Lower extremity control during turns initiated with and without hip external rotation

The pirouette turn is often initiated in neutral and externally rotated hip positions by dancers. This provides an opportunity to investigate how dancers satisfy the same mechanical objectives at the whole-body level when using different leg kinematics. The purpose of this study was to compare lower extremity control strategies during the turn initiation phase of pirouettes performed with and without hip external rotation. Skilled dancers (n=5) performed pirouette turns with and without hip external rotation. Joint kinetics during turn initiation were determined for both legs using ground reaction forces (GRFs) and segment kinematics. Hip muscle activations were monitored using electromyography. Using probability-based statistical methods, variables were compared across turn conditions as a group and within-dancer. Despite differences in GRFs and impulse generation between turn conditions, at least 90% of each GRF was aligned with the respective leg plane. A majority of the net joint moments at the ankle, knee, and hip acted about an axis perpendicular to the leg plane. However, differences in shank alignment relative to the leg plane affected the distribution of the knee net joint moment when represented with respect to the shank versus the thigh. During the initiation of both turns, most participants used ankle plantar flexor moments, knee extensor moments, flexor and abductor moments at the push leg׳s hip, and extensor and abductor moments at the turn leg׳s hip. Representation of joint kinetics using multiple reference systems assisted in understanding control priorities.     

Reduced knee joint moment in ACL deficient patients at a cost of dynamic stability during landing

The current study aimed to examine the effect of anterior cruciate ligament deficiency (ACLd) on joint kinetics and dynamic stability control after a single leg hop test (SLHT). Twelve unilateral ACLd patients and a control subject group (n=13) performed a SLHT over a given distance with both legs. The calculation of joint kinetics was done by means of a soft-tissue artifact optimized rigid full-body model. Margin of stability (MoS) was quantified by the difference between the base of support and the extrapolated center of mass. During landing, the ACLd leg showed lower external knee flexion moments but demonstrated higher moments at the ankle and hip compared to controls (p<0.05). The main reason for the joint moment redistribution in the ACLd leg was a more anterior position of the ground reaction force (GRF) vector, which affected the moment arms of the GRF acting about the joints (p<0.05). For the ACLd leg, trunk angle was more flexed over the entire landing phase compared to controls (p<0.05) and we found a significant correlation between moment arms at the knee joint and trunk angle (r2 = 0.48;p<0.01). The consequence of this altered landing strategy in ACLd legs was a more anterior position of the center of mass reducing the MoS (p<0.05). The results illustrate the interaction between trunk angle, joint kinetics and dynamic stability during landing maneuvers and provide evidence of a feedforward adaptive adjustment in ACLd patients (i.e. more flexed trunk angle) aimed at reducing knee joint moments at the cost of dynamic stability control.     

Influence of a movable support under one leg on human vertical posture during standing with asymmetrical load on legs

Changes in the vertical posture maintenance were studied when the legs were placed on supports of different degrees of mobility and part of the body weight was voluntarily transferred to one leg. The aim of these experiments was to explore how the mobility of support under the feet affects the balance and how this effect depends on the load distribution between the legs during standing. When both legs were on rigid immovable supports, the vertical posture was maintained by control of the center of pressure (CP) on both legs. When the subject transferred the weight to one foot, the posture was maintained mainly due to the control of CP of the loaded leg. When the legs were on supports of different degrees of mobility, the balance was maintained by the leg on the immovable support. This result was observed both when the subject stood with symmetrical load on the legs and when the load was transferred to one leg. Even when the leg was unloaded but placed on the immovable support, its CP moved more compared to the CP of the loaded leg on a movable support. The results obtained show that the support mobility is a factor that determines the mechanisms of posture maintenance, and this factor is more significant than load distribution between the legs. Thus, the upright posture is maintained with the physical properties of support under the feet taken into account.     

Control of a Quadruped Robot with Bionic Springy Legs in Trotting Gait

Legged robots have better performance on discontinuous terrain than that of wheeled robots. However, the dynamic trotting and balance control of a quadruped robot is still a challenging problem, especially when the robot has multi-joint legs. This paper presents a three-dimensional model of a quadruped robot which has 6 Degrees of Freedom （DOF） on torso and 5 DOF on each leg. On the basis of the Spring-Loaded Inverted Pendulum （SLIP） model, body control algorithm is discussed in the first place to figure out how legs work in 3D trotting. Then, motivated by the principle of joint function separation and introducing certain biological characteristics, two joint coordination approaches are developed to produce the trot and provide balance. The robot reaches the highest speed of 2.0 m.s-1, and keeps balance under 250 Kg.m.s-1 lateral disturbance in the simulations. The effectiveness of these approaches is also verified on a prototype robot which runs to 0.83 m.s-1 on the treadmill, The simulations and experiments show that legged robots have good biological properties, such as the ground reaction force, and spring-like leg behavior.     

Stick insects walking on a wheel: Perturbations induced by obstruction of leg protraction

Summary Stick insects (Carausius morosus) walking on a wheel were perturbed by restricting the forward protraction of individual legs. A barrier placed before a single middle or rear leg prevented that leg from reaching its normal protraction endpoint but allowed it unimpeded retraction. Upon striking the barrier, the protracting leg attempted to get past it and thereby prolonged protraction. This prolongation increased with the extent to which the obstruction infringed upon the leg's normal step range. Barriers placed near the midpoint of this range elicited large perturbations: the blocked leg often continued its protraction throughout many step cycles of the other legs (Fig. 1 E, F). For the most part walking was irregular and smooth forward progression was disrupted. Nevertheless, the infrequent steps by the affected leg usually were coordinated with those of the adjacent ipsilateral legs.More rostral barrier positions elicited smaller perturbations: the blocked leg usually made one step in each step cycle of the other legs (Fig. 1 B, C, D, G). Measurements for these regular step sequences showed quantitatively that protraction duration increased in proportion to the severity of the infringement on normal leg movement (Figs. 3, 4). The fraction of the step period occupied by protraction increased from ca. 10% for normal walking to ca. 50% for caudal barrier positions. This proportionality is interpreted to show the importance of spatial components of the walking program.When one leg was obstructed, its extended protraction influenced the stepping of the three adjacent legs as follows. First, the ipsilateral rostral leg showed the largest change: its protraction onset was regularly delayed for the duration of the extended protraction (Figs. 4, 7, 8), demonstrating a strong, centrally mediated inhibition. The presence of a further delay of up to 100 to 140 ms suggests that peripheral input from the protracting leg may be important for releasing this inhibition. Second, steps by an adjacent caudal leg were not measurably affected. However, the method may not have sufficed to reveal such effects because during regular walking middle leg protractions rarely lasted long enough to conflict with subsequent steps by the ipsilateral rear leg. Third, contralateral effects differed between middle and rear leg obstructions. If the obstructed leg was a middle leg, its extended protraction had little effect upon stepping by the contralateral middle leg: the latter leg frequently protracted while the blocked leg continued its protraction and there was no consistent change in the phase relation of these two legs (Table 1). In contrast, if the obstructed leg was a rear leg, protractions by the contralateral rear leg tended to be delayed (Table 1).     

Coding proprioceptive information to control movement to a target: Simulation with a simple neural network

When the stick insect walks, the middle and rear legs step to positions immediately behind the tarsus of the adjacent rostral leg. Previous reports have described this movement to a target as a relationship between the tarsus positions of the two legs in a Cartesian coordinate system. However, leg proprioceptors measure the position of the target leg in terms of joint angles and leg muscles bring the tarsus of the moving leg to the proper end-point by establishing appropriate angles at the joints. Representation of this task in Cartesian coordinates requires non-linear coordinate transformations; realizing such a transformation in the nervous system appears to require many neurons. The present simulation using the back-propagation algorithm shows that a simple network of only nine units — 3 sensory input units, 3 motor output units, and 3 hidden units — suffices. The simulation also shows that an analytic coordinate transformation can be replaced by a direct association of joint configurations in the moving leg with those in the target leg.     

The effect of amputation and leg restraint on the free walking coordination of the stick insectCarausius morosus

Summary The stepping patterns of intact, amputated and leg restrained first instar stick insects were examined by analysing video tape records of their free walking behaviour. Amputation produced changes in the relative timing of protraction movements both along and across the body axis. Restraint of individual front or rear legs produced walking behaviour similar to that of the amputee animal but restraint of middle legs caused a breakdown in the coordination of front and rear legs. The changes in behaviour produced by leg autotomy and restraint were used to test certain assumptions of a model for generating the step pattern of these insects and to investigate how the tonic influence of proprioceptive input might be incorporated into the model.I would like to thank Professor P.N.R. Usherwood and Drs. M.D. Burns and W.J.P. Barnes for their comments and ideas on this work. A special acknowledgement goes to Dr. F. Delcomyn whose Fortran step analysis programs assisted greatly in the data reduction. I wish to thank S.R.C. for a returning scientist award and the support and equipment provided by grant B/SR/9774 to Professor Usherwood. A preliminary survey of some of the amputees was carried out at the Biology Department, Case Western Reserve University and I would like to acknowledge the support provided by a P.H.S. grant NB-06054 to Professor R.K. Josephson.     

Saxitoxin binding in nerves from walking legs of the lobster Homarus americanus. Two classes of receptors

The binding of exchange-labeled saxitoxin (STX) to sodium channels has been investigated in the nonmyelinated fibers of the walking leg nerves of the lobster. The properties of the STX binding site differed systematically among the nerves from different walking legs. The equilibrium dissociation constant for STX binding (KSTX) to the front legs is approximately twice that for the binding to the rear legs; the average ratio of KSTX (front): KSTX (rear) from five separate experiments was 1.80 +/- 0.21 (mean +/- SE). The actual KSTX values ranged from 124.0 to 22.7 nM for the front leg nerves and from 8.6 to 12.7 nM for the rear leg nerves. KSTX values for the middle two walking leg nerves fell between those for the front and rear legs. The inhibitory dissociation constant for tetrodotoxin (KTTX), calculated from tetrodotoxin's inhibition of labeled STX binding, was 3.02 +/- 0.27 nM for the front legs and 2.20 +/- 0.33 nM for the rear legs. The ratio KSTX: KTTX was different in the front and rear leg nerves, being 5.5 and 4.2, respectively. The apparent P pKa of the STX receptor also differed between the two legs, being 4.6 +/- 0.3 for the front legs and 5.1 +/- 0.1 for the rear legs. These results demonstrate that one tissue type in one organism can contain different toxin binding sites. The difference in the receptors can be qualitatively accounted for by the location of an additional negative charge near the receptor site of the rear walking leg.     

A dynamic model of thoracic differentiation for the control of turning in the stick insect

Leg movements of stick insects (Carausius morosus) making turns towards visual targets are examined in detail, and a dynamic model of this behaviour is proposed. Initial results suggest that front legs shape most of the body trajectory, while the middle and hind legs just follow external forces (Rosano H, Webb B, in The control of turning in real and simulated stick insects, vol. 4095, pp 145–156, 2006). However, some limitations of this explanation and dissimilarities in the turning behaviour of the insect and the model were found. A second set of behavioural experiments was made by blocking front tarsi to further investigate the active role of the other legs for the control of turning. The results indicate that it is necessary to have different roles for each pair of legs to replicate insect behaviour. We demonstrate that the rear legs actively rotate the body while the middle legs move sideways tangentially to the hind inner leg. Furthermore, we show that on average the middle inner and hind outer leg contribute to turning while the middle outer leg and hind inner leg oppose body rotation. These behavioural results are incorporated into a 3D dynamic robot simulation. We show that the simulation can now replicate more precisely the turns made by the stick insect. This work was supported by CONACYT México and the European Commission under project FP6-2003-IST2-004690 SPARK.     

Altered control strategy between leading and trailing leg increases knee adduction moment in the elderly while descending stairs

The aim of the study was to examine the external knee adduction moments in a group of older and younger adults while descending stairs and thus the possibility of an increased risk of knee osteoarthritis due to altered knee joint loading in the elderly. Twenty-seven older and 16 younger adults descended a purpose-built staircase. A motion capture system and a force plate were used to determine the subjects' 3D kinematics and ground reaction forces (GRF) during locomotion. Calculation of the leg kinematics and kinetics was done by means of a rigid, three-segment, 3D leg model. In the initial portion of the support phase, older adults showed a more medio-posterior GRF vector relative to the ankle joint, leading to lower ankle joint moments (P<0.05). At the knee, the older adults demonstrated a more medio-posterior directed GRF vector, increasing in knee flexion and adduction in the second part of the single support phase (P<0.05). Further, GRF magnitude was lower in the initial and higher in the mid-portions of the support phase for the elderly (P<0.05). The results show that older adults descend stairs by using the trailing leg before the initiation of the double support phase more compared to the younger ones. The consequence of this altered control strategy while stepping down is a more medially directed GRF vector increasing the magnitude of external knee adduction moment in the elderly. The observed changes between leading and trailing leg in the elderly may cause a redistribution of the mechanical load at the tibiofemoral joint, affecting the initiation and progression of knee osteoarthritis in the elderly.     

Control of leg protraction in the stick insect: a targeted movement showing compensation for externally applied forces

Summary In stick insects, the swing of each rear leg is aimed at the ipsilateral middle leg. The control of this targeted movement was investigated by applying external force to aid or oppose protraction of one rear leg as stick insects walked on a treadwheel.In the first condition studied, the target middle leg was stationary during the protraction of the rear leg (Figs. 1a, 2). The opposing forces tested were 14 and 32 times greater than the peak force exerted during unobstructed protraction. Nevertheless, the rear leg continued to step to a constant position behind the middle leg (Fig. 3).In the second condition, the target middle leg also walked on the wheel. As the force opposing protraction increased, the endpoint of rear leg protraction shifted caudally, the speed of protraction decreased, and the total protraction duration increased (Fig. 5; Table 1). The middle leg's position at the end of rear leg protraction shifted caudally but its posterior extreme position remained virtually unchanged. When the onset of the external force was abrupt, compensation often occurred within 20 ms (Fig. 6a).External forces aiding protraction increased protraction speed only slightly (Table 2). When the force was suddenly removed, the leg continued moving forward but with reduced velocity (Fig. 6b).It is concluded that position information is used only to determine the swing endpoint and that velocity is controlled during the movement. The results are compared with movements to a target by vertebrates and with models of motor control in general.Abbreviations AEP anterior extreme position - PEP posterior extreme position     

Effects of vibration intensity on lower limb joint moments during standing

Muscle activity and joint moment of the lower limbs can provide different information about the stimulation of controlled whole-body vibration (CWBV) on human body. Previous studies investigated the immediate effects of the intensity of CWBV on enhancing lower-limb muscle activity. However, no study has examined the possible influence of CWBV intensity on joint loading. It remains unexplored how CWBV intensity impacts joint loading. This study was carried out (1) to quantify the effects of CWBV intensity in terms of vibration frequency and amplitude on the lower limb joint moments and (2) to examine the relationship between leg joint moments and vibration intensity characterized by the platform’s acceleration, that is determined by frequency and amplitude, during standing among young adults. Thirty healthy young adults participated in this study. Each participant experienced nine vibration intensity levels dependent upon the frequency (10, 20, and 30 Hz) and amplitude (1, 2, and 3 mm) while standing on a side-alternating vibration platform. Their body kinematics and vertical reaction forces between the feet and platform were collected. Inverse dynamics was employed to calculate the resultant moment for the ankle, knee, and hip joints in the sagittal plane. Our results revealed that the root-mean-square moment significantly increases with increasing vibration frequency or amplitude for all three joints. Further, all joint moments are strongly and positively correlated with the platform acceleration.     

Fatigue injury risk in anterior cruciate ligament of target side knee during golf swing

A golf-related ACL injury can be linked with excessive golf play or practice because such over-use by repetitive golf swing motions can increase damage accumulation to the ACL bundles. In this study, joint angular rotations, forces, and moments, as well as the forces and strains on the ACL of the target-side knee joint, were investigated for ten professional golfers using the multi-body lower extremity model. The fatigue life of the ACL was also predicted by assuming the estimated ACL force as a cyclic load. The ACL force and strain reached their maximum values within a short time just after ball-impact in the follow-through phase. The smaller knee flexion, higher internal tibial rotation, increase of the joint compressive force and knee abduction moment in the follow-through phase were shown as to lead an increased ACL loading. The number of cycles to fatigue failure (fatigue life) in the ACL might be several thousands. It is suggested that the excessive training or practice of swing motion without enough rest may be one of factors to lead to damage or injury in the ACL by the fatigue failure. The present technology can provide fundamental information to understand and prevent the ACL injury for golf players.     

Effects of the Racket Polar Moment of Inertia on Dominant Upper Limb Joint Moments during Tennis Serve

This study examined the effect of the polar moment of inertia of a tennis racket on upper limb loading in the serve. Eight amateur competition tennis players performed two sets of 10 serves using two rackets identical in mass, position of center of mass and moments of inertia other than the polar moment of inertia (0.00152 vs 0.00197 kg.m²). An eight-camera motion analysis system collected the 3D trajectories of 16 markers, located on the thorax, upper limbs and racket, from which shoulder, elbow and wrist net joint moments and powers were computed using inverse dynamics. During the cocking phase, increased racket polar moment of inertia was associated with significant increases in the peak shoulder extension and abduction moments, as well the peak elbow extension, valgus and supination moments. During the forward swing phase, peak wrist extension and radial deviation moments significantly increased with polar moment of inertia. During the follow-through phase, the peak shoulder adduction, elbow pronation and wrist external rotation moments displayed a significant inverse relationship with polar moment of inertia. During the forward swing, the magnitudes of negative joint power at the elbow and wrist were significantly larger when players served using the racket with a higher polar moment of inertia. Although a larger polar of inertia allows players to better tolerate off-center impacts, it also appears to place additional loads on the upper extremity when serving and may therefore increase injury risk in tennis players.     

Tight turns in stick insects

We investigated insects Carausius morosus walking whilst hanging upside down along a narrow 3 mm horizontal beam. At the end of the beam, the animal takes a 180° turn. This is a difficult situation because substrate area is small and moves relative to the body during the turn. We investigated how leg movements are organised during this turn. A non-contact of either front leg appears to indicate the end of the beam. However, a turn can only begin if the hind legs stand in an appropriate position relative to each other; the outer hind leg must not be placed posterior to the inner hind leg. When starting the turn, both front legs are lifted and usually held in a relatively stable position and then the inner middle leg performs a swing-and-search movement: The leg begins a swing, which is continued by a searching movement to the side and to the rear, and eventually grasps the beam. At the same time the body is turned usually being supported by the outer middle leg and both hind legs. Then front legs followed by the outer middle leg reach the beam. A scheme describing the turns based on a few simple behavioural elements is proposed.     

Prediction of the loading along the leg during snow skiing.

The complete force and moment of each cross section of the leg between the ski boot top and the knee during normal skiing were predicted from measurements of the force and moment under the toe and heel of the boot and the flexion of the ankle. The force and moment components predicted at the base of the boot were significantly different from those predicted at sites of potential injury at the boot top and the knee. The maximum torsional and maximum varus-valgus moments predicted at the knee over all subjects tested were 70 Nm and 149 Nm, which are within the estimated range of the ultimate strength of the knee without support from contracted muscles crossing the knee. Regression analyses were used to find the force components at the base of the boot that best predict the bending and torsional moments at the boot top and knee. The torsional moments at the boot top and knee are best predicted by the medial-lateral force at the toe. The varus-valgus moment at the boot top and knee are best predicted by the resultant medial-lateral force component at the base of the boot. The set of best predictors of the anterior-posterior bending moments at the boot top and knee includes the vertical force at the toe, the vertical force at the heel and the component of the total vertical force directed perpendicular to the leg.     

Does a crouched leg posture enhance running stability and robustness?

Humans and birds both walk and run bipedally on compliant legs. However, differences in leg architecture may result in species-specific leg control strategies as indicated by the observed gait patterns. In this work, control strategies for stable running are derived based on a conceptual model and compared with experimental data on running humans and pheasants (Phasianus colchicus). From a model perspective, running with compliant legs can be represented by the planar spring mass model and stabilized by applying swing leg control. Here, linear adaptations of the three leg parameters, leg angle, leg length and leg stiffness during late swing phase are assumed. Experimentally observed kinematic control parameters (leg rotation and leg length change) of human and avian running are compared, and interpreted within the context of this model, with specific focus on stability and robustness characteristics. The results suggest differences in stability characteristics and applied control strategies of human and avian running, which may relate to differences in leg posture (straight leg posture in humans, and crouched leg posture in birds). It has been suggested that crouched leg postures may improve stability. However, as the system of control strategies is overdetermined, our model findings suggest that a crouched leg posture does not necessarily enhance running stability. The model also predicts different leg stiffness adaptation rates for human and avian running, and suggests that a crouched avian leg posture, which is capable of both leg shortening and lengthening, allows for stable running without adjusting leg stiffness. In contrast, in straight-legged human running, the preparation of the ground contact seems to be more critical, requiring leg stiffness adjustment to remain stable. Finally, analysis of a simple robustness measure, the normalized maximum drop, suggests that the crouched leg posture may provide greater robustness to changes in terrain height.     

Comparative Study on Biomechanics of Two Legs in the Action of Single-Leg Landing in Men’s Badminton

This study aims to analyze the biomechanical difference between the two legs of male badminton players when they land on one leg, thereby providing some guidance for preventing sports injury. Ten male badminton players were selected as the subjects. They did the single-leg landing movement successfully three times. The kinematic data were obtained by the Vicon infrared high-speed motion capture system. The kinetic data were obtained by the KISTLER three-dimensional forcing measuring platform. The data were processed and analyzed. The center of gravity of the right leg on the X and Y axes were 0.25 ± 0.05 and 0.21 ± 0.04 m, respectively, which were lower than that of the left leg (p < 0.05). At the moment of landing by a single leg, the hip angle of the left and right legs was 164.78 ± 6.12° and 156.29 ± 6.89°, respectively (p < 0.05), the hip joint speed of the left and right legs was 2.21 ± 0.32 and 1.98 ± 0.31 m/s, respectively (p < 0.05), the knee joint speed of the left and right legs was 2.51 ± 0.21 and 2.21 ± 0.21 m/s, respectively (p < 0.05). Although there was no significant difference in the range of joint motion, the motion range of the right leg was larger than that of the left leg, and the buffering time of the knee joint of the right leg was also significantly less than that of the left leg. The comparison of the kinetic data demonstrated that the ground reaction force (GRF), peak vertical ground reaction force (PVGRF), and lower limb stiffness of the right leg were significantly smaller than those of the left leg, and the time to peak force was greater than that of the left leg (p < 0.05). The injury risk of the left leg is greater than that of the right leg when the athlete land on a single leg. In the process of training, the athlete should strengthen the stability training of two legs, especially the left leg, in order to reduce sports injury.     

Stable operation of an elastic three-segment leg

Quasi-elastic operation of joints in multi-segmented systems as they occur in the legs of humans, animals, and robots requires a careful tuning of leg properties and geometry if catastrophic counteracting operation of the joints is to be avoided. A simple three-segment model has been used to investigate the segmental organization of the leg during repulsive tasks like human running and jumping. The effective operation of the muscles crossing the knee and ankle joints is described in terms of rotational springs. The following issues were addressed in this study: (1) how can the joint torques be controlled to result in a spring-like leg operation? (2) how can rotational stiffnesses be adjusted to leg-segment geometry? and (3) to what extend can unequal segment lengths and orientations be advantageous? It was found that: (1) the three-segment leg tends to become unstable at a certain amount of bending expressed by a counterrotation of the joints; (2) homogeneous bending requires adaptation of the rotational stiffnesses to the outer segment lengths; (3) nonlinear joint torque-displacement behaviour extends the range of stable leg bending and may result in an almost constant leg stiffness; (4) biarticular structures (like human gastrocnemius muscle) and geometrical constraints (like heel strike) support homogeneous bending in both joints; (5) unequal segment lengths enable homogeneous bending if asymmetric nominal angles meet the asymmetry in leg geometry; and (6) a short foot supports the elastic control of almost stretched knee positions. Furthermore, general leg design strategies for animals and robots are discussed with respect to the range of safe leg operation.     

An Impact Study of the Design of Exergaming Parameters on Body Intensity from Objective and Gameplay-Based Player Experience Perspectives,Based on Balance Training Exergame

Kinect-based exergames allow players to undertake physical exercise in an interactive manner with visual stimulation. Previous studies focused on investigating physical fitness based on calories or heart rate to ascertain the effectiveness of exergames. However, designing an exergame for specific training purposes, with intensity levels suited to the needs and skills of the players, requires the investigation of motion performance to study player experience.This study investigates how parameters of a Kinect-based exergame, combined with balance training exercises, influence the balance control ability and intensity level the player can tolerate, by analyzing both objective and gameplay-based player experience, and taking enjoyment and difficulty levels into account.The exergame tested required participants to maintain their balance standing on one leg within a posture frame (PF) while a force plate evaluated the player''s balance control ability in both static and dynamic gaming modes. The number of collisions with the PF depended on the frame''s travel time for static PFs, and the leg-raising rate and angle for dynamic PFs. In terms of center of pressure (COP) metrics, significant impacts were caused by the frame''s travel time on MDIST-AP for static PFs, and the leg-raising rate on MDIST-ML and TOTEX for dynamic PFs. The best static PF balance control performance was observed with a larger frame offset by a travel time of 2 seconds, and the worst performance with a smaller frame and a travel time of 1 second. The best dynamic PF performance was with a leg-raising rate of 1 second at a 45-degree angle, while the worst performance was with a rate of 2 seconds at a 90-degree angle.The results demonstrated that different evaluation methods for player experience could result in different findings, making it harder to study the design of those exergames with training purposes based on player experience.