-paced walking. Legs were categorized as pain+ROA (n=168), ROA only (n=303), pain only (n=476), or control (n=1877). Relationships between group and GRF PCs were examined using Generalized Estimating Equations, adjusted for age, sex, body mass index, race, and clinic site with and without additional adjustment for gait speed. With or without speed adjustment, pain+ROA had flatter vertical GRF waveforms than control (speed adjusted PC2 difference [95%CI]:-66 [-113,-20]), pain+ROA and ROA only had higher lateral GRF at impact and greater mid-stance medial GRF than control (speed adjusted PC3 difference: 9 [3,16] and 6 [2,10], respectively), and ROA only had higher early vs late medial GRF than control (speed adjusted PC2 difference: 7 [2,13]). Pain only had flatter vertical GRF waveforms and a smaller difference between anterior and posterior GRF than control only without speed adjustment. In this large sample, sustained mid-stance loading and higher impact loads were identified in legs with ROA or ROA and pain, even when adjusting for differences in gait speed and other confounders. While it remains to be seen whether these features precede or result from ROA and pain, the presence of these patterns in the speed-adjusted models could have implications on gait interventions aimed to change joint loading.

Alterations in the ground reaction force of dogs during trot after immobilization of the stifle joint: An experimental study.

This study aimed to evaluate changes in the vertical and fore-aft force generation of the hindlimbs in dogs with stifle orthoses. Custom-made orthoses were used on the right stifle joint. Force plate and marker data from four beagle dogs in trials without orthoses, with fixed orthoses, and with unfixed orthoses were collected. The vertical ground reaction force of the right side was increased with fixed orthoses and decreased with unfixed orthoses compared to that of gait without orthoses. When compared to that of gait without orthoses, the fore-aft ground reaction force changed with fixed orthoses but not with unfixed orthoses. It is suggested that the level of constraint of the orthosis affected the ground reaction force pattern.

Correlation between clinical examination and quantitative gait analysis in patients operated upon with the Gunston-Hult knee prosthesis

A group of 21 patients with total knee joint replacement was followed-up ten years after the operation. The clinical assessment including pain, range of motion, muscle strength and knee function was related to an objective gait analysis which included ground reaction force patterns and joint angular motion. This method of gait analysis not only confirmed in an objective way the impression from the clinical assessment but also provided a more accurate gradation of the results. The method is applicable to patients with weight bearing problems.

Biomechanical analysis of the closed kinetic chain upper extremity stability test in healthy young adults

ObjectivesTo compare kinematic and ground reaction force (GRF) patterns between the dominant and non-dominant limbs in males and females conducting the closed kinetic chain upper extremity stability test (CKCUEST). DesignDescriptive. SettingBiomechanics laboratory. ParticipantsSixteen male and sixteen female healthy and physically active young adults. Main outcome measuresHand contact and flight times, peak and average vertical (vGRF) and medial-lateral (mlGRF) ground reaction forces, medial-lateral (ML) distance and ML velocity per repetition, three-dimensional (3D) distance and 3D velocity per repetition, and average number of touches per trial during the CKCUEST. ResultsOnly peak and average mlGRF were statistically different between limbs. Males and females were statistically different across every measured variable. ML and 3D velocities were the only variables strongly correlated to the number of touches achieved. ConclusionsBoth sexes were symmetrical between limbs in all but mlGRF; however, there were distinct differences in both kinematics and GRF patterns between sexes that may be attributed to differences in the testing position between males and females.

Observational study with the objective of determining possible correlations between GRF and muscle activation at reception after a jump in an ACL injury

The ACL injury is considered one of the most serious injuries and usually occurs in actions that include movements with changes of direction, jump and landing. It is a common injury between the young active population and the risk in women of suffering from non-contact injury is superior to that of men. Athletes who suffer from non-contact injuries of the ACL usually have common biomechanical profiles, with landings with large values in ground reaction force (GRF) and therefore, low cushioning on landing. To determine possible correlations between GRF and muscular activation at lading after a jump. The type of study carried out is an observational study in which, using surface electromyography (EMG), a force platform and an electrogoniometer, the aim is to assess muscle activation and its relationship with GRF (specifically the vertical component Fz). Correlations have been observed between the reaction force of the soil (Fz) in the moments where the reaction force of the soil is greater and the instant where the knee reaches maximum flexion after landing, with the activation of certain muscle groups and differences depending on the gender of the subject. The neuromuscular recruitment strategies in the phases of maximum GRF load and knee flexion are different depending on the sex of the individual, so it should be considered when scheduling prevention and recovery work. The evaluation of GRF and muscle activation patterns, allows to assess the dynamics of landing after a jump and to be able to detect different patterns according to sex, with the consequent importance that it can have in the injury mechanism.

Lower quadriceps power is related with flatter ground reaction force patterns during walking in women: the multicenter osteoarthritis study

Purpose: Impairments in walking gait and quadriceps function are both ubiquitous in knee osteoarthritis (OA). Less dynamic or flatter ground reaction force (GRF) patterns during walking, identified using principal component analyses (PCA), have been reported in people with knee OA. Modifiable factors underlying these patterns are not well understood. Cross-sectional studies and clinical trials have failed to show an association between quadriceps strength and gait kinetics in persons with knee OA.

Flatter ground reaction force patterns are associated with incident knee pain over two years: the multicenter osteoarthritis study (MOST)

Purpose: Identifying modifiable risk factors related to knee osteoarthritis (OA) progression could be key to reducing the burden of knee OA. Prior studies have reported that features of knee joint moments during walking are associated with symptomatic and structural worsening of knee OA. Measurement of joint moments is resource and time-intensive, therefore, prior longitudinal studies have been relatively small (n∼20-200). Ground reaction forces (GRF), which are one component of joint moment calculations, can be measured with relative ease in large cohorts.

Phase-Dependency of Medial-Lateral Balance Responses to Sensory Perturbations During Walking.

The human body is mechanically unstable during walking. Maintaining upright stability requires constant regulation of muscle force by the central nervous system to push against the ground and move the body mass in the desired way. Activation of muscles in the lower body in response to sensory or mechanical perturbations during walking is usually highly phase-dependent, because the effect any specific muscle force has on the body movement depends upon the body configuration. Yet the resulting movement patterns of the upper body after the same perturbations are largely phase-independent. This is puzzling, because any change of upper-body movement must be generated by parts of the lower body pushing against the ground. How do phase-dependent muscle activation patterns along the lower body generate phase-independent movement patterns of the upper body? We hypothesize that when a sensory system detects a deviation of the body in space from a desired state that indicates the onset of a fall, the nervous system generates a functional response by pushing against the ground in any way possible with the current body configuration. This predicts that the changes in the ground reaction force patterns following a balance perturbation should be phase-independent. Here we test this hypothesis by disturbing upright balance in the frontal plane using Galvanic vestibular stimulation at three different points in the gait cycle. We measure the resulting changes in whole-body center of mass movement and the location of the center of pressure of the ground reaction force. We find that the magnitude of the initial center of pressure shift in the direction of the perceived fall is larger for perturbations late in the gait cycle, while there is no statistically significant difference in onset time. These results contradict our hypothesis by showing that even the initial CoP shift in response to a balance perturbation depends upon the phase of the gait cycle. Contrary to expectation, we also find that the whole-body balance response is not phase-independent. Both the onset time and the magnitude of the whole-body center of mass shift depend on the phase of the perturbation. We conclude that the central nervous system recruits any available mechanism to generate a functional balance response by pushing against the ground as fast as possible in response to a perturbation, but that the different mechanisms available at different phases in the gait cycle are not equally strong, leading to phase-dependent differences in the overall response.

An actuated dissipative spring-mass walking model: Predicting human-like ground reaction forces and the effects of model parameters

Simple models are widely used to understand the mechanics of human walking. The optimization-based minimal biped model and spring-loaded-inverted-pendulum (SLIP) model are two popular models that can achieve human-like walking patterns. However, ground reaction forces (GRF) from these two models still deviate from experimental data. In this paper, we proposed an actuated dissipative spring-mass model by integrating these two models to realize more human-like GRF patterns. We first explored the function of stiffness, damping, and weights of both energy cost and force cost in the objective function and found that these parameters have distinctly different influences on the optimized gait and GRF profiles. The stiffness and objective weight affect the number and size of peaks in the vertical GRF and stance time. The damping changes the relative size of the peaks but has little influence on stance time. Based on these observations, these parameters were manually tuned at three different speeds to approach experimentally measured vertical GRF and the highest correlation coefficient can reach 0.983. These results indicate that the stiffness, damping, and proper objective functions are all important factors in achieving human-like motion for this simple walking model. These findings can facilitate the understanding of human walking dynamics and may be applied in future biped models.