Stride length determination during overground running using a single foot-mounted inertial measurement unit

From a research perspective, detailed knowledge about stride length (SL) is important for coaches, clinicians and researchers because together with stride rate it determines the speed of locomotion. Moreover, individual SL vectors represent the integrated output of different biomechanical determinants and as such provide valuable insight into the control of running gait. In recent years, several studies have tried to estimate SL using body-mounted inertial measurement units (IMUs) and have reported promising results. However, many studies have used systems based on multiple sensors or have only focused on estimating SL for walking. Here we test the concurrent validity of a single foot-mounted, 9-degree of freedom IMU to estimate SL for running. We employed a running-specific, Kalman filter based zero-velocity update (ZUPT) algorithm to calculate individual SL vectors with the IMU and compared the results to SLs that were simultaneously recorded by a 6-camera 3D motion capture system. The results showed that the analytical procedures were able to successfully identify all strides that were recorded by the camera system and that excellent levels of absolute agreement (ICC(3,1) = 0.955) existed between the two methods. The findings demonstrate that individual SL vectors can be accurately estimated with a single foot-mounted IMU when running in a controlled laboratory setting.     

Sex and stride length impact leg stiffness and ground reaction forces when running with body borne load

This study quantified leg stiffness and vGRF measures for males and females using different stride lengths to run with four body borne loads (20, 25, 30, and 35 kg). Thirty-six participants (20 males and 16 females) ran at 4.0 m/s using either: their preferred stride length (PSL), or strides 15% longer (LSL) and shorter (SSL) than PSL. Leg stiffness and vGRF measures, including peak vGRF, impact peak and loading rate, were submitted to a RM ANOVA to test the main effect and interactions of load, stride length, and sex. Leg stiffness was greater with the 30 kg (p = 0.016) and 35 kg (p < 0.001) compared to the 20 kg load, but decreased as stride lengthened from SSL to PSL (p < 0.001) and PSL to LSL (p < 0.001). Males exhibited greater leg stiffness than females with SSL (p = 0.029). Yet, males decreased leg stiffness with each increase in stride length (p < 0.001; p < 0.001), while females only decreased leg stiffness between PSL and LSL (p = 0.014). Peak vGRF was greater with the addition of body borne load (p < 0.001) and increase in stride length (p < 0.001). Both impact peak and loading rate were greater with the 30 kg (p = 0.034; p = 0.043) and 35 kg (p = 0.004; p = 0.015) compared to the 20 kg load, and increased as stride lengthened from SSL to PSL (p = 0.001; p = 0.004) and PSL to LSL (p < 0.001; p < 0.001). Running with body borne load may elevate injury risk by increasing leg stiffness and vGRFs. Injury risk may further increase when using longer strides to run with body borne load.     

Biomechanical analysis of the stance phase during barefoot and shod running

This study investigated spatio-temporal variables, ground reaction forces and sagittal and frontal plane kinematics during the stance phase of nine trained subjects running barefoot and shod at three different velocities (3.5, 4.5, 5.5 m s(-1)). Differences between conditions were detected with the general linear method (factorial model). Barefoot running is characterized by a significantly larger external loading rate than the shod condition. The flatter foot placement at touchdown is prepared in free flight, implying an actively induced adaptation strategy. In the barefoot condition, plantar pressure measurements reveal a flatter foot placement to correlate with lower peak heel pressures. Therefore, it is assumed that runners adopt this different touchdown geometry in barefoot running in an attempt to limit the local pressure underneath the heel. A significantly higher leg stiffness during the stance phase was found for the barefoot condition. The sagittal kinematic adaptations between conditions were found in the same way for all subjects and at the three running velocities. However, large individual variations were observed between the runners for the rearfoot kinematics.     

Foot internal stress distribution during impact in barefoot running as function of the strike pattern

The aim of the present study is to examine the impact absorption mechanism of the foot for different strike patterns (rearfoot, midfoot and forefoot) using a continuum mechanics approach. A three-dimensional finite element model of the foot was employed to estimate the stress distribution in the foot at the moment of impact during barefoot running. The effects of stress attenuating factors such as the landing angle and the surface stiffness were also analyzed. We characterized rear and forefoot plantar sole behavior in an experimental test, which allowed for refined modeling of plantar pressures for the different strike patterns. Modeling results on the internal stress distributions allow predictions of the susceptibility to injury for particular anatomical structures in the foot.     

Effect of stride frequency on thermoregulatory responses during endurance running in distance runners

Changing stride frequency may influence oxygen uptake and heart rate during running as a function of running economy and central command. This study investigated the influence of stride frequency manipulation on thermoregulatory responses during endurance running. Seven healthy endurance runners ran on a treadmill at a velocity of 15 km/h for 60 min in a controlled environmental chamber (ambient temperature 27 °C and relative humidity 50%), and stride frequency was manipulated. Stride frequency was intermittently manipulated by increasing and decreasing frequency by 10% from the pre-determined preferred frequency. These periods of increase or decrease were separated by free frequency running in the order of free stride frequency, stride frequency manipulation (increase or decrease), free stride frequency, and stride frequency manipulation (increase or decrease) for 15 min each. The increased and decreased stride frequencies were 110% and 91% of the free running frequency, respectively (196±6, 162±5, and 178±5 steps/min, respectively, P<0.01). Compared to the control, stride frequency manipulation did not affect rectal temperature, heart rate, or the rate of perceived exhaustion during running. Whole-body sweat loss increased significantly when stride frequency was manipulated (1.48±0.11 and 1.57±0.11 kg for control and manipulated stride frequencies, respectively, P<0.05), but stride frequency had a small effect on sweat loss overall (Cohen's d=0.31). A higher mean skin temperature was also observed under mixed frequency conditions compared to that in the control (P<0.05). While the precise mechanisms underlying these changes remain unknown (e.g. running economy or central command), our results suggest that manipulation of stride frequency does not have a large effect on sweat loss or other physiological variables, but does increase mean skin temperature during endurance running.     

A comparison of the physiological exercise intensity differences between shod and barefoot submaximal deep-water running at the same cadence

The purpose of this investigation was to identify whether physiological exercise intensity differed with the use of aquatic training shoes (ATS) during deep-water running (DWR) compared to using a barefoot condition. Eight male intercollegiate (National Collegiate Athletic Association Division III [NCAA III]) varsity distance runners were videotaped from the right sagittal view while running on a treadmill (TR) and while barefoot in deep water at 60-70% of their TR VO2max for 30 minutes. Based on the stride rate of the barefoot DWR trial, a subsequent 30-minute session was completed while wearing ATS. Variables of interest were energy expenditure, oxygen consumption (VO2), heart rate, respiratory exchange ratio (RER), and rating of perceived exertion (RPE). Multivariate omnibus tests revealed statistically significant differences for energy expenditure (p < 0.011), VO2 (p < 0.001), RPE (p < 0.001), and RER (p < 0.002). The post hoc pairwise comparisons revealed significant differences between barefoot and shod DWR conditions for energy expenditure (p < 0.005) and VO2 (p < 0.002), representing a 9 and 7.6% increase in exercise intensity demand while running shod vs. barefoot. These comparisons also revealed significantly higher RPE and RER values while DWR than those found in TR. Wearing the ATS may be recommended as a method of statistically significantly increasing the exercise intensity while running in deep water as compared to not wearing a shoe. Shod compared to TR yields very small differences, which indicates that the shoes may help better match land-based running exercise intensities.     

Increased hip adduction during running is associated with patellofemoral pain and differs between males and females: A case-control study

Patellofemoral pain is common amongst recreational runners and associated with altered running kinematics. However, it is currently unclear how sex may influence kinematic differences previously reported in runners with patellofemoral pain. This case-control study aimed to evaluate lower limb kinematics in males and females with and without patellofemoral pain during running. Lower limb 3D kinematics were assessed in 20 runners with patellofemoral pain (11 females, 9 males) and 20 asymptomatic runners (11 females, 9 males) during a 3 km treadmill run. Variables of interest included peak hip adduction, internal rotation and flexion angles; and peak knee flexion angle, given their previously reported association with patellofemoral pain. Age, height, mass, weekly run distance and step rate were not significantly different between groups. Mixed-sex runners with patellofemoral pain were found to run with a significantly greater peak hip adduction angle (mean difference = 4.9°, d = 0.91, 95% CI 1.4–8.2, p = 0.01) when compared to matched controls, but analyses for all other kinematic variables were non-significant. Females with patellofemoral pain ran with a significantly greater peak hip adduction angle compared to female controls (mean difference = 6.6°, p = 0.02, F = 3.41, 95% CI 0.4–12.8). Analyses for all other kinematic variables between groups (males and females with/without PFP) were non-significant. Differences in peak hip adduction between those with and without patellofemoral pain during running appear to be driven by females. This potentially highlights different kinematic treatment targets between males and females. Future research is encouraged to report lower limb kinematic variables in runners with patellofemoral pain separately for males and females.     

Stride length and its determinants in humans, early hominids, primates, and mammals

Primate stride lengths during quadrupedal locomotion are very long when compared to those of nonprimate quadrupedal mammals at the speed of trot/gallop transition. These exceptional lengths are a consequence of the relatively long limbs of primates and the large angular excursions of their limbs during quadrupedalism. When quadrupedal primates employ bipedal gaits they exhibit much lower angular excursions. Consequently their bipedal stride lengths do not appear to be exceptional in length when compared to other mammals. Angular excursions of the lower limbs of modern humans are not exceptionally large. However, when running, humans exhibit relatively long periods of flight (i.e., they have low duty factors) when compared to other mammals including primates. Because of these long periods of flight and their relative long lower limbs, humans have running stride lengths that are at the lower end of the range of stride lengths of quadrupedal primates. The stride length of the Laetoli hominid trails are evaluated in this context.     

T2 relaxation time measurements in tibiotalar cartilage after barefoot running and its relationship to ankle biomechanics

The influence of ankle kinematics and plantar pressure from mid-range barefoot running on T2 relaxation times of tibiotalar cartilage is unknown. This study aimed to quantitatively evaluate the T2 relaxation time of tibiotalar cartilage and ankle biomechanics following 5 km barefoot running. Twenty healthy runners (who had no 5 km barefoot running experience) underwent 3.0-Tesla magnetic resonance (MR) scans and assessment of running gait before and after 5 km barefoot running. Participants were divided into two groups consisting of marathon-experienced (n = 10) and novice (n = 10) with equal number of males and females in each group. Three musculoskeletal radiologists measured T2 relaxation times in 18 regions of the ankle cartilage: anterior zone, central zone, and posterior zone, or lateral, middle, and medial sections in the sagittal plane. Three-dimensional ankle kinetics, kinematics, and plantar pressure were all also assessed during barefoot running. In the novice group, the T2 relaxation time in the posterior zone of tibial cartilage (p = 0.001) and lateral section in both tibial (p = 0.02) and talar (p = 0.02) cartilage were significantly increased after barefoot running. Ankle kinematics exhibited significant changes in females. Plantar loading was shifted from the medial to lateral aspect after running. This included a significant reduction in the loading under the toes and the 1st, 2nd and 3rd metatarsals, with a significant increase under the 4th and 5th metatarsals and lateral midfoot. The results suggest that plantar pressure may directly lead to local increases in cartilage T2 signal, which was not associated with changes in ankle kinematics.     

The effect of speed on leg stiffness and joint kinetics in human running

The goals of this study were to examine the following hypotheses: (a) there is a difference between the theoretically calculated (McMahon and Cheng, 1990. Journal of Biomechanics 23, 65-78) and the kinematically measured length changes of the spring-mass model and (b) the leg spring stiffness, the ankle spring stiffness and the knee spring stiffness are influenced by running speed. Thirteen athletes took part in this study. Force was measured using a "Kistler" force plate (1000 Hz). Kinematic data were recorded using two high-speed (120 Hz) video cameras. Each athlete completed trials running at five different velocities (approx. 2.5, 3.5, 4.5, 5.5 and 6.5 m/s). Running velocity influences the leg spring stiffness, the effective vertical spring stiffness and the spring stiffness at the knee joint. The spring stiffness at the ankle joint showed no statistical difference (p < 0.05) for the five velocities. The theoretically calculated length change of the spring-mass model significantly (p < 0.05) overestimated the actual length change. For running velocities up to 6.5 m/s the leg spring stiffness is influenced mostly by changes in stiffness at the knee joint.     

Pattern classification of kinematic and kinetic running data to distinguish gender,shod/barefoot and injury groups with feature ranking

The identification of differences between groups is often important in biomechanics. This paper presents group classification tasks using kinetic and kinematic data from a prospective running injury study. Groups composed of gender, of shod/barefoot running and of runners who developed patellofemoral pain syndrome (PFPS) during the study, and asymptotic runners were classified.

The features computed from the biomechanical data were deliberately chosen to be generic. Therefore, they were suited for different biomechanical measurements and classification tasks without adaptation to the input signals. Feature ranking was applied to reveal the relevance of each feature to the classification task.

Data from 80 runners were analysed for gender and shod/barefoot classification, while 12 runners were investigated in the injury classification task. Gender groups could be differentiated with 84.7%, shod/barefoot running with 98.3%, and PFPS with 100% classification rate. For the latter group, one single variable could be identified that alone allowed discrimination.     

Pattern classification of kinematic and kinetic running data to distinguish gender, shod/barefoot and injury groups with feature ranking

The identification of differences between groups is often important in biomechanics. This paper presents group classification tasks using kinetic and kinematic data from a prospective running injury study. Groups composed of gender, of shod/barefoot running and of runners who developed patellofemoral pain syndrome (PFPS) during the study, and asymptotic runners were classified. The features computed from the biomechanical data were deliberately chosen to be generic. Therefore, they were suited for different biomechanical measurements and classification tasks without adaptation to the input signals. Feature ranking was applied to reveal the relevance of each feature to the classification task. Data from 80 runners were analysed for gender and shod/barefoot classification, while 12 runners were investigated in the injury classification task. Gender groups could be differentiated with 84.7%, shod/barefoot running with 98.3%, and PFPS with 100% classification rate. For the latter group, one single variable could be identified that alone allowed discrimination.     

Effects of arm and leg loading on sprint performance

The effects of loading on sprint kinematics were examined in 24 male students. The moment of inertia of either the arms or legs was increased by up to 50% of their unloaded values and the time for distances of 0.5–15 m and 15–30 m from a sprint start was measured. An increase in leg loading was associated with a gradual decrease in velocity of both sprint phases, while the change associated with arm loading was modest and significant only in the second phase. The decrease in sprint velocity was predominantly due to a reduction in stride rate, while the stride length remained almost unchanged. It was concluded that leg loading affected sprint velocity more than arm loading, and also that the velocity was reduced due to a decrease in the stride rate rather than in the stride length. Accepted: 10 November 1997     

A biomechanical model for size, speed and anatomical variations of the energetic costs of running mammals

Here we propose a model of energetic costs and the muscle-tendon unit function on running mammals. The main goal is to set a simple theoretical framework which gives an understanding of the biomechanical principles behind the size, speed and anatomical variations of the energetic costs of running mammals. The model is a point-like mass withstood by a two-segment leg with an extensor muscle serially attached to a tendon. We considered withstanding body weight during the stance phase as the main role of the muscle-tendon unit during fast locomotion. The ground reaction force dependence on speed and the time of stance phase as well as other biomechanical characteristics were taken from previous empirical studies of running. At the same time, the morphological variations with body mass were taken from empirically well-established allometric equations for mammals. The metabolic cost was estimated from an empirical equation relating metabolic power with muscular force and speed in shortening and stretching. Our model predicts the pattern of mass specific metabolic rate variations with both speed and body mass. It also gives an explanation of the experimentally reported linear inverse relationship between the rate of energy used for running and the time of application of force by the foot to the ground during each stride. It also suggests an explanation of the unusual energy saving adaptations of large macropodids. It provides some predictions on the relationship, between energy costs and muscle-tendon unit characteristics, testable on further experiments.     

The evolution of human running: effects of changes in lower-limb length on locomotor economy

Previous studies have differed in expectations about whether long limbs should increase or decrease the energetic cost of locomotion. It has recently been shown that relatively longer lower limbs (relative to body mass) reduce the energetic cost of human walking. Here we report on whether a relationship exists between limb length and cost of human running. Subjects whose measured lower-limb lengths were relatively long or short for their mass (as judged by deviations from predicted values based on a regression of lower-limb length on body mass) were selected. Eighteen human subjects rested in a seated position and ran on a treadmill at 2.68 ms(-1) while their expired gases were collected and analyzed; stride length was determined from videotapes. We found significant negative relationships between relative lower-limb length and two measures of cost. The partial correlation between net cost of transport and lower-limb length controlling for body mass was r=-0.69 (p=0.002). The partial correlation between the gross cost of locomotion at 2.68 ms(-1) and lower-limb length controlling for body mass was r=-0.61 (p=0.009). Thus, subjects with relatively longer lower limbs tend to have lower locomotor costs than those with relatively shorter lower limbs, similar to the results found for human walking. Contrary to general expectation, a linear relationship between stride length and lower-limb length was not found.     

Measurement of stride parameters using a wearable GPS and inertial measurement unit

Both GPS and inertial measurement units (IMUs) have been extensively used in biomechanical studies. Expensive high accuracy GPS units can provide information about intrastride speed and position, but their application is limited by their size and cost. Single and double integration of acceleration from IMU provides information about short-term fluctuations in speed and position, but suffers from integration error over a longer period of time. The integration of GPS and IMU has been widely used in large and expensive units designed for survey and vehicle navigation. Here we propose a data fusion scheme, which is a Kalman filter based complementary filter and enhances the frequency response of the GPS and IMU used alone. We also report the design of a small (28 g) low cost GPS/IMU unit. Its accuracy after post-processing with the proposed data fusion scheme for determining average speed and intrastride variation was compared to a traditional high cost survey GPS. The low cost unit achieved an accuracy of 0.15 ms⁻¹ (s.d.) for horizontal speed in cycling and human running across a speed range of 3–10 ms⁻¹. The stride frequency and vertical displacement calculated based on measurements from the low cost GPS/IMU units had an s.d. of 0.08 Hz and 0.02 m respectively, compared to measurements from high performance OEM4 GPS units.     

The spring-mass model and the energy cost of treadmill running

During running, the behaviour of the support leg was studied by modelling the runner using an oscillating system composed of a spring (the leg) and of a mass (the body mass). This model was applied to eight middle-distance runners running on a level treadmill at a velocity corresponding to 90% of their maximal aerobic velocity [mean 5.10 (SD 0.33) m · s⁻¹]. Their energy cost of running (C _r ), was determined from the measurement of O₂ consumption. The work, the stiffness and the resonant frequency of both legs were computed from measurements performed with a kinematic arm. The C _r was significantly related to the stiffness (P < 0.05, r = −0.80) and the absolute difference between the resonant frequency and the step frequency (P < 0.05, r = 0.79) computed for the leg producing the highest positive work. Neither of these significant relationships were obtained when analysing data from the other leg probably because of the work asymmetry observed between legs. It was concluded that the spring-mass model is a good approach further to understand mechanisms underlying the interindividual differences in C _r . Accepted: 18 August 1997     

Evaluating dynamic error of a treadmill and the effect on measured kinetic gait parameters: Implications and possible solutions

The dynamic properties of instrumented treadmills influence the force measurement of the embedded force platform. We investigated these properties using a frequency response function, which evaluates the ratio between the measured and applied forces in the frequency domain. For comparison, the procedure was also performed on the gold-standard ground-embedded force platform. A predictive model of the systematic error of both types of force platform was then developed and tested against different input signals that represent three types of running patterns. Results show that the treadmill structure distorts the measured force signal. We then modified this structure with a simple stiffening frame in an attempt to reduce measurement error. Consequently, the overall absolute error was reduced (−22%), and the error in force-derived metrics was also sufficiently reduced: −68% for average loading rate error and −80% for impact peak error. Our procedure shows how to measure, predict, and reduce systematic dynamic error associated with treadmill-installed force platforms. We suggest this procedure should be implemented to appraise data quality, and frequency response function values should be included in research reports.     

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.