Leg Movement Patterns Research Articles

Locomotory Behavior of Water Striders with Amputated Legs.

The stability of the body during locomotion is a fundamental requirement for walking animals. The mechanisms that coordinate leg movement patterns are even more complex at water-air interfaces. Water striders are agile creatures on the water surface, but they can be vulnerable to leg damage, which can impair their movement. One can assume the presence of certain compensatory biomechanical factors that are involved in the maintenance of postural balance lost after an amputation. Here, we studied changes in load distribution among the legs and assessed the effects of amputation on the locomotory behavior and postural defects that may increase the risk of locomotion failure. Apparently, amputees recover a stable posture by applying leg position modifications (e.g., widening the stance) and by load redistribution to the remaining legs. Water striders showed steering failure after amputation in all cases. Amputations affected locomotion by (1) altering motion features (e.g., shorter swing duration of midlegs), (2) functional constraints on legs, (3) shorter travelled distances, and (4) stronger deviations in the locomotion path. The legs functionally interact with each other, and removal of one leg has detrimental effects on the others. This research may assist the bioinspired design of aquatic robots.

Assessing the relative contribution of vision to odometry via manipulations of gait in an over-ground homing task.

The visual, vestibular, and haptic perceptual systems are each able to detect self-motion. Such information can be integrated during locomotion to perceive traversed distances. The process of distance integration is referred to as odometry. Visual odometry relies on information in optic flow patterns. For haptic odometry, such information is associated with leg movement patterns. Recently, it has been shown that haptic odometry is differently calibrated for different types of gaits. Here, we use this fact to examine the relative contributions of the perceptual systems to odometry. We studied a simple homing task in which participants travelled set distances away from an initial starting location (outbound phase), before turning and attempting to walk back to that location (inbound phase). We manipulated whether outbound gait was a walk or a gallop-walk. We also manipulated the outbound availability of optic flow. Inbound reports were performed via walking with eyes closed. Consistent with previous studies of haptic odometry, inbound reports were shorter when the outbound gait was a gallop-walk. We showed that the availability of optic flow decreased this effect. In contrast, the availability of optic flow did not have an observable effect when the outbound gait was walking. We interpreted this to suggest that visual odometry and haptic odometry via walking are similarly calibrated. By measuring the decrease in shortening in the gallop-walk condition, and scaling it relative to the walk condition, we estimated a relative contribution of optic flow to odometry of 41%. Our results present a proof of concept for a new, potentially more generalizable, method for examining the contributions of different perceptual systems to odometry, and by extension, path integration. We discuss implications for understanding human wayfinding.

Leg amputation modifies coordinated activation of the middle leg muscles in the cricket Gryllus bimaculatus

Insects alter their walking pattern in order to respond to demands of an ever-changing environment, such as varying ground surface textures. They also exhibit resilient and flexible ability to retain the capacity to walk even after substantial changes in their body properties, e.g. leg amputation. While the motor control paradigm governing the inter-leg coordination in such adaptive walking has been extensively described in past studies, the mechanism remains unknown. Here, we examined this question by using the cricket (Gryllus bimaculatus), which shows a tetrapod/tripod gait on a flat surfaces, like many other insects. We performed leg amputation experiments to investigate modifications of leg movements and coordination of muscle activities. We simultaneously recorded (1) the leg movements, locomotion velocity, and body rotation and (2) the leg movements and leg muscles activities before and after leg amputation. Crickets displayed adaptive coordination of leg movement patterns in response to amputations. The activation timings of levator muscles in both middle legs tended to synchronize in phase when both legs were amputated at the coxatrochanteral joint. This supports the hypothesis that an intrinsic contralateral connection within the mesothoracic ganglion exists, and that mechanosensory feedback from the legs override this connection, resulting in the anti-phase movement of a normal gait.

Differences in Spontaneous Leg Movement Patterns Between Infants With Typical Development and Infants at Risk for Developmental Delay: Cross-sectional Observation Prior to Sitting Onset

To investigate differences in the patterns of supine spontaneous leg movements produced before sitting onset between infants with typical development (TD) and infants at risk for developmental delay (AR). Cross-sectional, observational study. Thirty-five infants were included, 18 infants with TD (130.4 ±38.0 days) and 17 infants AR (124.1± 65.7 days). Infants were placed in the supine position and video taped for 4 to 5 minutes while in an alert, content state. After the recording, videos were coded frame by frame to identify the type of each leg movement produced: single flexion, single extension, alternate flexion, alternate extension, parallel flexion, parallel extension, leg wave, leg circle, leg thump, foot rub, foot flexion, or foot rotation. Unilateral movements (single flexion and single extension) were the most common leg movements in TD group. Infants AR produced a significantly lower proportion of unilateral and foot rub movements than infants with TD. These results provide a foundation of the types of leg movement pattern differences to build on in future research. Knowledge about differences in spontaneous movement patterns between infants AR and infants with TD has relevance both for early identification of neuromotor impairment and clinical practice.

Activation of interlimb interactions increases the motor output in legs of healthy subjects: Study under the conditions of arm and leg unloading

We studied the effect of arm movements and movements of separate arm joints on the electrophysiological and kinematic characteristics of voluntary and vibration-triggered stepping-like leg movements under the conditions of horizontal support of upper and lower limbs. The horizontal support of arms provided a significantly increase in the rate of activation of locomotor automatism by non-invasive impact on tonic sensory inputs. The addition of active arm movements during involuntary rhytmic stepping-like leg movements led to an increase in EMG activity of hip muscles and was accompanied by an increase in the amplitude of hip and shin movements. Passive arm movements had the same effect on induced leg movements. The movement of the shoulder joints led to an increase in the activity of hip muscles and an increase in the amplitude of movements of the knee and hip joints. At the same time, the movement of forearms. and wrists had similar facilitating effect on electrophysiological and kinematic characteristics of rhytmic stepping-like movements, but influenced the distal segments of legs to a greater extent. Under the conditions of sub-threshold vibration of leg muscles, voluntary arm movements led to the activation of involuntary rhytmic stepping movements. During voluntary leg movements, the addition of arm movements had a significantly smaller impact on the parameters of rhytmic stepping than during involuntary leg movements. Thus, the simultaneous movements of upper and lower limbs are an effective method of activation of neural networks connecting the rhythm generators of arms and legs. Under the conditions of arm and leg unloading, the interactions between the cervical and lumbosacral segments of the spinal cord seem to play the major role in the impact of arm movements on the patterns of leg movements. The described methods of activation of interlimb interactions can be used in the rehabilitation of post-stroke patients and patients with spinal cord injuries, Parkinson's disease and other neurological diseases.

Pediatric Periodic Limb Movement Disorder: Sleep Symptom and Polysomnographic Correlates Compared to Obstructive Sleep Apnea

Although periodic limb movements in sleep (PLMS) have been described in multiple pediatric publications, periodic limb movement disorder (PLMD) has not. The aims of this study were to describe the prevalence, sleep-related correlates, and polysomnographic correlates of PLMD in a large pediatric case series, and compare these to pediatric obstructive sleep apnea (OSA). All PLMD cases (defined by International Classification of Sleep Disorders, 2nd edition criteria + respiratory disturbance index [RDI] < 3) and OSA cases (defined by RDI ≥ 3 + PLMS < 5), from a single pediatric sleep practice, over a 2-year time span, were included. Chart, questionnaire, and polysomnographic data were compiled. Of 468 referred children, 66 PLMD cases were identified (14%). The PLMD cases, mean age 8.1 years (range 1-17), were clinically characterized by frequent sleep onset and maintenance problems, difficulty awakening, restless sleep, leg pain/discomfort at night, and parasomnias. Compared to 90 OSA children, those with PLMD had a history of significantly more sleep onset and maintenance problems, leg pain/discomfort at night, parasomnias, getting out of bed at night, and family history of restless legs syndrome. Polysomnographically, PLMD cases had more awakenings, stage 1 sleep, stage shifts, and spontaneous arousals. These data indicate that pediatric PLMD has important clinical and polysomnographic correlates. In addition, PLMD has many characteristics that are different from pediatric OSA, suggesting that PLMD is a distinct pediatric sleep disorder, of which clinicians should be aware.

Interpretative Spheres in the Folk Dances in Turkey : Correspondence between Musical Meters and Leg Movement Patterns

Interpretative Spheres in the Folk Dances in Turkey : Correspondence between Musical Meters and Leg Movement Patterns

Kinematics of cycling in relation to anterior knee pain and patellar tendinitis

The coronal and sagittal plane leg movements of 24 experienced male cyclists were assessed using video analysis while cycling on a Kingcycle windload simulator. The cyclists were grouped into those with a history of injury and an asymptomatic group on the basis of self-reported injury status. The ages, cycling experience, competition distances and competition speeds of the two groups were compared using Student's t-test. No significant differences (P <0.05) were found for any of these variables. The maximum and minimum shank adduction, shank adduction velocities, knee flexion and ankle dorsiflexion values were also compared using Student's t-test. Significant differences were found at the point of maximum adduction (1.9°; P = 0.019) and minimum dorsiflexion (4.9°; P = 0.014). These differences indicated more dorsiflexion and greater abduction on the part of the symptomatic cyclists, supporting previous research that found that cyclists with a history of injury differ from those without a history of injury in the coronal plane leg movement patterns they adopt. Also, the most extreme medial position of the knee relative to the ankle occurred during knee extension. This supports the potential injury mechanism proposed by Francis (1986), which had previously only been examined using coronal plane kinematics.

Sleep and Periodic Leg Movement Patterns in Drug-Free Patients with Parkinson's Disease and Multiple System Atrophy

To assess and compare polygraphic sleep measures and periodic leg movement (PLM) patterns in untreated patients with mild to moderate Parkinson's disease (PD), multiple system atrophy (MSA) and healthy age-matched controls. Polysomnographic recordings of 2 consecutive nights were performed in 10 patients with PD (mean age 65 years, mean Hoehn and Yahr stage 2.2), 10 patients with MSA (mean age 61 years) and in a control group of 10 healthy subjects (mean age 64 years). All patients and controls were free of antiparkinsonian medication and other centrally active drugs for 2 weeks prior to polysomnography. NA. NA. NA. Sleep measures for the second night showed a significantly lower total sleep time, sleep efficiency and sleep period time in PD and MSA patients compared to healthy controls. PLM-indices during sleep and wakefulness were significantly higher in PD, but not in MSA patients compared to controls. Five patients with PD and 7 patients with MSA, but no control subject, showed abnormal rapid eye movement (REM) sleep features (i.e., REM sleep without atonia or behavioral manifestations typical for REM sleep behavior disorder). Sleep disruption and increased motor activity during REM and non REM sleep are a frequent finding in PD and MSA. An increased PLM index in untreated PD patients may be due to a dopaminergic deficit and is probably not associated with dopaminergic treatment.

Developmental Changes in Leg Coordination of the Chick at Embryonic Days 9, 11, and 13: Uncoupling of Ankle Movements

To understand changes in motor behavior during development, kinematic measurements were made of the right leg during embryonic motility in chicks on embryonic (E) days 9, 11, and 13. This is an interesting developmental period during which the embryo first becomes large enough to be physically constrained by the shell. Additionally, sensory systems are incorporated at that time into the spinal motor circuitry. Previous electromyographic (EMG) recordings have shown that the basic pattern of muscle activity seen at E9, composed of half-center-type alternation of extensor and flexor activation, breaks down by E13. This breakdown in organization could be because of disruption of motor patterns by the immature sensory system and/or new spatial constraints on the embryo. The current article describes several changes in leg movement patterns during this period. Episodes of motility increase in duration and the intervals of time between episodes of motility decrease in length. The range of motion of the leg increases, but the overall posture of the leg becomes more flexed. It was found that in-phase coordination of movement among the hip, knee, and ankle decreased between E9 and E13 in agreement with the previous EMG recordings. However, it was also found that the decrease of in-phase coordination among the three joints was accompanied by an increase in the time any two joints were moving in the same manner. Furthermore, examination of in-phase coordination within pairs of joints showed that all three pairs were well coordinated at E9, but that at E13 the in-phase coordination of the ankle with the other two joints decreased, whereas the knee and hip coordination was maintained. This suggests that the hip-knee synergy was closely coupled and that coupling of the ankle with other joints was more labile. The authors conclude that embryos respond to the reduction of free space in the egg during this period not by decreasing the amplitude or coordination of leg movements in general, but instead by differentially controlling the movements of the ankle from those of the hip and knee. Additionally, the changes in movement patterns do not represent a decrease in organization, but rather an alteration of motor coordination possibly as the result of information from the newly acquired sensory systems. These data also support theories that limb central pattern generators (CPGs) are composed of unit CPGs for each joint that can be modulated individually and that this organization is already established early in embryogenesis.

Adaptive Dynamics of the Leg Movement Patterns of Human Infants: III. Age-Related Differences in Limb Control

In this article, the development of the increasingly differentiated control of the joints necessary to transform the spontaneous leg movements of early infancy into adaptive and functional actions is described. The hypothesis-that increasing joint control requires the capability for disassociation of joint action, the active modulation of joint stiffness, and a transition from proximal to distal control of the joints-is proposed. Kinematic and kinetic analyses of the vertical kicks of infants 2 weeks, 3 months, and 7 months of age (as well as a comparative group of adults) indicated increasing joint independence as well as phase-dependent and joint-dependent control modifications. The kicks of the younger infants were dominated by a proximal control strategy and minimal adjustments of the limb energetics during the flexion and extension phases of the kick. By 7 months of age, much larger modulations of the kick phases were observed as well as increasing evidence of distal control. These results revealed kinematic and kinetic patterns of emerging limb control between 2 weeks and 7 months of age.

Adaptive Dynamics of the Leg Movement Patterns of Human Infants: II. Treadmill stepping in Infants and Adults.

Infant treadmill steps have many temporal and kinematic similarities to adult walking. Kinematic similarities can result from different patterns of underlying torque, however. In this study, we used inverse dynamics to compare the patterns and contributions of active (muscle) and passive (gravity and motion-dependent) torques in the swing phase of treadmill stepping in 7-month-old infants and adults. Results indicated that adults consistently used muscle torque to initiate and terminate swing, but that passive torques accounted for leg motion during most of the swing phase. Infants, in contrast, displayed multiple patterns of torque contributions during swing. In the most frequently occurring infant pattern, muscle torque remained flexor throughout swing and joint reversals were due to the dominant passive gravitational torque. The kinetic data suggest that the temporally and kinematically similar treadmill steps produced by adults and infants do not emanate from a unique set of neural commands to the muscles, but from a flexible interplay between multiple internal as well as external elements. These data suggest that the intrinsic dynamics of the human system provide a medium out of which, given a supportive context, stable patterns can emerge spontaneously. During development, voluntary controlled movement patterns must build on these intrinsic dynamics.

Adaptive Dynamics of the Leg Movement Patterns of Human Infants: I. The Effects of Posture on Spontaneous Kicking.

This is the first of two articles in which we describe how infants adapt their spontaneous leg movements to changes in posture or to elicitation of behaviors by a mechanical treadmill. In this article, we compare the kinematics of kicks produced by 3-month-old infants in three postures, supine, angled (45 degrees ), and vertical, and examine the changes in muscular and nonmuscular force contributions to limb trajectory. By manipulating posture we were able to assess the sensitivity of the nascent motor system to changes in the gravitational context. The postural manipulation elicited a distinct behavioral and dynamic effect. In the more upright postures, gravitational resistance to motion at the hip was 4 to 10 times greater than resistance met in the supine posture, necessitating larger muscle torques to drive hip flexion. Kicks produced in the vertical posture showed a reduction in hip joint range of motion and an increase in synchronous joint flexion and extension at the hip and knee. At the same time, hip and knee muscle torques were also more highly correlated in kicks performed in the vertical than in the supine or angled posture. This increased correlation between muscle torques at the hip and knee implicates anatomical and energetic constraints-the intrinsic limb dynamics-in creating coordinated limb behavior out of nonspecific muscle activations.

Coupled nonlinear oscillators and the symmetries of animal gaits

Animal locomotion typically employs several distinct periodic patterns of leg movements, known as gaits. It has long been observed that most gaits possess a degree of symmetry. Our aim is to draw attention to some remarkable parallels between the generalities of coupled nonlinear oscillators and the observed symmetries of gaits, and to describe how this observation might impose constraints on the general structure of the neural circuits, i.e. central pattern generators, that control locomotion. We compare the symmetries of gaits with the symmetry-breaking oscillation patterns that should be expected in various networks of symmetrically coupled nonlinear oscillators. We discuss the possibility that transitions between gaits may be modeled as symmetry-breaking bifurcations of such oscillator networks. The emphasis is on general model-independent features of such networks, rather than on specific models. Each type of network generates a characteristic set of gait symmetries, so our results may be interpreted as an analysis of the general structure required of a central pattern generator in order to produce the types of gait observed in the natural world. The approach leads to natural hierarchies of gaits, ordered by symmetry, and to natural sequences of gait bifurcations. We briefly discuss how the ideas could be extended to hexapodal gaits.

The Control of Walking in Orthoptera

ABSTRACT The patterns of leg movements during normal straight-line walking of the locust Schistocerca gregaria and the grasshopper Romalea microptera were recorded and analysed. The ratio of protraction to retraction increased with walking speed except in the prothoracic legs. At any one speed both protraction and retraction durations were variable but the variation was greatest for protraction. The locust employed an alternating tripod gait at all walking speeds recorded (2–8 steps/sec.) It displayed a high level of variability in its leg movements which appeared to be held in check by stabilising mechanisms operating on the first and last leg pairs. The movements of individual legs of the grasshopper were very similar to those of the locust but the gait used was not alternating tripod. Comparisons were made with other insects and it was suggested that the specialization of the metathoracic legs in the locust gave rise to most of the variability in leg movements and that the relative independence of the prothoracic legs reflects an exploratory role in walking.