Locomotion Variables Research Articles

Foot orientation and trajectory variability in locomotion: Effects of real-world terrain.

Capturing human locomotion in nearly any environment or context is becoming increasingly feasible with wearable sensors, giving access to commonly encountered walking conditions. While important in expanding our understanding of locomotor biomechanics, these more variable environments present challenges to identify changes in data due to person-level factors among the varying environment-level factors. Our study examined foot-specific biomechanics while walking on terrain commonly encountered with the goal of understanding the extent to which these variables change due to terrain. We recruited healthy adults to walk at self-selected speeds on stairs, flat ground, and both shallow and steep sloped terrain. A pair of inertial measurement units were embedded in both shoes to capture foot biomechanics while walking. Foot orientation was calculated using a strapdown procedure and foot trajectory was determined by double integrating the linear acceleration. Stance time, swing time, cadence, sagittal and frontal orientations, stride length and width were extracted as discrete variables. These data were compared within-participant and across terrain conditions. The physical constraints of the stairs resulted in shorter stride lengths, less time spent in swing, toe-first foot contact, and higher variability during stair ascent specifically (p<0.05). Stride lengths increased when ascending compared to descending slopes, and the sagittal foot angle at initial contact was greatest in the steep slope descent condition (p<0.05). No differences were found between conditions for horizontal foot angle in midstance (p≥0.067). Our results show that walking on slopes creates differential changes in foot biomechanics depending on whether one is descending or ascending, and stairs require different biomechanics and gait timing than slopes or flat ground. This may be an important factor to consider when making comparisons of real-world walking bouts, as greater proportions of one terrain feature in a data set could create bias in the outcomes. Classifying terrain in unsupervised walking datasets would be helpful to avoid comparing metrics from different walking terrain scenarios.

A methodological exploration to study 2D arm kinematics in Ophiuroidea (Echinodermata)

Brittle stars, unlike most other echinoderms, do not use their small tube feet for locomotion but instead use their flexible arms to produce a rowing or reverse rowing movement. They are among the fastest-moving echinoderms with the ability of complex locomotory behaviors. Considering the high species diversity and variability in morphotypes, a proper understanding of intra- and interspecies variation in arm flexibility and movement is lacking. This study focuses on the exploration of the methods to investigate the variability in brittle star locomotion and individual arm use. We performed a two-dimensional (2D) image processing on horizontal movement only. The result indicated that sinuosity, disc displacement and arm angle are important parameters to interpret ophiuroid locomotion. A dedicated Python script to calculate the studied movement parameters and visualize the results applicable to all 5-armed brittle stars was developed. These results can serve as the basis for further research in robotics inspired by brittle star locomotion.

High-resolution analysis of individual Drosophila melanogaster larvae uncovers individual variability in locomotion and its neurogenetic modulation.

Neuronally orchestrated muscular movement and locomotion are defining faculties of multicellular animals. Due to its simple brain and genetic accessibility, the larva of the fruit fly Drosophila melanogaster allows one to study these processes at tractable levels of complexity. However, although the faculty of locomotion clearly pertains to the individual, most studies of locomotion in larvae use measurements aggregated across animals, or animals tested one by one, an extravagance for larger-scale analyses. This prevents grasping the inter- and intra-individual variability in locomotion and its neurogenetic determinants. Here, we present the IMBA (individual maggot behaviour analyser) for analysing the behaviour of individual larvae within groups, reliably resolving individual identity across collisions. We use the IMBA to systematically describe the inter- and intra-individual variability in locomotion of wild-type animals, and how the variability is reduced by associative learning. We then report a novel locomotion phenotype of an adhesion GPCR mutant. We further investigated the modulation of locomotion across repeated activations of dopamine neurons in individual animals, and the transient backward locomotion induced by brief optogenetic activation of the brain-descending 'mooncrawler' neurons. In summary, the IMBA is an easy-to-use toolbox allowing an unprecedentedly rich view of the behaviour and its variability of individual larvae, with utility in multiple biomedical research contexts.

Occupational Footwear Design Influences Biomechanics and Physiology of Human Postural Control and Fall Risk

While design modifications present on work boots improve safety, they may not always provide optimal human performance during work tasks. Understanding the impact of these different design features on biomechanical and physiological postural control and locomotion variables can aid in better design modifications that can provide a safe and efficient human performance. This brief review focuses on a series of studies conducted by the current research team, that have tested three different work boots (SB: high-top steel-toed work boots; TB: high-top tactical work boots; SR: low-top slip-resistant work boots). The series of studies included testing of these work boots or combinations of them under acute and chronic simulated occupational workloads, assessing biomechanical variable such as postural stability, gait, slips, and muscle activity, as well as physiological variables such as heart rate, energy expenditure, oxygen consumption, and pain perception. The impact of each of the work boots and their design feature on postural control and locomotion are summarized from these studies’ previously published literature. Finally, work boot design suggestions for optimal human performance are provided for better work boot selection, modification, and design.

Influence of Step Frequency on the Dynamic Characteristics of Ventilation and Gas Exchange During Sinusoidal Walking in humans

We tested the hypothesis that restricting either step frequency (SF) or stride length (SL) causes a decrease in ventilatory response with limited breath frequency during sinusoidal walking. In this study, 13 healthy male and female volunteers (mean ± SD; age: 21.5 ± 1.8 years, height: 168 ± 7 cm, weight: 61.5 ± 8.3 kg) participated. The walking speed was sinusoidally changed between 50 and 100 m⋅min–1 with periods from 10 to 1 min. Using a customized sound system, we fixed the SF at 120 steps⋅min–1 with SL variation (0.83–0.41 m) (SFfix) or fixed the SL at 0.7 m with SF variation (143–71 steps⋅min–1) (SLfix) during the subjects’ sinusoidal walking. Both the subjects’ preferred locomotion pattern without a sound system (Free) and the unprompted spontaneous locomotor pattern for each subject (Free) served as the control condition. We measured breath-by-breath ventilation [tidal volume (VT) and breathing frequency (Bf)] and gas exchange [CO2 output (CO2), O2 uptake (O2)]. The amplitude (Amp) and the phase shift (PS) of the fundamental component of the ventilatory and gas exchange variables were calculated. The results revealed that the SFfix condition decreased the Amp of the Bf response compared with SLfix and Free conditions. Notably, the Amp of the Bf response under SFfix was reduced by less than one breath at the periods of 5 and 10 min. In contrast, the SLfix condition resulted in larger Amps of Bf and E responses as well as Free. We thus speculate that the steeper slope of the E-CO2 relationship observed under the SLfix might be attributable to the central feed-forward command or upward information from afferent neural activity by sinusoidal locomotive cadence. The PSs of the E, O2, and CO2 responses were unaffected by any locomotion patterns. Such a sinusoidal wave manipulation of locomotion variables may offer new insights into the dynamics of exercise hyperpnea.

Sex differences shape zebrafish performance in a battery of anxiety tests and in response to acute scopolamine treatment

Sex differences influence human and animal behavioral and pharmacological responses. The zebrafish (Danio rerio) is a powerful, popular model system in neuroscience and drug screening. However, the impact of zebrafish sex differences on their behavior and drug responses remains poorly understood. Here, we evaluate baseline anxiety-like behavior in adult male and female zebrafish, and its changes following an acute 30-min exposure to 800-μM scopolamine, a common psychoactive anticholinergic drug. Overall, we report high baseline anxiety-like behavior and more individual variability in locomotion in female zebrafish, as well as distinct, sex-specific (anxiolytic-like in females and anxiogenic-like in males) effects of scopolamine. Collectively, these findings reinforce the growing importance of zebrafish models for studying how both individual and sex differences shape behavioral and pharmacological responses.

COMPREHENSIVE CHARACTERIZATION OF GAIT VARIABILITY IN PATIENTS WITH KNEE OSTEOARTHRITIS FOR ALTERED VELOCITIES

This study focuses on quantifying the alterations in human gait variability in individuals with knee Osteoarthritis (OA). To assess the stride-to-stride variation, estimating the dynamical stability discloses the encrypted behavior of the locomotion system, at times facing perturbations, and for that the Largest Lyapunov Exponent is extracted for both Short ([Formula: see text]) and Long ([Formula: see text]) term. Information about the complexity of movement further bolsters the variation-driven conclusions which are calculated for Correlation Index and Kolmogorov–Sinai (K-S) entropy. Using gait analysis, knee angular displacement is the considered data tested for different walking speeds. In the result, [Formula: see text] revealed significant differences between the groups and their walking velocities while [Formula: see text] failed to represent any distinguishable differences. In contrast to the control group, increases in the walking velocity did not affect the amount of locomotion variability for the patients. The stride features also verified the vicissitudes in the gait pattern of knee OA suffering individuals.

Magnitude and variability of gait characteristics when walking on an irregular surface at different speeds

Different modes of perturbations have been used to understand how individuals negotiate irregular surfaces, with a general notion that increased locomotion variability induces a positive training stimulus. Individuals tend to walk slower when initially exposed to such locomotion tasks, potentially influencing the magnitude and variability of biomechanical parameters. This study investigated theeffects of gait speed on lower extremity biomechanics when walking on an irregular (IS) and regular surface (RS). Twenty physically active males walked on a RS and IS at three different speeds (4 km/h, 5 km/h, 6 km/h). Lower extremity kinematics (300 Hz) and surface electromyography (3000 Hz) were recorded during the first 90 s of gait. Two-factor repeated measures ANOVA was used to determine surface and speed effects (p < 0.05). Gait speed influences walking biomechanics (kinematic and muscle activity parameters) the same irrespective of surface condition. As walking speed increased, sagittal shoe-surface angle, maximum ankle inversion, ankle abduction, knee and hip flexion increased during stance phase when walking on the IS and RS (p < 0.05). Increasing walking speed caused increased muscle activity of the tibialis anterior, peroneus longus, gastrocnemius medialis, vastus medialis and biceps femoris (p < 0.05) on the IS and RS during the gait cycle. Increased gait, kinematic and muscle activity variability was reported at lower walking speed on both the IS and RS. Further, irrespective of gait speed, walking on an IS triggers postural adjustments, higher muscle activity and increased gait variability compared to RS walking. Our findings suggest the benefits of training on the irregular surface may be further enhanced at slower gait speeds.

Fractal Dynamics, Variability, and Coordination in Human Locomotion

In human locomotion, the magnitude of gait variability is a strong predictor of fall risk and frailty due to aging and disease. Beyond variability magnitude, the past two decades have provided emerging alternative methodologies for studying biological variability. Specifically, coordination variability has been found to be critically important within a healthy, adaptive system. While many activities aim to minimize end-point variability, greater coordination variability indicates a more flexible system, and is greater in experts compared to novices, or healthy compared to diseased individuals. Finally, variability structure (i.e., fractal dynamics) may describe the overall adaptive capacity of the locomotor system. We provide empirical support that fractal dynamics are associated with step length symmetry during challenging split-belt treadmill walking. Individuals whose fractal scaling approached 1/f fractal scaling during constrained walking also exhibited the best gait adaptability performance. Importantly, this relation between fractality and gait adaptability was not observed in unperturbed preferred speed walking.

A Study of the Effects of 3,5-Diiodo-L-Thyronine in the Tail Suspension and Forced Swim Models of Depression

Objectives Recent findings have further highlighted the role of the thyroid system in the pathophysiology of depression and revealed new physiologically relevant elements of the thyroid system. Our previous study showed an antidepressant-like effect of 3,5-diiodo-L-thyronine (T2), which was previously considered to be a physiologically inactive molecule, in mice. Here, we aimed to investigate the antidepressant-like effects of T2 further. Methods We studied the effects of bolus injections of T2 to C57Bl6J mice at doses of 0.25 or 0.75 mg/kg with the tail suspension and forced swim models. The effects of the higher dose were investigated in CD1 mice in the forced swim test. Potential behavioral effects of these treatments were also studied using the novel cage and dark-light box tests. Results A reduction of depressive-like behavior was found in mice treated with 0.75 mg/kg of T2 in the tail suspension test, but not in the forced swim test. Locomotion and anxiety variables were unaltered following treatment with T2. There were no significant changes after bolus administration of 0.25 mg/kg T2 in either test for depressive-like behavior. Thus, bolus injection of T2 at the dose 0.75 mg/kg can induce antidepressant-like effects without affecting other behaviors. Conclusions A discrepant result in the forced swim test may be due to its different sensitivity to T2 compared with the tail suspension paradigm. Furthermore, the development of procedural modifications of this model can be useful in its application in preclinical studies.

Behavioural toxicity assessment of silver ions and nanoparticles on zebrafish using a locomotion profiling approach

Zebrafish (Danio rerio) is not only a widely used species in the Fish Embryo Toxicity (FET) test but also an emerging model in behavioural ecotoxicology. By using automatic behaviour tracking technology, locomotion of developing zebrafish (ZF) larvae can be accurately recorded and potentially used in an ecotoxicological context to detect toxicant-induced behavioural alterations. In this study, we explored if and how quantitative locomotion data can be used for sub-lethal toxicity testing within the FET framework. We exposed ZF embryos to silver ions and nanoparticles, which previously have been reported to cause neurodevelopmental toxicity and behavioural retardation in early-life stages of ZF. Exposure to a broad range of silver (Ag+ and AgNPs) concentrations was conducted, and developmental toxicity was assessed using FET criteria. For behavioural toxicity assessment, locomotion of exposed ZF eleutheroembryos (120hpf) was quantified according to a customised behavioural assay in an automatic video tracking system. A set of repeated episodes of dark/light stimulation were used to artificially stress ZF and evoke photo-motor responses, which were consequently utilized for locomotion profiling. Our locomotion-based behaviour profiling approach consisted of (1) dose-response ranking for multiple and single locomotion variables; (2) quantitative assessment of locomotion structure; and (3) analysis of ZF responsiveness to darkness stimulation. We documented that both silver forms caused adverse effects on development and inhibited hatchability and, most importantly, altered locomotion. High Ag+ and AgNPs exposures significantly suppressed locomotion and a clear shift in locomotion towards inactivity was reported. Additionally, we noted that low, environmentally relevant Ag+ concentrations may cause subordinate locomotive changes (hyperactivity) in developing fish. Overall, it was concluded that our locomotion-based behaviour-testing scheme can be used jointly with FET and can provide endpoints for sub-lethal toxicity. When combined with multivariate data analysis, this approach facilitated new insights for handling and analysis of data generated by automatized behavioural tracking systems.

Evolution and function of anterior cervical vertebral fusion in tetrapods.

The evolution of vertebral fusion is a poorly understood phenomenon that results in the loss of mobility between sequential vertebrae. Non-pathological fusion of the anterior cervical vertebrae has evolved independently in numerous extant and extinct mammals and reptiles, suggesting that the formation of a 'syncervical' is an adaptation that arose to confer biomechanical advantage(s) in these lineages. We review syncervical anatomy and evolution in a broad phylogenetic context for the first time and provide a comprehensive summary of proposed adaptive hypotheses. The syncervical generally consists of two vertebrae (e.g. hornbills, porcupines, dolphins) but can include fusion of seven cervical vertebrae in some cetaceans. Based on the ecologies of taxa with this trait, cervical fusion most often occurs in fossorial and pelagic taxa. In fossorial taxa, the syncervical likely increases the out-lever force during head-lift digging. In cetaceans and ricochetal rodents, the syncervical may stabilize the head and neck during locomotion, although considerable variation exists in its composition without apparent variability in locomotion. Alternatively, the highly reduced cervical vertebral centra may require fusion to prevent mechanical failure of the vertebrae. In birds, the syncervical of hornbills may have evolved in response to their unique casque-butting behaviour, or due to increased head mass. The general correlation between ecological traits and the presence of a syncervical in extant taxa allows more accurate interpretation of extinct animals that also exhibit this unique trait. For example, syncervicals evolved independently in several groups of marine reptiles and may have functioned to stabilize the head at the craniocervical joint during pelagic locomotion, as in cetaceans. Overall, the origin and function of fused cervical vertebrae is poorly understood, emphasizing the need for future comparative biomechanical studies interpreted in an evolutionary context.

Environmental and cow-related factors affect cow locomotion and can cause misclassification in lameness detection systems

To tackle the high prevalence of lameness, techniques to monitor cow locomotion are being developed in order to detect changes in cows’ locomotion due to lameness. Obviously, in such lameness detection systems, alerts should only respond to locomotion changes that are related to lameness. However, other environmental or cow factors can contribute to locomotion changes not related to lameness and hence, might cause false alerts. In this study the effects of wet surfaces, dark environment, age, production level, lactation and gestation stage on cow locomotion were investigated. Data was collected at Institute for Agricultural and Fisheries Research research farm (Melle, Belgium) during a 5-month period. The gait variables of 30 non-lame and healthy Holstein cows were automatically measured every day. In dark environments and on wet walking surfaces cows took shorter, more asymmetrical strides with less step overlap. In general, older cows had a more asymmetrical gait and they walked slower with more abduction. Lactation stage or gestation stage also showed significant association with asymmetrical and shorter gait and less step overlap probably due to the heavy calf in the uterus. Next, two lameness detection algorithms were developed to investigate the added value of environmental and cow data into detection models. One algorithm solely used locomotion variables and a second algorithm used the same locomotion variables and additional environmental and cow data. In the latter algorithm only age and lactation stage together with the locomotion variables were withheld during model building. When comparing the sensitivity for the detection of non-lame cows, sensitivity increased by 10% when the cow data was added in the algorithm (sensitivity was 70% and 80% for the first and second algorithm, respectively). Hence, the number of false alerts for lame cows that were actually non-lame, decreased. This pilot study shows that using knowledge on influencing factors on cow locomotion will help in reducing the number of false alerts for lameness detection systems under development. However, further research is necessary in order to better understand these and many other possible influencing factors (e.g. trimming, conformation) of non-lame and hence ‘normal’ locomotion in cows.

Development of a Decision Making Guide for Locomotion Design for In-pipe Inspection Robots - One Step towards Open Innovation in Robotics

Abstract: From the beginning of development of the pipeline inspection robots, different drive mechanisms have been proposed for distinctive purposes and specifications. Due to sensitive environment of oil pipelines and restrictions of innovations in petroleum industry in general, designing propelling system for robots are quiet cost-intensive and hard. In most cases, such innovations end up reinventing existing systems and approaches. Therefore, guidelines of innovation in petroleum industry should begin to develop and an open innovation platform for oil industry should begin to be built. This paper intends to define the main points and variables of in-pipe inspection locomotion and build guidelines for decision making tool to help developers to define needs and requirements to design drive mechanisms for distinctive requisitions that fulfill predefined requirements and specifications of robotic developments. This work intends to take a novel approach of guideline formation of Pipeline Robotics for the sake of cost saving in robotics. This guidelines is the beginning of definition of a whole decision making tool for In-Pipe Inspection robot's drive systems designs and developments.

A study of the effects of 3,5-diiodo-L-thyronine in the tail suspension and forced swim models of depression

Objectives: Recent findings have further highlighted the role of the thyroid system in the pathophysiology of depression and revealed new physiologically relevant elements of the thyroid system. Our previous study showed an antidepressant-like effect of 3,5-diiodo-L-thyronine (T2), which was previously considered to be a physiologically inactive molecule, in mice. Here, we aimed to investigate the antidepressant-like effects of T2 further. Methods: We studied the effects of bolus injections of T2 to C57Bl6J mice at doses of 0.25 or 0.75 mg/kg with the tail suspension and forced swim models. The effects of the higher dose were investigated in CD1 mice in the forced swim test. Potential behavioral effects of these treatments were also studied using the novel cage and dark-light box tests. Results: A reduction of depressive-like behavior was found in mice treated with 0.75 mg/kg of T2 in the tail suspension test, but not in the forced swim test. Locomotion and anxiety variables were unaltered following treatment with T2. There were no significant changes after bolus administration of 0.25 mg/kg T2 in either test for depressive-like behavior. Thus, bolus injection of T2 at the dose 0.75 mg/kg can induce antidepressant-like effects without affecting other behaviors. Conclusions: A discrepant result in the forced swim test may be due to its different sensitivity to T2 compared with the tail suspension paradigm. Furthermore, the development of procedural modifications of this model can be useful in its application in pre-clinical studies.

Selection Algorithm for Locomotion Based on the Evaluation of Falling Risk

An environmentally specific type of locomotion (e.g., bipedal or quadrupedal walking) is effective only under the specified environments. However, other conditions could cause physical body constraints and decrease mobility. Despite these constraints, legged robots are desired with high overall mobility such that they can walk under various conditions. Thus, a combination of types of locomotion is needed to maximize overall mobility. We have developed a gorilla-type robot, which can switch between bipedal and quadrupedal walking. A selection technique to optimize locomotion choice would be beneficial to the robot, which will experience challenging situations when walking through complex terrains, receiving disturbances, or malfunctioning. We present a selection algorithm for locomotion (SAL) that improves overall mobility by autonomously selecting the optimal locomotion. The falling risk of each locomotion mode is evaluated with a Bayesian network to represent the robot's situation. The evaluation function for the SAL determines the optimal locomotion choice based on falling risk and moving speed. In this paper, the SAL is used for two state variables of locomotion: gait (Ga-SAL) and speed (Sp-SAL). Both the simulations and experiments validated that the robot traveled efficiently in complex environments.

The need for speed in rodent locomotion analyses.

Locomotion analysis is now widely used across many animal species to understand the motor defects in disease, functional recovery following neural injury, and the effectiveness of various treatments. More recently, rodent locomotion analysis has become an increasingly popular method in a diverse range of research. Speed is an inseparable aspect of locomotion that is still not fully understood, and its effects are often not properly incorporated while analyzing data. In this hybrid manuscript, we accomplish three things: (1) review the interaction between speed and locomotion variables in rodent studies, (2) comprehensively analyze the relationship between speed and 162 locomotion variables in a group of 16 wild-type mice using the CatWalk gait analysis system, and (3) develop and test a statistical method in which locomotion variables are analyzed and reported in the context of speed. Notable results include the following: (1) over 90% of variables, reported by CatWalk, were dependent on speed with an average R(2) value of 0.624, (2) most variables were related to speed in a nonlinear manner, (3) current methods of controlling for speed are insufficient, and (4) the linear mixed model is an appropriate and effective statistical method for locomotion analyses that is inclusive of speed-dependent relationships. Given the pervasive dependency of locomotion variables on speed, we maintain that valid conclusions from locomotion analyses cannot be made unless they are analyzed and reported within the context of speed.

Running on an unpredictable irregular surface changes lower limb biomechanics and subjective perception compared to running on a regular surface

Background Irregular surface conditions, for instance, are present during trail running. Modified treadmills can be used to produce such surface conditions in a laboratory environment [1]. Gait variability on uneven shoe-surface interfaces is increased in walking [2,3], hence the same may apply to running. This study examined the effects of an unpredictable irregular surface (UIS) on lower limb biomechanics, locomotion variability, and subjective perception during treadmill running.

The Structure of the Mammalian Predator Guild in the Santa Cruz Formation (Late Early Miocene)

The Santa Cruz Formation (late early Miocene, Santacrucian age) registers 11 species of mammalian predators (Metatheria, Sparassodonta). Together with large carnivorous flightless birds, they comprised the terrestrial predator guild. The Santacrucian sparassodonts were diverse in body size, had different locomotory habits, and were primarily hypercarnivores. The objective of this work is to analyze the guild structure of the sparassodonts of the Santa Cruz Formation, using the variables of body mass, diet, and locomotion as proxies. Furthermore, we analyze the interaction with other predators and potential prey. The univariated test V of Poole and Rathcke and the multivariated test of Clark-Evans were used to construct the models. In the multivariate test, we made a Principal Component Analysis to resume and standardize the variables. With body mass and locomotion we obtained an evenly spaced pattern of segregation for the sparassodont species, being non-significant and significant, respectively. The pattern was aggregated and significant only with diet. The analysis of all variables together resulted in an evenly spaced and significant pattern, which is consistent with character displacements (segregation of species throughout the morphospace) that would help to diminish interspecific competition during the Santacrucian age and would allow selection of prey species of different sizes and substrate specializations. When the body size pattern of predator birds and sparassodonts were plotted together, the pattern is evenly spaced and non-significant. Other factors, including locomotion, would differentiate these species and their ecological niches.

Inter-Individual and Inter-Strain Variations in Zebrafish Locomotor Ontogeny

Zebrafish exhibit remarkable alterations in behaviour and morphology as they develop from early larval stages to mature adults. In this study we compare the locomotion parameters of six common zebrafish strains from two different laboratories to determine the stability and repeatability of these behaviours. Our results demonstrate large variability in locomotion and fast swim events between strains and between laboratories across time. These data highlight the necessity for careful, strain-specific controls when analysing locomotor phenotypes and open up the possibility of standardising the quantification of zebrafish behaviour at multiple life stages.