Symmetrical gaits of primates

Walking and symmetrical running gaits of 26 genera of primates are analyzed using numerical and graphical methods described previously. The raw data are 1701 feet of 16 mm motion picture film mostly exposed at 64 frames per second. Adult monkeys and apes usually use the walking trot or diagonal-sequence walks. Individual monkeys occasionally use lateral-sequence walks resembling those that are usual for human infants. Human children moving on hands and feet use gaits ranging from the walking pace through the lateral-sequence walks to the walking trot. An infant macaque studied from age 17 hours to 96 days first walked with a lateral-sequence, diagonal-couplets gait and then gradually shifted to the diagonal-sequence, diagonal-couplets gait of the adult. Few non-primates use the diagonal-sequence walks which are typical of primates. Typical support sequences are figured. Relative placement of feet and consequent slight asymmetry are described.     

Fast gaits of pecoran species

Trotting and galloping strides of various pecoran species are analysed from motion picture sequences. Why a species uses one of these gaits when not closely pursued in preference to the other is discussed with reference to basic differences in the gaits, to the environment in which the animal lives and to the animal's size and possession of large horns or antlers.     

Hexapodal gaits and coupled nonlinear oscillator models

The general, model-independent features of different networks of six symmetrically coupled nonlinear oscillators are investigated. These networks are considered as possible models for locomotor central pattern generators (CPGs) in insects. Numerical experiments with a specific oscillator network model are briefly described. It is shown that some generic phase-locked oscillation-patterns for various systems of six symmetrically coupled nonlinear oscillators correspond to the common forward-walking gaits adopted by insects. It is also demonstrated that transitions observed in insect gaits can be modelled as standard symmetry-breaking bifurcations occurring in such systems. The present analysis, which leads to a natural classification of hexapodal gaits by symmetry and to natural sequences of gait bifurcations, relates observed gaits to the overall organizational structure of the underlying CPG. The implications of the present results for the development of simplified control systems for hexapodal walking robots are discussed.     

Regular gaits and optimal velocities for motor proteins

It has been observed in numerical experiments that adding a cargo to a motor protein can regularize its gait. Here we explain these results via asymptotic analysis on a general stochastic motor protein model. This analysis permits a computation of various observables (e.g., the mean velocity) of the motor protein and shows that the presence of the cargo also makes the velocity of the motor nonmonotone in certain control parameters (e.g., ATP concentration). As an example, we consider the case of a single myosin-V protein transporting a cargo and show that, at realistic concentrations of ATP, myosin-V operates in the regime which maximizes motor velocity. Our analysis also suggests an experimental regimen which can test the efficacy of any specific motor protein model to a greater degree than was heretofore possible.     

A synergetic theory of quadrupedal gaits and gait transitions

We present a theoretical analysis of the patterns of interlimb co-ordination in the gaits of quadrupedal locomotion. Introducing as collective variables a set of relative phases that describe the co-ordination patterns, we classify gaits by their symmetry properties, which can be expressed as invariances under groups of transformations. We define dynamics of the collective variables, on which we impose symmetry restrictions. The stable observable gait patterns correspond to atractors of these dynamics. A non-trivial consequence of this theoretical viewpoint is that gait transitions can take the form of non-equilibrium phase transitions that are accompanied by loss of stability. We show how various types of such phase transitions involving hysteresis, slowing down and fluctuation enhancement can occur. Also the difference between smooth and abrupt transitions is given theoretical foundation. While existing experimental evidence is consistent with the theory developed here, we propose new experimental measures that can serve to test the present theoretical framework. Finally, the influence of underlying symmetries of the dynamics on the nature of the gait patterns and their stability is analyzed. For example, breaking of a front-hind symmetry can lead to a change from absolute to relative co-ordination in the sense of von Holst (1939, Ergebnisse der Physiologie 42, 228). Also, differential stability of straight and reverse gaits results from thus lowering the symmetry.     

A dynamic similarity hypothesis for the gaits of quadrupedal mammals

The dynamic similarity hypothesis postulates that different mammals move in a dynamically similar fashion whenever they travel at speeds that give them equal values of a dimensionless parameter, the Froude number. Thus, given information about one species, it could be possible to predict for others relationships between size, speed and features of gait such as stride length, duty factor, the phase relationships of the feet and the patterns of force exerted on the ground.
Data for a diverse sample of mammals have been used to test the hypothesis. It is found to be tenable in many cases when comparisons are confined to quadrupedal mammals of the type described by Jenkins (1971) as "cursorial". Most mammals of mass greater than 5 kg are of this type. Although the hypothesis applies less successfully to comparisons between cursorial and non-cursorial mammals it is shown to be a reasonable approximation even for such comparisons and for comparisons between quadrupedal mammals and bipedal mammals and birds.     

The walking gaits of some species of Pecora

A method is presented for defining the walking gaits of quadrupeds from films so that they can be compared in closely related species. Differences in walking patterns of 18 pecoran species belonging to four families are discussed with respect to anatomy and environment. Variation in the walk patterns of members within a species are assessed. They are found to vary often with the speed at which the walk is executed, with the terrain, with the presence of heavy horns or antlers and with age. The time taken for one walking stride increases with the increase in length of the legs, but the legs swing forward more rapidly than they would if they acted passively like cylindrical pendulums.     

Chi-square distance kernel of the gaits for the diagnosis of Parkinson's disease

In this paper, a new approach for the diagnosis of the subjects with Parkinson's disease (PD) from the healthy control subjects is proposed. This method uses the measurements of gait signals using the ground reaction forces under usual walking of the subjects. These measurements were computed using 8 sensors placed underneath of each foot. The absolute value of the difference between the force measurements were calculated for each sensor at each time and these signals went through a short-time Fourier transform (STFT) and several features were extracted from the spectrum of the signals. The histogram of these features was computed and the bin selection was performed using the feature discriminant ratio (FDR) method. Then the chi-square distance between the reduced histograms was computed and it formed a kernel for support vector machines (SVMs) for classification. The results on 93 subjects with PD and 73 healthy control subjects show that the proposed approach obtains an accuracy of 91.20% for the diagnosis of the PD using gait signals.     

Validity of the MarkWiiR for kinematic analysis during walking and running gaits

The aim of this study was to validate the MarkWiiR (MW) captured by the Nintendo Wii-Remote (100-Hz) to assess active marker displacement by comparison with 2D video analysis. Ten participants were tested on a treadmill at different walking (1<6 km · h⁻¹) and running (10<13 km · h⁻¹) speeds. During the test, the active marker for MW and a passive marker for video analysis were recorded simultaneously with the two devices. The displacement of the marker on the two axes (x-y) was computed using two different programs, Kinovea 0.8.15 and CoreMeter, for the camera and MW, respectively. Pearson correlation was acceptable (x-axis r≥0.734 and y-axis r≥0.684), and Bland–Altman plots of the walking speeds showed an average error of 0.24±0.52% and 1.5±0.91% for the x- and y-axis, respectively. The difference of running speeds showed average errors of 0.67±0.33% and 1.26±0.33% for the x- and y-axes, respectively. These results demonstrate that the two measures are similar from both the x- and the y-axis perspective. In conclusion, these findings suggest that the MarkWiiR is a valid and reliable tool to assess the kinematics of an active marker during walking and running gaits.     

Symmetrical and asymmetrical gaits in the mouse: patterns to increase velocity

The gaits of the adult SWISS mice during treadmill locomotion at velocities ranging from 15 to 85 cm s^–1 have been analysed using a high-speed video camera combined with cinefluoroscopic equipment. The sequences of locomotion were analysed to determine the various space and time parameters of limb kinematics. We found that velocity adjustments are accounted for differently by the stride frequency and the stride length if the animal showed a symmetrical or an asymmetrical gait. In symmetrical gaits, the increase of velocity is provided by an equal increase in the stride length and the stride frequency. In asymmetrical gaits, the increase in velocity is mainly assured by an increase in the stride frequency in velocities ranging from 15 to 29 cm s^–1. Above 68 cm s^–1, velocity increase is achieved by stride length increase. In velocities ranging from 29 to 68 cm s^–1, the contribution of both variables is equal as in symmetrical gaits. Both stance time and swing time shortening contributed to the increase of the stride frequency in both gaits, though with a major contribution from stance time decrease. The pattern of locomotion obtained in a normal mouse should be used as a template for studying locomotor control deficits after lesions or in different mutations affecting the nervous system.     

Application of poly-L-lactide screws in flat foot surgery: histological and radiological aspects of bio-absorption of degradable devices

The flat foot in childhood is a condition frequently observed in orthopedic practice but it is still debated when and in which patients surgical corrective treatment is appropriate; recently, the application of poly-L-lactic-acid (PLLA) screws was proposed. The present study investigates a group of 33 patients treated with PLLA expansion endorthesis in order to evaluate the deformity correction. Clinical and radiological outcomes in patients were correlated with: a) morphological characterization of screws both before and after being removed from patients, when necessary; b) histological and bio-molecular evaluation of degradation processes of the implants, focusing attention on the correlation between the cellular cohort involved in inflammatory reaction and the bio-absorption degree of PLLA screws. Deformity correction was mostly achieved, with minimal need of screw removal; the results obtained clearly show the occurrence of chronic rather than acute inflammation in removed screw specimens. At the histological level, after biomaterial implantation, the sequence of events occurring in the surrounding tissues ultimately ends in the formation of foreign body giant cells (FBGCs) at the tissue/material interface; but the mechanisms which influence the fate of screw implants, i.e. the resolution of acute inflammation rather than the progression towards chronic inflammation, are of crucial importance for biodegradable materials like "polylactic acid". In fact, the FBGC response ensures a long-term mechanism which eliminates the foreign material from the body, but at the same time the implications of prolonged FBGC responses, which generate negative side effects, could significantly impede the healing progress.     

Three-dimensional analysis of horse and human gaits in therapeutic riding

Therapeutic horse riding or hippotherapy is used as an intervention for treating individuals with mental and physical disabilities. Equine-assisted interventions are based on the hypothesis that the movement of the horse's pelvis during horseback riding resembles human ambulation, and thus provides motor and sensory inputs similar to those received during human walking. However, this hypothesis has not been investigated quantitatively and qualitatively. This study aimed to verify the hypothesis by conducting a three-dimensional analysis of the horse's movements while walking and human ambulation. Using four sets of equipments, we analysed the acceleration patterns of walking in 50 healthy humans and 11 horses. In addition, we analysed the exercise intensity by comparing the heart rate, breathing rate, and blood pressure of 127 healthy individuals before and after walking and horse riding. The acceleration data series of the stride phase of horse walking were compared with those of human walking, and the frequencies (in Hz) were analysed by Fast Fourier transform.The acceleration curves of human walking overlapped with those of horse walking, with the frequency band of human walking corresponding with that of horse walking. Exercise intensity, as measured by the heart rate and breathing rate, was not significantly different between horse riding and human walking. The levels of diastolic blood pressure were slightly higher during horse riding than during walking, but were lower during both conditions compared with those in normal conditions (P < 0.01). The present study shows that, although not completely matched, the accelerations of the horse and human walking are comparable quantitatively and qualitatively. Horse riding at a walking gait could generate motor and sensory inputs similar to those produced by human walking, and thus could provide optimum benefits to persons with ambulatory difficulties.