Walking speed changes in response to novel user-driven treadmill control

Implementing user-driven treadmill control in gait training programs for rehabilitation may be an effective means of enhancing motor learning and improving functional performance. This study aimed to determine the effect of a user-driven treadmill control scheme on walking speeds, anterior ground reaction forces (AGRF), and trailing limb angles (TLA) of healthy adults. Twenty-three participants completed a 10-m overground walking task to measure their overground self-selected (SS) walking speeds. Then, they walked at their SS and fastest comfortable walking speeds on an instrumented split-belt treadmill in its fixed speed and user-driven control modes. The user-driven treadmill controller combined inertial-force, gait parameter, and position based control to adjust the treadmill belt speed in real time. Walking speeds, peak AGRF, and TLA were compared among test conditions using paired t-tests (α = 0.05). Participants chose significantly faster SS and fast walking speeds in the user-driven mode than the fixed speed mode (p > 0.05). There was no significant difference between the overground SS walking speed and the SS speed from the user-driven trials (p < 0.05). Changes in AGRF and TLA were caused primarily by changes in walking speed, not the treadmill controller. Our findings show the user-driven treadmill controller allowed participants to select walking speeds faster than their chosen speeds on the fixed speed treadmill and similar to their overground speeds. Since user-driven treadmill walking increases cognitive activity and natural mobility, these results suggest user-driven treadmill control would be a beneficial addition to current gait training programs for rehabilitation.     

High-speed running performance: a new approach to assessment and prediction.

We hypothesized that all-out running speeds for efforts lasting from a few seconds to several minutes could be accurately predicted from two measurements: the maximum respective speeds supported by the anaerobic and aerobic powers of the runner. To evaluate our hypothesis, we recruited seven competitive runners of different event specialties and tested them during treadmill and overground running on level surfaces. The maximum speed supported by anaerobic power was determined from the fastest speed that subjects could attain for a burst of eight steps (approximately 3 s or less). The maximum speed supported by aerobic power, or the velocity at maximal oxygen uptake, was determined from a progressive, discontinuous treadmill test to failure. All-out running speeds for trials of 3-240 s were measured during 10-13 constant-speed treadmill runs to failure and 4 track runs at specified distances. Measured values of the maximum speeds supported by anaerobic and aerobic power, in conjunction with an exponential constant, allowed us to predict the speeds of all-out treadmill trials to within an average of 2.5% (R2 = 0.94; n = 84) and track trials to within 3.4% (R2 = 0.86; n = 28). An algorithm using this exponent and only two of the all-out treadmill runs to predict the remaining treadmill trials was nearly as accurate (average = 3.7%; R2 = 0.93; n = 77). We conclude that our technique 1) provides accurate predictions of high-speed running performance in trained runners and 2) offers a performance assessment alternative to existing tests of anaerobic power and capacity.     

Walking speed estimation using a shank-mounted inertial measurement unit

We studied the feasibility of estimating walking speed using a shank-mounted inertial measurement unit. Our approach took advantage of the inverted pendulum-like behavior of the stance leg during walking to identify a new method for dividing up walking into individual stride cycles and estimating the initial conditions for the direct integration of the accelerometer and gyroscope signals. To test its accuracy, we compared speed estimates to known values during walking overground and on a treadmill. The speed estimation method worked well across treadmill speeds and slopes yielding a root mean square speed estimation error of only 7%. It also worked well during overground walking with a 4% error in the estimated travel distance. This accuracy is comparable to that achieved from foot-mounted sensors, providing an alternative in sensor positioning for walking speed estimation. Shank mounted sensors may be of great benefit for estimating speed in walking with abnormal foot motion and for the embedded control of knee-mounted devices such as prostheses and energy harvesters.     

IMU-based ambulatory walking speed estimation in constrained treadmill and overground walking

This study evaluated the performance of a walking speed estimation system based on using an inertial measurement unit (IMU), a combination of accelerometers and gyroscopes. The walking speed estimation algorithm segments the walking sequence into individual stride cycles (two steps) based on the inverted pendulum-like behaviour of the stance leg during walking and it integrates the angular velocity and linear accelerations of the shank to determine the displacement of each stride. The evaluation was performed in both treadmill and overground walking experiments with various constraints on walking speed, step length and step frequency to provide a relatively comprehensive assessment of the system. Promising results were obtained in providing accurate and consistent walking speed/step length estimation in different walking conditions. An overall percentage root mean squared error (%RMSE) of 4.2 and 4.0% was achieved in treadmill and overground walking experiments, respectively. With an increasing interest in understanding human walking biomechanics, the IMU-based ambulatory system could provide a useful walking speed/step length measurement/control tool for constrained walking studies.     

A comparison of three-dimensional breast displacement and breast comfort during overground and treadmill running

Comparisons of breast support requirements during overground and treadmill running have yet to be explored. The purpose of this study was to investigate 3D breast displacement and breast comfort during overground and treadmill running. Six female D cup participants had retro-reflective markers placed on the nipples, anterior superior iliac spines and clavicles. Five ProReflex infrared cameras (100 Hz) measured 3D marker displacement in four breast support conditions. For overground running, participants completed 5 running trials (3.1 m/s ± 0.1 m/s) over a 10 m indoor runway; for treadmill running, speed was steadily increased to 3.1 m/s and 5 gait cycles were analyzed. Subjective feedback on breast discomfort was collected using a visual analog scale. Running modality had no significant effect on breast displacement (p > .05). Moderate correlations (r = .45 to .68, p < .05) were found between breast discomfort and displacement. Stride length (m) and frequency (Hz) did not differ (p < .05) between breast support conditions or running modalities. Findings suggest that breast motion studies that examine treadmill running are applicable to overground running.     

IMU-based ambulatory walking speed estimation in constrained treadmill and overground walking

This study evaluated the performance of a walking speed estimation system based on using an inertial measurement unit (IMU), a combination of accelerometers and gyroscopes. The walking speed estimation algorithm segments the walking sequence into individual stride cycles (two steps) based on the inverted pendulum-like behaviour of the stance leg during walking and it integrates the angular velocity and linear accelerations of the shank to determine the displacement of each stride. The evaluation was performed in both treadmill and overground walking experiments with various constraints on walking speed, step length and step frequency to provide a relatively comprehensive assessment of the system. Promising results were obtained in providing accurate and consistent walking speed/step length estimation in different walking conditions. An overall percentage root mean squared error (%RMSE) of 4.2 and 4.0% was achieved in treadmill and overground walking experiments, respectively. With an increasing interest in understanding human walking biomechanics, the IMU-based ambulatory system could provide a useful walking speed/step length measurement/control tool for constrained walking studies.     

The number of strides required for treadmill running gait analysis is unaffected by either speed or run duration

Participation in running events has increased recently, with a concomitant increase in the rate of running related injuries (RRI). Mechanical overload is thought to be a primary cause of RRI, it is often detected using motion analysis to examine running mechanics during either overground or treadmill running. In treadmill running, no clear consensus for the number of strides required to establish stable kinematic data exists. The aim of this study was to establish the number of strides needed for stable data when analysing gait kinematics in the stance phase of treadmill running. Twenty healthy, masters age group, club runners completed a high intensity interval training run (HIIT) and an energy-expenditure matched medium intensity continuous run (MICR). Thirty consecutive strides at start and end of each run were identified. Sequential averaging was employed to determine the number of strides required to establish a stable value. No significant differences existed in the number of strides required to achieve stable values. Twenty consecutive strides are required to be 95% confident stable values exist for maximum angle, angle at initial foot contact, and range of motion at the ankle, knee, and hip joints variables at the ankle, knee, and hip joints, in all three planes of motion, and spatiotemporal regardless of running speed and time of capture.     

The reliability and validity of short-distance sprint performance assessed on a nonmotorized treadmill

This study examined the interday and intraday reliabilities and validities of various sprint performance variables on a nonmotorized treadmill (NMT) over distances of 10, 20, and 30 m. After habituation, 12 male team-sport players performed 3 sprints on the NMT on 2 separate days and an assessment of overground running performance, separated by 24 hours. Measurements included sprint times, mean and peak sprint speeds, and step length and frequency. Data analysis revealed no significant mean differences (p > 0.05) between NMT variables recorded on the same day or between days. Ratio limits of agreement indicated that the best levels of agreement were in 20-m (1.02 ×/÷ 1.09) and 30-m (1.02 ×/÷ 1.07) sprint times, peak (1.00 ×/÷ 1.06) and mean (0.99 ×/÷ 1.07) running speed, and step length (0.99 ×/÷ 1.09) and frequency (1.01 ×/÷ 1.06). The poorest agreement was observed for time to peak running speed (1.10 ×/÷ 1.47). These reliability statements were reinforced by coefficients of variation being <5% for all the variables except time to peak running speed (11%). Significant differences (p < 0.05) were observed between NMT and overground sprint times across all distances, with times being lower (faster) by approximately 25-30% overground. The correlations between NMT and overground variables were generally modest (0.44-0.67), and optimal for time to cover 30 m on day 2. Our data support NMT ergometry as a reliable tool for most of the sprint performance variables measured and reveal that the fastest 30-m overground sprinters were likely to be identifiable via NMT ergometry.     

Mechanical model for theoretical determination of maximum running speed in mammals

A mechanical model for the determination of maximum speed in terrestrial tetrapods, designed for application to extinct species, is proposed. Only external bone measures and average body mass estimations are used as input data, and the hypothesis is made that leg bones are strong enough to endure the stress of running at maximum speed at a certain universal safety factor. The model is applied to a broad sample of living mammalian species to test its predictive power, and it is found to provide very good estimates of maximum running speed.     

Can treadmill walking be used to assess propulsion generation?

Instrumented treadmills offer significant advantages for analysis of human locomotion, including recording consecutive steady-state gait cycles, precisely controlling walking speed, and avoiding force plate targeting. However, some studies of hemiparetic walking on a treadmill have suggested that the moving treadmill belt may fundamentally alter propulsion mechanics. Any differences in propulsion mechanics during treadmill walking would be problematic since recent studies assessing propulsion have provided fundamental insight into hemiparetic walking. The purpose of this study was to test the hypothesis that there would be no difference in the generation of anterior/posterior (A/P) propulsion by performing a carefully controlled comparison of the A/P ground reaction forces (GRFs) and impulses in healthy adults during treadmill and overground walking. Gait data were collected from eight subjects walking overground and on a treadmill with speed and cadence controlled. Peak negative and positive horizontal GRFs in early and late stance, respectively, were reduced by less than 5% of body weight (p<0.05) during treadmill walking compared to overground walking. The magnitude of the braking impulse was similarly lower (p<0.05) during treadmill walking, but no significant difference was found between propulsion impulses. While there were some subtle differences in A/P GRFs between overground and treadmill walking, these results suggest there is no fundamental difference in propulsion mechanics. We conclude that treadmill walking can be used to investigate propulsion generation in healthy and by implication clinical populations.     

Speed training with body weight unloading improves walking energy cost and maximal speed in 75- to 85-year-old healthy women.

This randomized controlled study was designed to prove the hypothesis that a novel approach to high-speed interval training, based on walking on a treadmill with the use of body weight unloading (BWU), would have improved energy cost and speed of overground walking in healthy older women. Participants were randomly assigned to either the exercise group (n = 11, 79.6 +/- 3.7 yr, mean +/- SD) or the nonintervention control group (n = 11, 77.6 +/- 2.3 yr). During the first 6 wk, the exercise group performed walking interval training on the treadmill with 40% BWU at the maximal walking speed corresponding to an intensity close to heart rate at ventilatory threshold (T(vent) walking speed). Each session consisted of four sets of 5 min of walking (three 1-min periods at T(vent) walking speed, with two 1-min intervals at comfortable walking speed in between each period at T(vent) walking speed) with 1-min interval between each set. Speed was increased session by session until the end of week 6. BWU was then progressively reduced to 10% during the last 6 wk of intervention. After 12 wk, the walking energy cost per unit of distance at all self-selected overground walking speeds (slow, comfortable, and fast) was significantly reduced in the range from 18 to 21%. The exercise group showed a 13% increase in maximal walking speed and a 67% increase in mechanical power output at T(vent) after the training program. The novel "overspeed" training approach has been demonstrated to be effective in improving energy cost and speed of overground walking in healthy older women.     

Varying treadmill speed and inclination affects spontaneous synchronization when two individuals walk side by side

Studying spontaneous synchronization of stepping as two individuals walk on side-by-side treadmills may be useful for understanding the control of bipedal locomotion and may have implications for gait rehabilitation. Existing data suggest that this behavior is related to differences in leg length, walkway slope, and overground speed between partners, and might be promoted by altering these variables. This idea was evaluated here as 24 pairs of subjects stepped on side-by-side treadmills under several conditions of relative speed and slope. Overall, pairings that demonstrated very little spontaneous synchronization with the same treadmill speed and slope exhibited significant increases in this behavior when one treadmill was manipulated. Conversely, pairings that demonstrated a tendency to synchronize under normal conditions exhibited significant decreases in this behavior when either treadmill was altered.     

Comparison of lower extremity kinematic curves during overground and treadmill running

Researchers conduct gait analyses utilizing both overground and treadmill modes of running. Previous studies comparing these modes analyzed discrete variables. Recently, techniques involving quantitative pattern analysis have assessed kinematic curve similarity in gait. Therefore, the purpose of this study was to compare hip, knee and rearfoot 3-D kinematics between overground and treadmill running using quantitative kinematic curve analysis. Twenty runners ran at 3.35 m/s ± 5% during treadmill and overground conditions while right lower extremity kinematics were recorded. Kinematics of the hip, knee and rearfoot at footstrike and peak were compared using intraclass correlation coefficients. Kinematic curves during stance phase were compared using the trend symmetry method within each subject. The overall average trend symmetry was high, 0.94 (1.0 is perfect symmetry) between running modes. The transverse plane and knee frontal plane exhibited lower similarity (0.86-0.90). Other than a 4.5 degree reduction in rearfoot dorsiflexion at footstrike during treadmill running, all differences were ≤1.5 degrees. 17/18 discrete variables exhibited modest correlations (>0.6) and 8/18 exhibited strong correlations (>0.8). In conclusion, overground and treadmill running kinematic curves were generally similar when averaged across subjects. Although some subjects exhibited differences in transverse plane curves, overall, treadmill running was representative of overground running for most subjects.     

Modular Control of Treadmill vs Overground Running

Motorized treadmills have been widely used in locomotion studies, although a debate remains concerning the extrapolation of results obtained from treadmill experiments to overground locomotion. Slight differences between treadmill (TRD) and overground running (OVG) kinematics and muscle activity have previously been reported. However, little is known about differences in the modular control of muscle activation in these two conditions. Therefore, we aimed at investigating differences between motor modules extracted from TRD and OVG by factorization of multi-muscle electromyographic (EMG) signals. Twelve healthy men ran on a treadmill and overground at their preferred speed while we recorded tibial acceleration and surface EMG from 11 ipsilateral lower limb muscles. We extracted motor modules representing relative weightings of synergistic muscle activations by non-negative matrix factorization from 20 consecutive gait cycles. Four motor modules were sufficient to accurately reconstruct the EMG signals in both TRD and OVG (average reconstruction quality = 92±3%). Furthermore, a good reconstruction quality (80±7%) was obtained also when muscle weightings of one condition (either OVG or TRD) were used to reconstruct the EMG data from the other condition. The peak amplitudes of activation signals showed a similar timing (pattern) across conditions. The magnitude of peak activation for the module related to initial contact was significantly greater for OVG, whereas peak activation for modules related to leg swing and preparation to landing were greater for TRD. We conclude that TRD and OVG share similar muscle weightings throughout motion. In addition, modular control for TRD and OVG is achieved with minimal temporal adjustments, which were dependent on the phase of the running cycle.     

Critical swimming speed: its ecological relevance.

Critical swimming speed (U(crit)) is a standard measurement to assess swimming capabilities of fishes. To conduct this measurement a fish is introduced into a water tunnel in which the current velocity can be controlled by the investigator. At the beginning of the measurement water velocity is low, approximately 1 body length (BL) s(-1), and is then incrementally increased at prescribed intervals. Fishes tend to maintain their position in the water tunnel against the current until fatigue sets in. The time and velocity at which the fish fatigue are used to calculate the critical swimming speed. This procedure is widely used to assess the effects of environmental conditions and pollutants on fish performance. Since the procedure is conducted in conditions that are far from representing most natural environment experienced by fishes, doubts have been raised about its ecological and ecophysiological relevance. Few studies examined correlations between critical swimming speed and traits that seem to be more ecologically relevant. Positive correlations were found between U(crit) and routine activity, metabolic rates and body size of open water, planktivorous fishes, metabolic rates and body size. These data indirectly suggest ecological relevancy of U(crit), but direct measurements relating U(crit) to reproductive success or survival are required to assess such relevancy.     

Dynamic gait stability of treadmill versus overground walking in young adults

Treadmill has been broadly used in laboratory and rehabilitation settings for the purpose of facilitating human locomotion analysis and gait training. The objective of this study was to determine whether dynamic gait stability differs or resembles between the two walking conditions (overground vs. treadmill) among young adults. Fifty-four healthy young adults (age: 23.9 ± 4.7 years) participated in this study. Each participant completed five trials of overground walking followed by five trials of treadmill walking at a self-selected speed while their full body kinematics were gathered by a motion capture system. The spatiotemporal gait parameters and dynamic gait stability were compared between the two walking conditions. The results revealed that participants adopted a “cautious gait” on the treadmill compared with over ground in response to the possible inherent challenges to balance imposed by treadmill walking. The cautious gait, which was achieved by walking slower with a shorter step length, less backward leaning trunk, shortened single stance phase, prolonged double stance phase, and more flatfoot landing, ensures the comparable dynamic stability between the two walking conditions. This study could provide insightful information about dynamic gait stability control during treadmill ambulation in young adults.     

Humans control stride-to-stride stepping movements differently for walking and running,independent of speed

As humans walk or run, external (environmental) and internal (physiological) disturbances induce variability. How humans regulate this variability from stride-to-stride can be critical to maintaining balance. One cannot infer what is “controlled” based on analyses of variability alone. Assessing control requires quantifying how deviations are corrected across consecutive movements. Here, we assessed walking and running, each at two speeds. We hypothesized differences in speed would drive changes in variability, while adopting different gaits would drive changes in how people regulated stepping. Ten healthy adults walked/ran on a treadmill under four conditions: walk or run at comfortable speed, and walk or run at their predicted walk-to-run transition speed. Time series of relevant stride parameters were analyzed to quantify variability and stride-to-stride error-correction dynamics within a Goal-Equivalent Manifold (GEM) framework. In all conditions, participants’ stride-to-stride control respected a constant-speed GEM strategy. At each consecutively faster speed, variability tangent to the GEM increased (p ≤ 0.031), while variability perpendicular to the GEM decreased (p ≤ 0.044). There were no differences (p ≥ 0.999) between gaits at the transition speed. Differences in speed determined how stepping variability was structured, independent of gait, confirming our first hypothesis. For running versus walking, measures of GEM-relevant statistical persistence were significantly less (p ≤ 0.004), but showed minimal-to-no speed differences (0.069 ≤ p ≤ 0.718). When running, people corrected deviations both more quickly and more directly, each indicating tighter control. Thus, differences in gait determined how stride-to-stride fluctuations were regulated, independent of speed, confirming our second hypothesis.     

Determination of toe-off event time during treadmill locomotion using kinematic data

Researchers collecting gait kinematic data during treadmill locomotion are often interested in determining the times of toe off and heel strike for each stride. In the absence of additional hardware, only position data collected with motion-capture equipment may be available. Others have published methods for using kinematic data for detecting overground gait events. However, during treadmill locomotion, especially running, overground methods may not possess sufficient accuracy. The purpose of this paper is to describe a method for using kinematic data to determine the time of toe off during treadmill locomotion. Ten subjects walked and ran on a treadmill while a motion-capture system collected positional data from heel and toe markers. The treadmill was equipped with force platforms that allowed an accurate determination of foot-ground contact. The time of toe off was determined using the vertical component of the toe marker, and this method was found to have greater accuracy for event detection than other published methods. Researchers can use the described method to determine times of heel strike and toe off during treadmill locomotion using only kinematic data.     

Limited Transfer of Newly Acquired Movement Patterns across Walking and Running in Humans

The two major modes of locomotion in humans, walking and running, may be regarded as a function of different speed (walking as slower and running as faster). Recent results using motor learning tasks in humans, as well as more direct evidence from animal models, advocate for independence in the neural control mechanisms underlying different locomotion tasks. In the current study, we investigated the possible independence of the neural mechanisms underlying human walking and running. Subjects were tested on a split-belt treadmill and adapted to walking or running on an asymmetrically driven treadmill surface. Despite the acquisition of asymmetrical movement patterns in the respective modes, the emergence of asymmetrical movement patterns in the subsequent trials was evident only within the same modes (walking after learning to walk and running after learning to run) and only partial in the opposite modes (walking after learning to run and running after learning to walk) (thus transferred only limitedly across the modes). Further, the storage of the acquired movement pattern in each mode was maintained independently of the opposite mode. Combined, these results provide indirect evidence for independence in the neural control mechanisms underlying the two locomotive modes.     

A feedback-controlled treadmill (treadmill-on-demand) and the spontaneous speed of walking and running in humans.

A novel apparatus, composed by a controllable treadmill, a computer, and an ultrasonic range finder, is here proposed to help investigation of many aspects of spontaneous locomotion. The acceleration or deceleration of the subject, detected by the sensor and processed by the computer, is used to accelerate or decelerate the treadmill in real time. The system has been used to assess, in eight subjects, the self-selected speed of walking and running, the maximum "reasonable" speed of walking, and the minimum reasonable speed of running at different gradients (from level up to +25%). This evidenced the speed range at which humans neither walk nor run, from 7.2 +/- 0.6 to 8.4 +/- 1.1 km/h for level locomotion, slightly narrowing at steeper slopes. These data confirm previous results, obtained indirectly from stride frequency recordings. The self-selected speed of walking decreases with increasing gradient (from 5.0 +/- 0.8 km/h at 0% to 3.0 +/- 0.9 km/h at +25%) and seems to be approximately 30% higher than the speed that minimizes the metabolic energy cost of walking, obtained from the literature, at all the investigated gradients. The advantages, limitations, and potential applications of the newly proposed methodology in physiology, biomechanics, and pathology of locomotion are discussed in this paper.