Equine Gait Research Articles

Effects of acceleration on gait measures in three horse gaits.

Animals switch gaits according to locomotor speed. In terrestrial locomotion, gaits have been defined according to footfall patterns or differences in center of mass (COM) motion, which characterizes mechanisms that are more general and more predictive than footfall patterns. This has generated different variables designed primarily to evaluate steady-speed locomotion, which is easier to standardize in laboratory conditions. However, in the ecology of an animal, steady-state conditions are rare and the ability to accelerate, decelerate and turn is essential. Currently, there are no data available that have tested whether COM variables can be used in accelerative or decelerative conditions. This study used a data set of kinematics and kinetics of horses using three gaits (walk, trot, canter) to evaluate the effects of acceleration (both positive and negative) on commonly used gait descriptors. The goal was to identify variables that distinguish between gaits both at steady state and during acceleration/deceleration. These variables will either be unaffected by acceleration or affected by it in a predictable way. Congruity, phase shift and COM velocity angle did not distinguish between gaits when the dataset included trials in unsteady conditions. Work (positive and negative) and energy recovery distinguished between gaits and showed a clear relationship with acceleration. Hodographs are interesting graphical representations to study COM mechanics, but they are descriptive rather than quantitative. Force angle, collision angle and collision fraction showed a U-shaped relationship with acceleration and seem promising tools for future research in unsteady conditions.

The Use of Xylazine or Acepromazine Does Not Interfere in the Lameness Evaluation by Inertial Sensors

The purpose was to investigate the influence of the use of acepromazine and xylazine in the gait pattern of horses with different behavior, submitted to lameness evaluation using inertial sensors. Sixteen adult horses with different lameness degree were used. On the first day, the horses were pulled at the trot in a straight line before and 5 minutes after administering acepromazine (0.025 mg/kg IV). The next day, the tests were repeated using xylazine (0.25 mg/kg). The data a1/a2, DIFFMAX, and DIFFMIN of the forelimb and hind limb were based on specific algorithms for Lameness Locator. The occurrence of lameness (before and after treatment) was evaluated by Fisher exact test. To analyze the DIFFMAX and DIFFMIN variables, the Wilcoxon test was used. The number of sound horses and presenting forelimb lameness before and after the use of acepromazine remained the same (seven sound and nine lame horses); in hind limbs, there were five sound and 11 lame horses before treatment and eight sound and eight lame horses after treatment. The number of horses considered sound and with forelimb lameness before treatment with xylazine was eight horses for each condition; seven were lame after treatment and nine were sound. Four horses were sound and 12 had hind limb lameness before treatment with xylazine; after treatment, nine were lame and seven remain sound. DIFFMAX and DIFFMIN of fore and hind limbs showed no difference. The use of a tranquilizer or sedative did not interfere with the gait and lameness of horses with different behavior and lameness intensity, evaluated by inertial sensors.

Application of a Full Body Inertial Measurement System in Dressage Riding

With the steady further development of microelectromechanical systems, nowadays, it is possible to measure various specific kinematics of riders with inertial sensors. The aim of the study was to quantify the rider's posture on the horse with a full-body inertial measurement system (Xsens MVN) under field conditions. Ten high-level riders from the German National Equestrian Federation participated in this study. The measurements were performed in sitting trot (ST) in an indoor riding hall. Kinematic data from the riders' segments (head, trunk, and pelvis) and joint angles (elbow and knee) were collected. Qualitative analyses of the waveform parameters and statistical analyses were applied to the data. In addition, the coefficient of multiple correlations (CMCs) was calculated between angle-time courses to quantify the waveform similarities and intertrial repeatability for each rider. All analyzed CMCs ranged from moderate (0.65) to very good (0.92). The two-beat rhythm of the ST was qualitatively represented in the waveform data of the head, trunk, and pelvis about the rotation of the mediolateral axes (Roll). The Roll of the riders' pelvis was significantly greater than the Roll of the riders' trunk. In general, the movements of the riders' segments about the sagittal axes (Pitch) show smaller values than about the mediolateral axes. In conclusion, this setup seems to be suitable to quantify riders' kinematics under certain field conditions. Based on these findings, there is a possibility to obtain several objective information of the riders' kinematics in different equine gaits and skill levels.

The effect of the 'Gait keeper' mutation in the DMRT3 gene on gaiting ability in Icelandic horses.

A nonsense mutation in DMRT3 ('Gait keeper' mutation) has a predominant effect on gaiting ability in horses, being permissive for the ability to perform lateral gaits and having a favourable effect on speed capacity in trot. The DMRT3 mutant allele (A) has been found in high frequency in gaited breeds and breeds bred for harness racing, while other horse breeds were homozygous for the wild-type allele (C). The aim of this study was to evaluate further the effect of the DMRT3 nonsense mutation on the gait quality and speed capacity in the multigaited Icelandic horse and demonstrate how the frequencies of the A- and C- alleles have changed in the Icelandic horse population in recent decades. It was confirmed that homozygosity for the DMRT3 nonsense mutation relates to the ability to pace. It further had a favourable effect on scores in breeding field tests for the lateral gait tölt, demonstrated by better beat quality, speed capacity and suppleness. Horses with the CA genotype had on the other hand significantly higher scores for walk, trot, canter and gallop, and they performed better beat and suspension in trot and gallop. These results indicate that the AA genotype reinforces the coordination of ipsilateral legs, with the subsequent negative effect on the synchronized movement of diagonal legs compared with the CA genotype. The frequency of the A-allele has increased in recent decades with a corresponding decrease in the frequency of the C-allele. The estimated frequency of the A-allele in the Icelandic horse population in 2012 was 0.94. Selective breeding for lateral gaits in the Icelandic horse population has apparently altered the frequency of DMRT3 genotypes with a predicted loss of the C-allele in relatively few years. The results have practical implications for breeding and training of Icelandic horses and other gaited horse breeds.

Breezing Thoroughbred Hoof Accelerations on Dirt and Synthetic Surfaces

IntroductionRacetrack surface type has been shown to affect horse injury rates, limb kinematics, and ground reaction forces. Understanding hoof‐surface interactions may direct surface design to reduce the incidence of musculoskeletal injury. Hoof accelerations have been recorded at the trot on different surfaces. This study extends these analyses to racing gallop with quantified surface properties.MethodsLeft fore‐hoof accelerations (triaxial, ± 500 g, 1000 Hz) were collected during gallop (10–16 m/s, 5 Thoroughbred racehorses) on dirt and synthetic surfaces of known shear strengths (shear vane). Accelerometric vectors were filtered (5th order Butterworth, stance 85 Hz, swing 30 Hz). Peak accelerations and stance phase durations (limb preparation, hoof landing {heel‐strike and slide}, support, and grab) were compared using a mixed model analysis of covariance with surface, lead, stride frequency, and interaction fixed effects, and horse random effect.ResultsPeak dorsopalmar accelerations were 40% greater during landing on the synthetic surface (P = 0.06). Grab phase was 32% shorter on the synthetic surface (P = 0.02), with 34% less dorsopalmar impulse/mass (P<0.01). Previously reported failure shear stress of the synthetic surface was 20% greater, compared to dirt (normal stress >400 kN/m2, equivalent to trotting racehorse).ConclusionsDorsopalmar hoof accelerations were greater on the surface with greater shear strength (synthetic). The finding that accelerations were greater on the synthetic surface compared to dirt is in contrast to that of trotting horses on all‐weather waxed and crushed sand surfaces. This discrepancy may be due to differences in horse gait, but also large variability in surfaces. Consequently, it is important to quantify surface behaviors to understand the effect of surface design and maintenance on limb biomechanics and propensity for injury.Ethical Animal ResearchStudy protocols were approved by the University of California, Davis Institutional Animal Care and Use Committee and owner informed consent was obtained for all study horses. Sources of funding: Grayson Jockey Club Research Foundation Inc., Southern California Equine Foundation. Competing interests: none.

Posture and movement characteristics of forward and backward walking in horses with shivering and acquired bilateral stringhalt

To investigate and further characterise posture and movement characteristics during forward and backward walking in horses with shivering and acquired, bilateral stringhalt. To characterise the movement of horses with shivering (also known as shivers) in comparison with control horses and horses with acquired bilateral stringhalt. Qualitative video analysis of gait in horses. Owners' and authors' videos of horses with shivering or stringhalt and control horses walking forwards and backwards and manually lifting their limbs were examined subjectively to characterise hyperflexion, hyperextension and postural abnormalities of the hindlimbs. The pattern and timing of vertical displacement of a hindlimb over one stride unit was evaluated among control, shivering and stringhalt cases. Gait patterns of shivering cases were characterised as follows: shivering-hyperextension (-HE, n = 13), in which horses subjectively showed hyperextension when backing and lifting the limb; shivering-hyperflexion (-HF, n = 27), in which horses showed hindlimb hyperflexion and abduction during backward walking; and shivering-forward hyperflexion (-FHF, n = 4), which resembled shivering-HF but included intermittent hyperflexion and abduction with forward walking. Horses with shivering-HF, shivering-FHF and stringhalt (n = 7) had a prolonged swing phase duration compared with control horses and horses with shivering-HE during backward walking. With the swing phase of forward walking, horses with stringhalt had a rapid ascent to adducted hyperflexion of the hindlimb, compared with a rapid descent of the hindlimb after abducted hyperflexion in horses with shivering-FHF. Shivering affects backward walking, with either HE or HF of hindlimbs, and can gradually progress to involve intermittent abducted hyperflexion during forward walking. Shivering-HF and shivering-FHF can look remarkably similar to acquired bilateral stringhalt during backward walking; however, stringhalt can be distinguished from shivering-HF by hyperflexion during forward walking and from shivering-FHF by an acute onset of a more consistent, rapidly ascending, hyperflexed, adducted hindlimb gait at a walk.

Rater Agreement on Gait Assessment during Neurologic Examination of Horses

BackgroundReproducible and accurate recognition of presence and severity of ataxia in horses with neurologic disease is important when establishing a diagnosis, assessing response to treatment, and making recommendations that might influence rider safety or a decision for euthanasia.ObjectivesTo determine the reproducibility and validity of the gait assessment component in the neurologic examination of horses.AnimalsTwenty‐five horses referred to the Royal Veterinary College Equine Referral Hospital for neurological assessment (n = 15), purchased (without a history of gait abnormalities) for an unrelated study (n = 5), or donated because of perceived ataxia (n = 5).MethodsUtilizing a prospective study design; a group of board‐certified medicine (n = 2) and surgery (n = 2) clinicians and residents (n = 2) assessed components of the equine neurologic examination (live and video recorded) and assigned individual and overall neurologic gait deficit grades (0–4). Inter‐rater agreement and assessment‐reassessment reliability were quantified using intraclass correlation coefficients (ICC).ResultsThe ICCs of the selected components of the neurologic examination ranged from 0 to 0.69. “Backing up” and “recognition of mistakes over obstacle” were the only components with an ICC > 0.6. Assessment‐reassessment agreement was poor to fair. The agreement on gait grading was good overall (ICC = 0.74), but poor for grades ≤ 1 (ICC = 0.08) and fair for ataxia grades ≥ 2 (ICC = 0.43). Clinicians with prior knowledge of a possible gait abnormality were more likely to assign a grade higher than the median grade.Conclusion and Clinical ImportanceClinicians should be aware of poor agreement even between skilled observers of equine gait abnormalities, especially when the clinical signs are subtle.

The effects of three‐month oral supplementation with a nutraceutical and exercise on the locomotor pattern of aged horses

Multiple in vitro studies assessing articular tissues have indicated that glucosamine and chondroitin sulphate may possess anti-inflammatory effects, but little is known of their clinical effects in vivo. Many old horses have stiff joints, which is likely to be attributable to inflammation and therapy with these nutraceutical compounds could improve joint function. To assess the clinical effects of a mixed supplement on the improvement of stiff gait in aged horses. Randomised, blinded, placebo-controlled study. A group of 24 geriatric equids (age 29 ± 4 years; mean ± s.d.) received either 3 months oral supplementation with a test compound (containing glucosamine, chondroitin sulfate and methyl sulfonyl methane), or a placebo. Kinematic outcome criteria (primary: stride length; secondary: carpal flexion, fore fetlock extension and tarsal range of motion) were objectively quantified on a treadmill at a walk and trot before and after treatment. Stride length did not change significantly in the treated horses at the end of the trial. In the control group, carpal flexion and fore fetlock extension were significantly increased (P<0.05). There were no indications of effect of the supplement on gait characteristics. The observations in the control group may have been due to a habituation or exercise effect. This study does not support the use of a glucosamine/chondroitin sulfate/methyl sulfonyl methane supplement to improve stiff gait in geriatric horses because of the lack of a sizeable effect. The significant changes in gait parameters in the control group may indicate the usefulness of exercise regimens in older horses.

A Girth Designed to Avoid Peak Pressure Locations Increases Limb Protraction and Flexion During Flight

IntroductionGirths are frequently blamed for veterinary and performance problems, but research into girth/horse interaction is sparse.AimsTo 1) determine location of peak pressure under a range of girths; 2) compare horse gait between horse's standard girth and a girth designed to avoid detected peak pressure locations.MethodsPart 1: Following validation procedures, a calibrated pressure mat placed under the girth of 10 horses was used to determine location of peak pressures. Based on these results, a girth was designed to avoid locations of peak pressure (Girth A). Part 2: Twenty elite horses/riders were included for study based on selection for British Equestrian Federation (BEF) World Class Programme Performance Squad, with no lameness or performance problem. Horses were ridden in Girth A and their standard girth (Girth S) in a crossover design, with riders blinded to girth type. Pressure mat data was acquired from under the girths. High‐speed video was captured in trot, using standard anatomical marker placement. Forelimb and hindlimb protraction, maximal carpal and tarsal flexion during flight were determined. Good repeatability was confirmed.ResultsIn standard girths, peak pressures were located over musculature behind elbow. Pressure mat results revealed maximum forces with Girth S were 22% (left) and 14% (right) greater than Girth A, and peak pressures were 76% (left) and 98% (right) greater (P&lt;0.01 for all). On gait evaluation, girth A was associated with 6–11% greater forelimb protraction, 10–20% greater hindlimb protraction, 4% greater carpal flexion, and 3% greater tarsal flexion than Girth S (P&lt;0.01 for all).Conclusions and practical significancePeak pressures were located where horses are reported to develop pressure sores. Girth A reduced peak pressures under the girth, and improved limb protraction and carpal/tarsal flexion, which may reflect improved posture and comfort.Ethical animal researchThis study involved informed consent of the riders/owners of horses used in the study. Sources of funding: UK Sport lottery funding for the BEF World Class Programme, Fairfax Saddles. Competing interests: Vanessa Fairfax is employed by Fairfax Saddles.

Girth pressure measurements reveal high peak pressures that can be avoided using an alternative girth design that also results in increased limb protraction and flexion in the swing phase

Girths are frequently blamed for veterinary and performance problems, but research into girth/horse interaction is sparse. The study objectives were (1) to determine location of peak pressure under a range of girths, and (2) to compare horse gait between the horse’s standard girth and a girth designed to avoid detected peak pressure locations. In the first part of the study, and following validation procedures, a calibrated pressure mat placed under the girth of 10 horses was used to determine the location of peak pressures. A girth was designed to avoid peak pressure locations (Girth F). In the second part, 20 elite horses/riders with no lameness or performance problem were ridden in Girth F and their standard girth (Girth S) in a double blind crossover design. Pressure mat data were acquired from under the girths. High speed video was captured and forelimb and hindlimb protraction, maximal carpal and tarsal flexion during flight were determined in trot. In standard girths, peak pressures were located over the musculature behind the elbow.Pressure mat results revealed that the maximum forces with Girth S were 22% (left) and 14% (right) greater than Girth F, and peak pressures were 76% (left) and 98% (right) greater (P<0.01 for all). On gait evaluation, Girth F was associated with 6–11% greater forelimb protraction, 10–20% greater hindlimb protraction, 4% greater carpal flexion, and 3% greater tarsal flexion than Girth S (P<0.01 for all). Peak pressures were located where horses tend to develop pressure sores. Girth F reduced peak pressures under the girth, and improved limb protraction and carpal/ tarsal flexion, which may reflect improved posture and comfort.

Novel horseback riding simulator based on 6-DOF motion measurement, a motion base, and interactive control of gaits

This article describes the development process of a horseback riding simulator capable of generating a close to natural riding sensation. The development process started with 6-DOF motion measurement of the dynamics of the rider’s saddle during riding. Six-dimensional measurements during riding are required to fully understand the character of the saddle dynamics during different gaits. The measured quantities, i.e. translation accelerations and angular velocities, were transformed and filtered to form position references for a hydraulic Gough–Stewart platform. The presented novel motion measurement method is easy to use and makes it possible to measure gaits of several individual horses in a short time. It also provides a straightforward approach to produce motion data for the motion platform. In the second phase of the study, an artificial horse body made of glass fiber was mounted on the motion platform. The developed simulator realizes all three basic gaits walk, trot, and gallop. The rider is able to control the behavior of the simulator via sensors and an interactive interface. The control aids sensed by the interface are reins tension, calf pressure, and stirrup angle. A novel intelligent algorithm mimicking the real rider–horse interaction to vary the gaits and their frequencies was developed and tested.

Patterns of Horse-Rider Coordination during Endurance Race: A Dynamical System Approach

In riding, most biomechanical studies have focused on the description of the horse locomotion in unridden condition. In this study, we draw the prospect of how the basic principles established in inter-personal coordination by the theory of Coordination Dynamics may provide a conceptual and methodological framework for understanding the horse-rider coupling. The recent development of mobile technologies allows combined horse and rider recordings during long lasting natural events such as endurance races. Six international horse-rider dyads were thus recorded during a 120 km race by using two tri-axial accelerometers placed on the horses and riders, respectively. The analysis concentrated on their combined vertical displacements. The obtained shapes and angles of Lissajous plots together with values of relative phase between horse and rider displacements at lower reversal point allowed us to characterize four coordination patterns, reflecting the use of two riding techniques per horse's gait (trot and canter). The present study shows that the concepts, methods and tools of self-organizing dynamic system approach offer new directions for understanding horse-rider coordination. The identification of the horse-rider coupling patterns constitutes a firm basis to further study the coalition of multiple constraints that determine their emergence and their dynamics in endurance race.

The influence of disorders of the temporomandibular joint on equine gait

Jane Nixon MA VetMB BSc MRCVS, examines this vital, but often overlooked connection

Coordination dynamics in horse-rider dyads

The sport of equestrianism is defined through close horse-rider interaction. However, no consistent baseline parameters currently exist describing the coordination dynamics of horse-rider movement across different equine gaits. The study aims to employ accelerometers to investigate and describe patterns of motor coordination between horse and rider across the equine gaits of walk, rising trot, sitting trot and canter. Eighteen female (N=18; mean age±SD: 37.57±13.04) Dutch horse-rider combinations were recruited to participate in the study. Horse-rider coordination was recorded using two tri-axial wireless accelerometers during a standard ridden protocol. Multiple measures of horse-rider coordination were calculated to investigate the relationship between the horse and rider, while the unpredictability of the acceleration-time series of the horse and rider during task performance were determined separately by means of approximate entropy analysis. The kinematic variables of horse-rider correlation, mean relative phase, mean standard deviation of the relative phase, approximate entropy rider, approximate entropy horse and spectral edge frequency at 95% of the power in the 0–10Hz frequency band were examined using multiple correlational analyses and multivariate analysis of variance (MANOVA). Findings showed significantly different coordination dynamics between equine gaits, with the gait of canter allowing for the highest levels of horse-rider synchronicity. It may be concluded that accelerometers are a valuable tool to map distinct coordination patterns of horse-rider combinations.

Science in brief: Interactions between the rider, the saddle and the horse

Equine Veterinary JournalVolume 45, Issue 1 p. 3-4 Editorial Science in brief: Interactions between the rider, the saddle and the horse H. M. CLAYTON, H. M. CLAYTON Large Animal Clinical Sciences, College of Veterinary Medicine, Michigan State University, East Lansing, Michigan, USASearch for more papers by this author H. M. CLAYTON, H. M. CLAYTON Large Animal Clinical Sciences, College of Veterinary Medicine, Michigan State University, East Lansing, Michigan, USASearch for more papers by this author First published: 10 December 2012 https://doi.org/10.1111/evj.12006Citations: 9Read the full textAboutRelatedInformationPDFPDF ToolsRequest permissionExport citationAdd to favoritesTrack citation ShareShare Give accessShare full text accessClose modalShare full-text accessPlease review our Terms and Conditions of Use and check box below to share full-text version of article.I have read and accept the Wiley Online Library Terms and Conditions of UseShareable LinkUse the link below to share a full-text version of this article with your friends and colleagues. Learn more.Copy URL No abstract is available for this article.Citing Literature Citation StatementsbetaSmart citations by scite.ai include citation statements extracted from the full text of the citing article. The number of the statements may be higher than the number of citations provided by Wiley Online Library if one paper cites another multiple times or lower if scite has not yet processed some of the citing articles.SupportingSupporting4MentioningMentioning3ContrastingContrasting0Explore this article's citation statements on scite.aipowered by Volume45, Issue1January 2013Pages 3-4 Citation StatementsbetaSmart citations by scite.ai include citation statements extracted from the full text of the citing article. The number of the statements may be higher than the number of citations provided by Wiley Online Library if one paper cites another multiple times or lower if scite has not yet processed some of the citing articles.SupportingSupporting4MentioningMentioning3ContrastingContrasting0Explore this article's citation statements on scite.aipowered by RelatedInformation RecommendedSaddle fit and management: An investigation of the association with equine thoracolumbar asymmetries, horse and rider healthL. Greve, S. Dyson, Equine Veterinary JournalSaddle fitting, recognising an ill‐fitting saddle and the consequences of an ill‐fitting saddle to horse and riderS. Dyson, S. Carson, M. Fisher, Equine Veterinary EducationThe effects of rider size and saddle fit for horse and rider on forces and pressure distribution under saddles: A pilot studyL. Roost, A. D. Ellis, C. Morris, A. Bondi, E. A. Gandy, P. Harris, S. Dyson, Equine Veterinary EducationThe influence of rider:horse bodyweight ratio and rider‐horse‐saddle fit on equine gait and behaviour: A pilot studyS. Dyson, A. D. Ellis, R. Mackechnie-Guire, J. Douglas, A. Bondi, P. Harris, Equine Veterinary EducationA new method to quantify harmony of the horse–rider system in dressageC. Peham, T. Licka, M. Kapaun, M. Scheidl, Sports Engineering

Horse gait traced to single mutation

Horse gait traced to single mutation

Accuracy and precision of equine gait event detection during walking with limb and trunk mounted inertial sensors.

The increased variations of temporal gait events when pathology is present are good candidate features for objective diagnostic tests. We hypothesised that the gait events hoof-on/off and stance can be detected accurately and precisely using features from trunk and distal limb-mounted Inertial Measurement Units (IMUs). Four IMUs were mounted on the distal limb and five IMUs were attached to the skin over the dorsal spinous processes at the withers, fourth lumbar vertebrae and sacrum as well as left and right tuber coxae. IMU data were synchronised to a force plate array and a motion capture system. Accuracy (bias) and precision (SD of bias) was calculated to compare force plate and IMU timings for gait events. Data were collected from seven horses. One hundred and twenty three (123) front limb steps were analysed; hoof-on was detected with a bias (SD) of −7 (23) ms, hoof-off with 0.7 (37) ms and front limb stance with −0.02 (37) ms. A total of 119 hind limb steps were analysed; hoof-on was found with a bias (SD) of −4 (25) ms, hoof-off with 6 (21) ms and hind limb stance with 0.2 (28) ms. IMUs mounted on the distal limbs and sacrum can detect gait events accurately and precisely.

Real‐time horse gait synthesis

ABSTRACTHorse locomotion exhibits rich variations in gaits and styles. Although there have been many approaches proposed for animating quadrupeds, there is not much research on synthesizing horse locomotion. In this paper, we present a horse locomotion synthesis approach. A user can arbitrarily change a horse's moving speed and direction, and our system would automatically adjust the horse's motion to fulfill the user's commands. At preprocessing, we manually capture horse locomotion data from Eadweard Muybridge's famous photographs of animal locomotion and expand the captured motion database to various speeds for each gait. At runtime, our approach automatically changes gaits based on speed, synthesizes the horse's root trajectory, and adjusts its body orientation based on the horse's turning direction. We propose an asynchronous time warping approach to handle gait transition, which is critical for generating realistic and controllable horse locomotion. Our experiments demonstrate that our system can produce smooth, rich, and controllable horse locomotion in real time. Copyright © 2012 John Wiley &amp; Sons, Ltd.

Gait analysis: an introduction to its use for clinical evaluation and performance assessment of the equine athlete

Equine locomotion is complex to measure and has warranted clinical interest since early high-speed photography in the late 19th century produced the first accurate representation of a galloping horse. The advancement of gait analysis technology has produced easy to use systems that have enabled scientists and clinicians to evaluate equine gait characteristics in more detail and with increased objectivity and accurately. Goniometry, force plate, videography and optoelectric systems provide methods for subjective analysis of equine gait. A review of the literature concludes that simple objective, repeatable and user friendly assessment tools have worth in the monitoring of clinical efficacy of therapeutic interventions used in orthopaedics and rehabilitation, and to evaluate locomotor performance in combination with traditional veterinary examinations and equine training practices.

승마 로봇 시뮬레이터 HRB-1을 위한 말의 보행 및 부조의 구현

Horse riding is widely recognized as a valuable form of education, exercise and therapy. But, the injuries observed in horse riding range from very minor injuries to fatalities. In order to reduce these injuries, the effective horseback riding simulator is required. In this paper, we proposed the implementation method of horse gait and riding aids for horseback riding robot simulator HRB-1. For implementation of horse gait to robot simulator, we gathered and modified real motion data of horse. We obtained two main frequencies of each gait by frequency analysis, and then simple sinusoidal functions are acquired by genetic algorithm. In addition, we developed riding aids system including hands, leg, and seat aids. With the help of a developed robotic system, beginners can learn the skill of real horse riding without the risk of injury.