Steady-state Locomotion Research Articles

Exploiting the bistable dynamics in a two-module vibration-driven robot for locomotion performance enhancement

Vibration-driven locomotion systems have great potential for designing micro locomotion robots, and improving the locomotion performance is one of the research focuses. This paper investigates how to integrate bistability with the vibration-driven mechanism to form novel designs and to enhance the locomotion performance, thereby advancing the current state of the art. To this end, a two-module vibration-driven robot with a bistable pre-buckling beam is designed, which is equivalently modeled into a nonlinear lumped-mass system. Its steady-state locomotion is first approximated through the harmonic balance (HB) method, and the results show that the presence of the sticking behavior caused by the dry friction prevents the HB method from accurately predicting the robot's velocity. Hence, numerical approaches are employed in this research, which not only reveals the effects of the actuation parameters on the bistable dynamics and the steady-state locomotion performance of the robot, but also uncovers the unique advantages that the bistability brings to the robot. On one hand, the robot can present different locomotion modes corresponding to different levels of the average steady-state velocity and can switch among them without increasing the actuation energy; on the other hand, the robot can adapt to variable payloads and maintain high speeds. Based on a bistable two-module vibration-driven robot prototype, these bistability-induced characteristics and merits are verified experimentally. The findings of this paper would provide a design basis and useful guidelines for the development of bistable vibration-driven locomotion robot.

Dynamic visual acuity during asymmetric walking

Necessary for effective ambulation, head stability affords optimal conditions for the perception of visual information during dynamic tasks. This maintenance of head-in-space equilibrium is achieved, in part, by the attenuation of the high frequency impact shock resulting from ground contact. While a great deal of experimentation has been done on the matter during steady state locomotion, little is known about how locomotor asymmetry might affect head stability or dynamic visual acuity. In this study, fifteen participants walked on a split-belt treadmill while verbally reporting the orientation of a randomized Landolt-C optotype that was projected at heel strike. Participants were exposed to baseline, adaptation, and washout conditions, as characterized by belt speed ratios of 1:1, 1:3, and 1:1, respectively. Step length asymmetry, shock attenuation, high and low frequency head signal power, and dynamic visual acuity were averaged across the first and last fifty strides of each condition. Across the first fifty strides, step length asymmetry was significantly greater during adaptation than during baseline (p<0.001; d=2.442), and shock attenuation was significantly lower during adaptation than during baseline (p=0.041; d=-0.679). High frequency head signal power was significantly greater during adaptation than during baseline (p<0.001; d=-1.227), indicating a reduction in head stability. While dynamic visual acuity was not significantly lower during adaptation than during baseline (p=0.052), a moderate effect size suggests a decrease in the measure between the two conditions (d=0.653). Across the last fifty strides, many of the decrements observed between the baseline and adaptation conditions were greatly reduced. The results of this study indicate that the locomotor asymmetry imposed by the split-belt treadmill during early adaptation might lead to moderate decrements in shock attenuation, head stability, and dynamic visual acuity. Moreover, the relative reduction in magnitude of these decrements across the last fifty strides underscores the adaptive nature of the locomotor and visuomotor systems.

Limb, joint and pelvic kinematic control in the quail coping with steps upwards and downwards

Small cursorial birds display remarkable walking skills and can negotiate complex and unstructured terrains with ease. The neuromechanical control strategies necessary to adapt to these challenging terrains are still not well understood. Here, we analyzed the 2D- and 3D pelvic and leg kinematic strategies employed by the common quail to negotiate visible steps (upwards and downwards) of about 10%, and 50% of their leg length. We used biplanar fluoroscopy to accurately describe joint positions in three dimensions and performed semi-automatic landmark localization using deep learning. Quails negotiated the vertical obstacles without major problems and rapidly regained steady-state locomotion. When coping with step upwards, the quail mostly adapted the trailing limb to permit the leading leg to step on the elevated substrate similarly as it did during level locomotion. When negotiated steps downwards, both legs showed significant adaptations. For those small and moderate step heights that did not induce aerial running, the quail kept the kinematic pattern of the distal joints largely unchanged during uneven locomotion, and most changes occurred in proximal joints. The hip regulated leg length, while the distal joints maintained the spring-damped limb patterns. However, to negotiate the largest visible steps, more dramatic kinematic alterations were observed. There all joints contributed to leg lengthening/shortening in the trailing leg, and both the trailing and leading legs stepped more vertically and less abducted. In addition, locomotion speed was decreased. We hypothesize a shift from a dynamic walking program to more goal-directed motions that might be focused on maximizing safety.

Modeling the Transitional Kinematics Between Variable-Incline Walking and Stair Climbing.

Although emerging powered prostheses can enable people with lower-limb amputation to walk and climb stairs over different task conditions (e.g., speeds and inclines), the control architecture typically uses a finite-state machine to switch between activity-specific controllers. Because these controllers focus on steady-state locomotion, powered prostheses abruptly switch between controllers during gait transitions rather than continuously adjusting leg biomechanics in synchrony with the users. This paper introduces a new framework for powered prosthesis control by modeling the lower-limb joint kinematics over a continuum of variable-incline walking and stair climbing, including steady-state and transitional gaits. Steady-state models for walking and stair climbing represent joint kinematics as continuous functions of gait phase, forward speed, and incline. Transition models interpolate kinematics as convex combinations of the two steady-state models, with an additional term to account for kinematics that fall outside their convex hull. The coefficients of this convex combination denote the similarity of the transitional kinematics to each steady-state mode, providing insight into how able-bodied individuals continuously transition between ambulation modes. Cross-validation demonstrates that the model predictions of untrained kinematics have errors within the range of physiological variability for all joints. Simulation results demonstrate the model's robustness to incline estimation and mode classification errors.

Postural Organization of Gait Initiation for Biomechanical Analysis Using Force Platform Recordings.

Gait initiation (GI), the transient phase between orthograde posture and steady-state locomotion, is a functional task and an experimental paradigm that is classically used in the literature to obtain insight into the basic postural mechanisms underlying body motion and balance control. Investigating GI has also contributed to a better understanding of the physiopathology of postural disorders in elderly and neurological participants (e.g., patients with Parkinson's disease). As such, it is recognized to have important clinical implications, especially in terms of fall prevention. This paper aims to provide scholars, clinicians, and higher education students information on the material and method developed to investigate GI postural organization via a biomechanical approach. The method is based on force platform recordings and the direct principle of mechanics to compute the kinematics of the center of gravity and center of pressure. The interaction between these two virtual points is a key element in this method since it determines the conditions of stability and whole-body progression. The protocol involves the participant initially standing immobile in an upright posture and starting to walk until the end of an at least 5 m track. It is recommended to vary the GI velocity (slow, spontaneous, fast) and the level of temporal pressure - gait may be initiated as soon as possible after the deliverance of a departure signal (high level of temporal pressure) or when the participant feels ready (low level of temporal pressure). Biomechanical parameters obtained with this method (e.g., duration and amplitude of anticipatory postural adjustments, step length/width, performance, and stability) are defined, and their computation method is detailed. In addition, typical values obtained in healthy young adults are provided. Finally, critical steps, limitations, and significance of the method with respect to the alternative method (motion capture system) are discussed.

Performance of Impedance Control-Based Strategies in Power-Assisted Wheelchairs: A Predictive Simulation Study.

Manual wheelchair propulsion is known to be inefficient and causes upper extremity pain, fatigue, and injury. Power-assisted wheelchairs can mitigate these effects through motors that reduce users' effort and load during propulsion. Among the different control strategies proposed to govern the user-wheelchair interaction, impedance control-based ones appear to be the most natural and effective. It can change the apparent dynamical properties of the wheelchair, particularly mass and friction, and automatically compensate for external disturbances such as terrain conditions. This study investigates the advantages and disadvantages of this control strategy employing predictive simulations of locomotion with power-assisted wheelchairs in different scenarios. The simulations are generated using a biomechanically realistic model of the upper extremities and their interaction with the power-assisted wheelchair by solving an optimal control problem. Investigated scenarios include steady-state locomotion vs. a transient maneuver starting from rest, movement on a ramp vs. a level surface, and different choices of reference model parameters. The results reveal that the investigated impedance control-based strategy can effectively reproduce the reference model and reduce the user's effort, with a more significant effect of inertia in the transient maneuver and of friction in steady-state locomotion. However, the simulations also show that imposing a first-order, linear reference model with constant parameters can produce disadvantageous locomotion patterns, particularly in the recovery phase, leading to unnecessary energy dissipation and consequent increase in energy consumption from the batteries. These observations indicate there is room for improvement, for instance, by exploring energy regeneration in the recovery phase or by switching reference model nature or parameters along the cycle. To the best of our knowledge, this is the first investigation of impedance control-based strategies for power-assisted wheelchairs using predictive simulations and a realistic, nonlinear model of the user-wheelchair system.

Acquisition of mechanical energy directly contributing to sideward propulsion in sidestep cutting manoeuvre

Humans seldom perform steady-state forward locomotion and often change locomotive direction through non-forward propulsion. Such manoeuvrability is essential for humans; however, unsteady-locomotion mechanics are understood less than steady-state locomotion because of the difficulty in research on unsteady locomotion with a wide range of variations. Here we show the body sideward propulsion mechanism in a sidestep cutting manoeuvre. We analysed the motion and ground reaction force of 10 males during the stance phase in 90° sidestep cutting with maximal efforts and determined the segmental components to the changes in the mediolateral-kinetic (EML), anteroposterior-kinetic (EAP), and superoinferior-kinetic plus gravitational-potential energies (ESI). The medial velocity and EML increased from the beginning to the end of the stance. The stance-leg shank rotation increased EML and decreased EAP(early stance: 0.54 ± 0.17 and −1.49 ± 0.59 J/kg, late stance: 0.25 ± 0.14 and − 0.40 ± 0.17 J/kg), even while the knee and ankle work outflowed energy from the shank. The shank rotation induced over half the total increase in EML during the early stance (58 ± 7%). The stance-leg thigh rotation increased EML and decreased EAP (early stance: 0.28 ± 0.12 and −0.26 ± 0.15 J/kg, late stance: 1.43 ± 0.26 and −0.47 ± 0.13 J/kg). We added the transformation from EAP to EML by the shank and thigh rotations in the transverse plane to the sideward propulsion mechanisms, similar to the transformation from EAP into ESI in running single-leg jumps in a previous study. Coupled with previous studies, we prove the commonality in propulsion mechanisms across non-forward locomotion modes with different objective directions, which bridges the knowledge between unsteady locomotion modes.

The Role of Surface Electromyography in Data Fusion with Inertial Sensors to Enhance Locomotion Recognition and Prediction.

Locomotion recognition and prediction is essential for real-time human–machine interactive control. The integration of electromyography (EMG) with mechanical sensors could improve the performance of locomotion recognition. However, the potential of EMG in motion prediction is rarely discussed. This paper firstly investigated the effect of surface EMG on the prediction of locomotion while integrated with inertial data. We collected EMG signals of lower limb muscle groups and linear acceleration data of lower limb segments from ten healthy participants in seven locomotion activities. Classification models were built based on four machine learning methods—support vector machine (SVM), k-nearest neighbor (KNN), artificial neural network (ANN), and linear discriminant analysis (LDA)—where a major vote strategy and a content constraint rule were utilized for improving the online performance of the classification decision. We compared four classifiers and further investigated the effect of data fusion on the online locomotion classification. The results showed that the SVM model with a sliding window size of 80 ms achieved the best recognition performance. The fusion of EMG signals does not only improve the recognition accuracy of steady-state locomotion activity from 90% (using acceleration data only) to 98% (using data fusion) but also enables the prediction of the next steady locomotion (∼370 ms). The study demonstrates that the employment of EMG in locomotion recognition could enhance online prediction performance.

The energetic function of the human foot and its muscles during accelerations and decelerations.

The human foot is known to aid propulsion by storing and returning elastic energy during steady-state locomotion. While its function during other tasks is less clear, recent evidence suggests the foot and its intrinsic muscles can also generate or dissipate energy based on the energetic requirements of the center of mass during non-steady-state locomotion. In order to examine contributions of the foot and its muscles to non-steady-state locomotion, we compared the energetics of the foot and ankle joint while jumping and landing before and after the application of a tibial nerve block. Under normal conditions, energetic contributions of the foot rose as work demands increased, while the relative contributions of the foot to center of mass work remained constant with increasing work demands. Under the nerve block, foot contributions to both jumping and landing decreased. Additionally, ankle contributions were also decreased under the influence of the block for both tasks. Our results reinforce findings that foot and ankle function mirror the energetic requirements of the center of mass and provide novel evidence that foot contributions remain relatively constant under increasing energetic demands. Also, while the intrinsic muscles can modulate the energetic capacity of the foot, their removal accounted for only a 3% decrement in total center of mass work. Therefore, the small size of intrinsic muscles appears to limit their capacity to contribute to center of mass work. However, their role in contributing to ankle work capacity is likely important for the energetics of movement.

The Stabilizing Function of the Tail During Arboreal Quadrupedalism.

Locomotion on the narrow and compliant supports of the arboreal environment is inherently precarious. Previous studies have identified a host of morphological and behavioral specializations in arboreal animals broadly thought to promote stability when on precarious substrates. Less well-studied is the role of the tail in maintaining balance. However, prior anatomical studies have found that arboreal taxa frequently have longer tails for their body size than their terrestrial counterparts, and prior laboratory studies of tail kinematics and the effects of tail reduction in focal taxa have broadly supported the hypothesis that the tail is functionally important for maintaining balance on narrow and mobile substrates. In this set of studies, we extend this work in two ways. First, we used a laboratory dataset on three-dimensional segmental kinematics and tail inertial properties in squirrel monkeys (Saimiri boliviensis) to investigate how tail angular momentum is modulated during steady-state locomotion on narrow supports. In the second study, we used a quantitative dataset on quadrupedal locomotion in wild platyrrhine monkeys to investigate how free-ranging arboreal animals adjust tail movements in response to substrate variation, focusing on kinematic measures validated in prior laboratory studies of tail mechanics (including the laboratory data presented). Our laboratory results show that S. boliviensis significantly increase average tail angular momentum magnitudes and amplitudes on narrow supports, and primarily regulate that momentum by adjusting the linear and angular velocity of the tail (rather than via changes in tail posture per se). We build on these findings in our second study by showing that wild platyrrhines responded to the precarity of narrow and mobile substrates by extending the tail and exaggerating tail displacements, providing ecological validity to the laboratory studies of tail mechanics presented here and elsewhere. In conclusion, our data support the hypothesis that the long and mobile tails of arboreal animals serve a biological role of enhancing stability when moving quadrupedally over narrow and mobile substrates. Tail angular momentum could be used to cancel out the angular momentum generated by other parts of the body during steady-state locomotion, thereby reducing whole-body angular momentum and promoting stability, and could also be used to mitigate the effects of destabilizing torques about the support should the animals encounter large, unexpected perturbations. Overall, these studies suggest that long and mobile tails should be considered among the fundamental suite of adaptations promoting safe and efficient arboreal locomotion.

Tail Base Deflection but not Tail Curvature Varies with Speed in Lizards: Results from an Automated Tracking Analysis Pipeline.

Tail movement is an important component of vertebrate locomotion and likely contributes to dynamic stability during steady-state locomotion. Previous results suggest that the tail plays a significant role in lizard locomotion, but little data are available on tail motion during locomotion and how it differs with morphological, ecological, and phylogenetic parameters. We collected high-speed vertical climbing and horizontal locomotion video data from 43 lizard species from four taxonomic groups (Agamidae, Gekkota, Scincidae, and Varanidae) across four habitats. We introduce a new semi-automated and generalizable analysis pipeline for tail and spine motion analysis including markerless pose-estimation, semi-automated kinematic recognition, and muti-species data analysis. We found that step length relative to snout-vent length (SVL) increased with tail length relative to SVL. Examining spine cycles agnostic to limb stride phase, we found that ranges of inter-tail bending compared with inter-spine bending increased with relative tail length, while ranges of tail deflection relative to spine deflection increased with relative speed. Considering stepwise strides, we found the angular velocity and acceleration of the tail center of mass increased with relative speed. These results will provide general insights into the biomechanics of tails in sprawling locomotion enabling biomimetic applications in robotics, and a better understanding of vertebrate form and function. We look forward to adding more species, behaviors, and locomotor speeds to our analysis pipeline through collaboration with other research groups.

Track distance runners exhibit bilateral differences in the plantar fascia stiffness

Human steady-state locomotion modes are symmetrical, leading to symmetric mechanical function of human feet in general; however, track distance running in a counterclockwise direction exposes the runner’s feet to asymmetrical stress. This may induce asymmetrical adaptation in the runners’ foot arch functions, but this has not been experimentally tested. Here, we show that the plantar fascia (PF), a primary structure of the foot arch elasticity, is stiffer for the left than the right foot as a characteristic of runners, via a cross-sectional study on 10 track distance runners and 10 untrained individuals. Shear wave velocity (index of tissue stiffness: SWV) and thickness of PF and foot dimensions were compared between sides and groups. Runners showed higher PF SWV in their left (9.4 ± 1.0 m/s) than right (8.9 ± 0.9 m/s) feet, whereas untrained individuals showed no bilateral differences (8.5 ± 1.5 m/s and 8.6 ± 1.7 m/s, respectively). Additionally, runners showed higher left to right (L/R) ratio of PF SWV than untrained men (105.1% and 97.7%, respectively). PF thickness and foot dimensions were not significantly different between sides or groups. These results demonstrate stiffer PF in the left feet of runners, which may reflect adaptation to their running-specific training that involves asymmetrical mechanical loading.

Continuous Classification of Locomotion in Response to Task Complexity and Anticipatory State.

ObjectiveIntent recognition in lower-extremity assistive devices (e.g., prostheses and exoskeletons) is typically limited to either recognition of steady-state locomotion or changes of terrain (e.g., level ground to stair) occurring in a straight-line path and under anticipated condition. Stability is highly affected during non-steady changes of direction such as cuts especially when they are unanticipated, posing high risk of fall-related injuries. Here, we studied the influence of changes of direction and user anticipation on task recognition, and accordingly introduced classification schemes accommodating such effects.MethodsA linear discriminant analysis (LDA) classifier continuously classified straight-line walking, sidestep/crossover cuts (single transitions), and cuts-to-stair locomotion (mixed transitions) performed under varied task anticipatory conditions. Training paradigms with varying levels of anticipated/unanticipated exposures and analysis windows of size 100–600 ms were examined.ResultsMore accurate classification of anticipated relative to unanticipated tasks was observed. Including bouts of target task in the training data was necessary to improve generalization to unanticipated locomotion. Only up to two bouts of target task were sufficient to reduce errors to <20% in unanticipated mixed transitions, whereas, in single transitions and straight walking, substantial unanticipated information (i.e., five bouts) was necessary to achieve similar outcomes. Window size modifications did not have a significant influence on classification performance.ConclusionAdjusting the training paradigm helps to achieve classification schemes capable of adapting to changes of direction and task anticipatory state.SignificanceThe findings could provide insight into developing classification schemes that can adapt to changes of direction and user anticipation. They could inform intent recognition strategies for controlling lower-limb assistive to robustly handle “unknown” circumstances, and thus deliver increased level of reliability and safety.

Rules of nature’s Formula Run: Muscle mechanics during late stance is the key to explaining maximum running speed

The maximum running speed of legged animals is one evident factor for evolutionary selection—for predators and prey. Therefore, it has been studied across the entire size range of animals, from the smallest mites to the largest elephants, and even beyond to extinct dinosaurs. A recent analysis of the relation between animal mass (size) and maximum running speed showed that there seems to be an optimal range of body masses in which the highest terrestrial running speeds occur. However, the conclusion drawn from that analysis—namely, that maximum speed is limited by the fatigue of white muscle fibres in the acceleration of the body mass to some theoretically possible maximum speed—was based on coarse reasoning on metabolic grounds, which neglected important biomechanical factors and basic muscle-metabolic parameters. Here, we propose a generic biomechanical model to investigate the allometry of the maximum speed of legged running. The model incorporates biomechanically important concepts: the ground reaction force being counteracted by air drag, the leg with its gearing of both a muscle into a leg length change and the muscle into the ground reaction force, as well as the maximum muscle contraction velocity, which includes muscle–tendon dynamics, and the muscle inertia—with all of them scaling with body mass. Put together, these concepts’ characteristics and their interactions provide a mechanistic explanation for the allometry of maximum legged running speed. This accompanies the offering of an explanation for the empirically found, overall maximum in speed: In animals bigger than a cheetah or pronghorn, the time that any leg-extending muscle needs to settle, starting from being isometric at about midstance, at the concentric contraction speed required for running at highest speeds becomes too long to be attainable within the time period of a leg moving from midstance to lift-off. Based on our biomechanical model, we, thus, suggest considering the overall speed maximum to indicate muscle inertia being functionally significant in animal locomotion. Furthermore, the model renders possible insights into biological design principles such as differences in the leg concept between cats and spiders, and the relevance of multi-leg (mammals: four, insects: six, spiders: eight) body designs and emerging gaits. Moreover, we expose a completely new consideration regarding the muscles’ metabolic energy consumption, both during acceleration to maximum speed and in steady-state locomotion.

Minimalist analogue robot discovers animal-like walking gaits

Robots based on simplified or abstracted biomechanical concepts can be a useful tool for investigating how and why animals move the way they do. In this paper we present an extremely simple quadruped robot, which is able to walk with no form of software or controller. Instead, individual leg movements are triggered directly by switches on each leg which detect leg loading and unloading. As the robot progresses, pitching and rolling movements of its body result in a gait emerging with a consistent leg movement order, despite variations in stride and stance time. This gait has similarities to the gaits used by walking primates and grazing livestock, and is close to the gait which was recently theorised to derive from animal body geometry. As well as presenting the design and construction of the robot, we present experimental measurements of the robot’s gait kinematics and ground reaction forces determined using high speed video and a pressure mat, and compare these to gait parameters of animals taken from literature. Our results support the theory that body geometry is a key determinant of animal gait at low speeds, and also demonstrate that steady state locomotion can be achieved with little to no active control.

Manipulating sensory information: obstacle crossing strategies between typically developing children and young adults.

Individuals constantly adapt their locomotion to navigate through complex environments. However, little known about anticipatory strategies used by children during adaptive locomotion. The purpose of this study was to compare the effects of manipulating visual and somatosensory information during a multiple obstacle crossing task between children and adults. It was hypothesized that compared to young adults, children would have difficulty with anticipatory motor planning and online control during a multiple obstacle crossing task when sensory information was manipulated. Children (N = 16, [Formula: see text] = 9 ± 1.07years) and young adults (N = 16, [Formula: see text] = 22 ± 0.96years) walked along a 7m pathway towards a goal while avoiding stepping on one, or two virtual obstacles placed 5m from the start. Visual information regarding the number of obstacles was either presented at the start of steady-state locomotion, or two steps prior to the first obstacle. Each participant completed 36 trials, 18 on flat ground and 18 on foam terrain. Results indicated that in comparison to young adults, children's foot positions were significantly closer to the first obstacle when visual information about the obstacle was delayed. On flat ground, children demonstrated similar Trail foot positions relative to the first and second obstacles, suggesting children planned for the avoidance of the obstacles separately. On foam terrain, children performed similar to young adults, such that their Trail foot position relative to the first obstacle was significantly closer to the obstacle compared to their Trial foot position relative to the second obstacle. The results suggest that children plan for the avoidance of multiple obstacles differently compared to young adults. When stability is challenged, maintaining forward progression of locomotion overrides the planning of obstacle crossing, such that children perform similar to young adults. Therefore, it appears that children have difficulties with online control and anticipatory motor strategies during a multiple obstacle crossing task.

Kv1.2 Channels Promote Nonlinear Spiking Motoneurons for Powering Up Locomotion

SUMMARYSpinal motoneurons are endowed with nonlinear spiking behaviors manifested by a spike acceleration whose functional significance remains uncertain. Here, we show in rodent lumbar motoneurons that these nonlinear spiking properties do not rely only on activation of dendritic nifedipine-sensitive L-type Ca2+ channels, as assumed for decades, but also on the slow inactivation of a nifedipine-sensitive K+ current mediated by Kv1.2 channels that are highly expressed in axon initial segments. Specifically, the pharmacological and computational inhibition of Kv1.2 channels occluded the spike acceleration of rhythmically active motoneurons and the correlated slow buildup of rhythmic motor output recorded at the onset of locomotor-like activity. This study demonstrates that slow inactivation of Kv1.2 channels provides a potent gain control mechanism in mammalian spinal motoneurons and has a behavioral role in enhancing locomotor drive during the transition from immobility to steady-state locomotion.

MYOELECTRIC ACTIVATION DIFFERENCES IN TRANSFEMORAL AMPUTEES DURING LOCOMOTOR STATE TRANSITIONS

Locomotor state transitions are challenging for transfemoral (TF) amputees due to the lack of active knee control even in the current powered prosthetic devices. Myoelectric activation has been used successfully to classify steady-state locomotion states, but classification of transitions between locomotion states remains a challenge, especially for TF amputees. The purpose of this study was to determine if lower-extremity muscle activation differences between pre-transition and transition gait cycles occur in the involved or uninvolved limb of TF amputees during locomotion state transitions. Surface electromyography (EMG) was collected from residual muscles on the involved limb and from the uninvolved limb from five TF amputees as they transitioned between different locomotion states (level ground, ramp ascent/descent, stair ascent/descent). Statistical parametric mapping (SPM) was used to assess differences in activation. When analyzed as a group, the only significant differences were observed in the vastus lateralis of the uninvolved limb. High inter-subject variation reduced the significance of other pattern differences. Further inspection revealed that the individual subjects expressed three different recruitment patterns. These recruitment patterns may indicate compensatory strategies adopted by the subjects over the years since amputation. Furthermore, the separate recruitment patterns suggest the need for individualized locomotion transition classification algorithms rather than a general classification scheme.

On designing an active tail for legged robots: simplifying control via decoupling of control objectives

PurposeThe purpose of this paper is to explore the possible roles of active tails for steady-state legged locomotion, focusing on a design principle which simplifies control by decoupling different control objectives.Design/methodology/approachA series of simple models are proposed which capture the dynamics of an idealized running system with an active tail. These models suggest that the overall control problem can be simplified and effectively decoupled via a proper tail design. This design principle is further explored in simulation using trajectory optimization. The results are then validated in hardware using a one degree-of-freedom active tail mounted on the quadruped robot Cheetah-Cub.FindingsThe results of this paper show that an active tail can greatly improve both forward velocity and reduce body-pitch per stride while adding minimal complexity. Further, the results validate the design principle of using long, light tails compared to shorter heavier ones.Originality/valueThis paper builds on previous results, with a new focus on steady-state locomotion and in particular deals directly with stance phase dynamics. A novel design principle for tails is proposed and validated.

Trunk–pelvis coordination during turning: A cross sectional study of young adults with and without a history of low back pain

BackgroundDuring steady-state locomotion, symptomatic individuals with low back pain demonstrate reduced ability to modulate coordination between the trunk and the pelvis in the axial plane. It is unclear if this is also true during functional locomotor perturbations such as changing direction, or if this change in coordination adaptability persists between symptomatic episodes. The purpose of this study was to compare trunk–pelvis coordination during walking turns in healthy individuals and asymptomatic individuals with a history of low back pain. MethodsParticipants performed multiple ipsilateral turns. Axial plane inter-segmental coordination and stride-to-stride coordination variability were quantified using the vector coding technique. Frequency of coordination mode and amplitude of coordination variability was compared between groups using Wilcoxon signed-rank tests and paired t-tests respectively. FindingsDuring stance phase of the turn, there was no significant difference in either inter-segmental coordination or coordination variability between groups. Inter-segmental coordination between the trunk and the pelvis was predominantly inphase during this part of the turn. During swing phase, patterns of coordination were more diversified, and individuals with a history of low back pain had significantly greater trunk phase coordination than healthy controls. Coordination variability was the same in both groups. InterpretationChanges in trunk–pelvis coordination are evident between symptomatic episodes in individuals with a history of low back pain. However, previously demonstrated decreases in coordination variability were not found between symptomatic episodes in individuals with recurrent low back pain and therefore may represent a response to concurrent pain rather than a persistent change in motor control.