Walk-to-run Transition Research Articles

Lower Extremity Joint Kinetics during Walk-to-Run and Run-to-Walk Transitions

Lower extremity joint kinetic factors are thought to modulate walk-to-run transition (WRT) and run-to-walk transition (RWT). This study aimed to investigate joint stiffness and energetic patterns during the WRT and RWT processes and identify whether gait transitions occur within a single step or not. Ten healthy subjects participated in treadmill WRT (1.8–2.4 m/s) and RWT (2.4–1.8 m/s) tests. We investigated two steps before transition (S–2, S–1), two steps after transition (S1, S2) and the transition step (S0). We found significant differences between S2 and S–2 for ankle joint stiffness during WRT and RWT (p < 0.001); for hip joint stiffness, we found significant differences between S1 and S–1 during WRT and RWT (p ≤ 0.001). Additionally, stance phase mechanical energy generation was observed to transfer from proximal to distal joints at S0 during WRT, and from distal to proximal at S0 during RWT. Transition step ankle kinematic and kinetic patterns were similar to the target locomotion task gait format in both WRT and RWT. Moreover, RWT required longer adaptation time compared with WRT. These findings indicate that WRT and RWT were modulated before and after the actual transitions, not within a single step. Redistribution of joint mechanical work generation was related to gait transition triggers, which modulate the WRT and RWT processes.

Cadence (steps/min) as an indicator of the walk-to-run transition

BackgroundHumans naturally transition from walking to running at a point known as the walk-to-run transition (WRT). The WRT commonly occurs at a speed of ∼2.1 m/s (m/s) or a Froude number (dimensionless value considering leg length) of 0.5. Emerging evidence suggests the WRT can also be classified using a cadence of 140 steps/min. An accurate cadence-based WRT metric would aid in classifying wearable technology minute-level step metrics as walking vs. running. PurposeTo evaluate performance of 1) WRT predictors directly identified from a treadmill-based dataset of sequentially faster bouts, and 2) accepted WRT predictors compiled from previous literature. MethodsTwenty-eight adults (71.4% men; age = 36.6 ± 12.8 years, BMI = 26.2 ± 4.7 kg/m2) completed a series of five-minute treadmill walking bouts increasing in 0.2 m/s increments until they freely chose to run. Optimal WRT values for speed, Froude number, and cadence were identified using receiver operating characteristic (ROC) curve analyses. WRT value performance was evaluated via classification accuracy metrics. ResultsOverall accuracies (metric, percent) according to WRT predictors from previous literature were: speed (2.1 m/s, 55.0%), Froude number (0.5, 76.8%), and cadence (140 steps/min, 91.1%), and those from the dataset herein were: speed (1.9 and 2.0 m/s, 78.6%), Froude number (0.68, 77.3%), and cadence (134, 139, and 141 steps/min, 92.9%). The three equally accurate cadence values support a heuristic range of cadence-based WRT values in young and middle-aged adults: 135–140 steps/min. SignificanceA tight range of cadence values performed better as WRT predictors compared to either previously reported or directly identified speed or Froude number values. These findings have important implications for gait classification, especially considering cadence is a simple metric which can be readily assessed across settings using direct observation or wearable technologies.

Non-linear changes of lower extremity kinetics prior to gait transition

IntroductionThe purpose of this study was to examine the changes of lower extremity kinetics during walk-to-run (WR) transition and if the changes would follow a non-linear trend within the five strides before WR transition using a constant acceleration protocol. MethodsFourteen participants performed gait transition on the instrumented treadmill at a constant acceleration. Peak, time to peak, and movement and power of hip, knee and ankle joints were recorded and analyzed in sagittal plane for five strides before gait transition. Three Two-way MANOVA were employed to examine the differences of kinetic measures among the five strides. Univariate analysis and Post-Hoc Tukey’s test would be applied if needed. Also, Post hoc polynomial trend analyses were used to examine the trend of the kinetic measures that significantly changed during the five strides. ResultsCompared to the first four strides, significant differences were observed for peaks moments, joint powers, and time to peaks in the last stride before running at ankle, knee, and hip joints respectively. In general, the changes of kinetic variables were following a quadratic trend during the five strides before running. ConclusionJoint kinetic measures actively change in non-linear patterns during the five strides before running to prepare for the gait transition, indicating that the gait transition is an active reorganization rather than a passive reaction.

Modulation of joint and limb mechanical work in walk-to-run transition steps in humans.

Surprisingly little information exists of the mechanics in the steps initializing the walk-to-run transition (WRT) in humans. Here, we assess how mechanical work of the limbs (vertical and horizontal) and the individual joints (ankle, knee and hip) are modulated as humans transition from a preferred constant walking velocity (vwalk) to a variety of running velocities (vrun; ranging from a sprint to a velocity slower than vwalk). WRTs to fast vrun values occur nearly exclusively through positive horizontal limb work, satisfying the goal of forward acceleration. Contrary to our hypothesis, however, positive mechanical work remains above that at vwalk even when decelerating. In these WRTs to slow running, positive mechanical work is remarkably high and is comprised nearly exclusively of vertical limb work. Vertical-to-horizontal work modulation may represent an optimization for achieving minimal and maximal vrun, respectively, while fulfilling an apparent necessity for energy input when initiating WRTs. Net work of the WRT steps was more evenly distributed across the ankle, knee and hip joints than expected. Absolute positive mechanical work exhibited a clearer modulation towards hip-based work at high accelerations (>3 m s-2), corroborating previous suggestions that the most proximal joints are preferentially recruited for locomotor tasks requiring high power and work production. In WRTs to very slow vrun values, high positive work is nevertheless done at the knee, indicating that modulation of joint work is not only dependent on the amount of work required but also the locomotor context.

Automated Transitions Between Walking and Running in Legged Robots

This paper addresses the synthesis of controllers for walk-to-run transition (WRT) and run-to-walk transition (RWT) in legged robots with adjustable leg compliance. Inspired by human kinematics, we propose a detailed procedure for the WRT and RWT in an adjustable-stiffness spring and mass model, and derive control parameters that ensure effective gait transitions. The WRT is achieved by modulating the compliance of the leg in a piecewise constant way during the transition stride. In the RWT, in addition to the leg compliance, we modulate the touchdown angle of attack. The merits of the approach proposed are demonstrated via a simulation that incorporates the control of walking, followed by a transition to running with first increasing and then decreasing speed, and finally a transition back to walking.

Overground vs. treadmill walk-to-run transition

Determination of the walk-to-run transition (WRT) speed is a crucial aspect of gait transition research, which has been conducted on treadmill as well as overground. Overground WRT-speeds were reported to be higher than on treadmill. Part of this difference could be related to the lower acceleration magnitudes on treadmill. In this study, spontaneous WRT overground was compared to WRT at a comparable acceleration on treadmill. In addition, calculation procedures correcting for movement in the lab reference frame on treadmill were implemented. As such, this study was, in contrast to previous treadmill studies, able to detect a speed jump. This speed jump was until now a typical feature of overground WRT and contributed to the higher transition speed. By incorporating horizontal movements of the COM, a speed jump was also detected on treadmill. Yet, treadmill WRT-speed (2.61 m s −1) remained lower than overground (2.85 m s −1). Nevertheless, this difference was much smaller than assumed in the literature. The remaining difference could be explained by a larger speed jump (treadmill: 0.40 m s −1; overground: 0.51 m s −1), and a higher speed at the start of the transition step overground (treadmill: 2.21 m s −1; overground: 2.34 m s −1). In conclusion, even when controlling for effects of acceleration and movement in the lab reference frame a treadmill influence on WRT was visible.

Influence of treadmill acceleration on actual walk-to-run transition

When accelerating continuously, humans spontaneously change from a walking to a running pattern by means of a walk-to-run transition (WRT). Results of previous studies indicate that when higher treadmill accelerations are imposed, higher WRT-speeds can be expected. By studying the kinematics of the WRT at different accelerations, the underlying mechanisms can be unravelled. 19 young, healthy female subjects performed walk-to-run transitions on a constantly accelerating treadmill (0.1, 0.2 and 0.5 m s −2). A higher acceleration induced a higher WRT-speed, by effecting the preparation of transition, as well as the actual transition step. Increasing the acceleration caused a higher WRT-speed as a result of a greater step length during the transition step, which was mainly a consequence of a prolonged airborne phase. Besides this effect on the transition step, the direct preparation phase of transition (i.e. the last walking step before transition) appeared to fulfil specific constraints required to execute the transition regardless of the acceleration imposed. This highlights an important role for this step in the debate regarding possible determinants of WRT. In addition spatiotemporal and kinematical data confirmed that WRT remains a discontinuous change of gait pattern in all accelerations imposed. It is concluded that the walk-to-run transition is a discontinuous switch from walking to running which depends on the magnitude of treadmill belt acceleration.

Experimental study on the role of the ankle push off in the walk-to-run transition by means of a powered ankle-foot-exoskeleton

The goal of this study was to analyse the role of the plantarflexor muscles in the walk-to-run transition (WRT) by means of a powered ankle-foot-exoskeleton. 11 female subjects performed several WRT's on an accelerating treadmill while their plantarflexors were assisted or resisted during push off. The WRT speed was lower in the resist condition than in the control condition which reinforces hypotheses from previous simulations, descriptive and experimental studies. There was no increase in WRT speed in the assist condition which is in contrast to another study where the plantarflexor push off was assisted indirectly by a horizontal traction at waist level. The lack of effect from the assist condition in the present study is possibly due to the narrowly focused nature of the experimental manipulation.

External Forces during Actual Acceleration across Transition Speed

The purpose of this study was to examine the kinetics of the walk-to-run transition (WRT) and run-to-walk transition (RWT), when accelerating or decelerating across transition speed (a = 0.17 m.s-2). Nine women performed gait transitions on a 50-m-long walkway. Vertical ground reaction forces (GRFs) and the center of pressure (COP) were examined in the range from 3 steps before to 3 steps after transition in order to identify the possible occurrence of a transition process, in order to facilitate the actual realization of transition. The actual transition is realized in one step, during WRT and RWT. This transition step was characterized by an outlying vertical GRF and COP trajectory (deviating from walking and running). Despite this clear discontinuity, a transitional adaptation period (process) appeared in both transitions. In the WRT, transition was prepared and kinetic adaptations were found in the last step before transition. The RWT was pre- and "post"-pared and only completed during the first walking step after transition. Thus, the WRT and RWT are two distinct phenomena, with different kinetics.

Experimental study of the influence of the m. tibialis anterior on the walk-to-run transition by means of a powered ankle-foot exoskeleton

The purpose of this study was to investigate the role of the tibialis anterior (TA) in the walk-to-run transition (WRT) by means of an experimental manipulation that allows increasing or decreasing muscular effort of the TA around heel contact. Eight subjects performed five WRTs on an accelerating treadmill wearing a powered ankle-foot exoskeleton. There was a trend towards a lower WRT-speed in the condition in which the TA was resisted (2.06 ± 0.09 m s −1) than in the control condition (2.10 ± 0.10 m s −1). This finding could not be extrapolated in the opposite direction, as there was no significant difference between the assist and control condition. The TA activation burst around heel contact showed a pattern that led to the hypothesis that the TA activation reaches a critical level at the fourth last heel contact before the WRT which triggers the WRT. The fact that the results comply with previous transition studies emphasises the role of the TA as a determinant of the WRT.

Kinematics of the transition between walking and running when gradually changing speed

The purpose of this study was to examine kinematics of the walk-to-run transition (WRT) and run-to-walk transition (RWT) when speed is altered with a constant acceleration of 0.1 m s −2, respectively −0.1 m s −2. Thirteen women (height: 168.9 ± 3.36 cm) performed gait transitions on a motor-driven treadmill. WRT-speed was 2.16 ± 0.12 m s −1, RWT-speed 2.19 ± 0.12 m s −1. Kinematics were examined in the range from eight steps before to eight steps after transition in order to identify the possible occurrence of a transition process to facilitate the actual realization of transition. A transition step in which the main changes from one gait to another are realized is present in WRT and RWT. Despite this clear discontinuity, a transition process also appeared in both transitions. In the WRT, transition was prepared and kinematic adaptations were found in the last swing before transition leading to altered landing conditions. During RWT posttransition changes were observed and RWT was only completed after reorientation of the trunk in the first walking stride after transition. A noteworthy finding was that spatiotemporal (presence of a flight phase), kinematic (knee flexion) and energetic (kinetic and gravitational potential energy fluctuating in-phase versus out-of-phase) criteria to define transition stride correspond to each other. Furthermore, a functional interlimb asymmetry was recognized as a unique characteristic of the transition stride, offering a fourth way of identifying the transition stride.

Influence of M. tibialis anterior fatigue on the walk-to-run and run-to-walk transition in non-steady state locomotion

The purpose of this study was to examine the influence of muscular fatigue of tibialis anterior (TA) on the walk-to-run transition (WRT) and run-to-walk transition (RWT) when speed is altered at different constant accelerations ( a = 0.01, 0.07 and 0.05 m s −2). Twenty women (height: 168.9 ± 3.36 cm) performed WRTs and RWTs on a motor-driven treadmill, before and after a protocol inducing muscular fatigue of the TA. WRT-speed decreased after TA fatigue whereas RWT-speed did not change except during the intermediate deceleration. Integrated EMG (iEMG) of the activity burst of TA around heel contact was examined in the last steps before transition, the transition step and the first steps after transition. iEMG increased before WRT, then decreased after transition to running. In the RWT the opposite was observed: iEMG increased after RWT, then decreased with decreasing walking speed. After inducing fatigue in the TA, there was a decrease in iEMG in the WRT whereas no influence of fatigue was found on iEMG in the RWT. As a result of TA fatigue, WRT occurred at a lower speed, probably to avoid over-exertion of the TA. This indicates that the TA is a likely determinant of WRT as previously reported. The RWT, on the other hand, was not altered following TA fatigue, which would indicate that WRT and RWT are determined by different factors.

Spatiotemporal characteristics of the walk-to-run and run-to-walk transition when gradually changing speed

The purpose of this study was to examine spatiotemporal parameters of the walk-to-run transition (WRT) and run-to-walk transition (RWT) when speed is altered with different constant accelerations. Twenty women (height: 168.9+/-3.36cm) performed three accelerations (0.05, 0.07 and 0.1ms(-2)) and three decelerations (-0.05, -0.07 and -0.1ms(-2)) on a motor-driven treadmill. The transition step in the WRT (first step with a flight phase) and RWT (first step with a double stance phase) occurred at the same speed for all accelerations but these did not occur in the same way. The most striking difference was the presence of a transition step with specific spatiotemporal characteristics in the WRT, whereas this was not observed in the RWT. The transition is not a sudden one-step-event. WRT occurred before transition and consisted of a "pre-transition period" and the transition step whereas RWT occurred after transition and consisted of the transition step and a "post-transition period". Both transition periods were characterized by an exponential evolution of step frequency and step length. Step frequency and step length showed a linear evolution before and after transition. The flight phase of the transition step in the WRT reached a minimum with comparable duration of the last flight phase in the RWT. The flight phase could be considered as an intrinsic dynamical factor of transition. Further research in kinematics, the trajectory of the body centre of mass and energy fluctuations will give more insight in these transitions.