Kinetic and kinematic adjustments during perturbed walking across visible and camouflaged drops in ground level

Walking in even the most familiar environment posesses a challenge to humans due to continuously changing surface conditions such as compliance, slip, or level. These changes can be visible or invisible due to camouflage. In order to prevent falling, camouflaged changes in the ground level in particular require a quick response of the locomotor system. For ten subjects we investigated kinematics and ground reaction forces of two consecutive contacts while they were walking across visible (drops of 0, −5 and −10 cm at second contact) and camouflaged (drops of 0 or −5 cm, and drops of 0 or −10 cm at second contact) changes in the ground level. For both situations we found significant kinetic and kinematic adjustments during the perturbed second contact but also one step earlier, in the preparatory first contact. During walking across visible changes in the ground level, second peak ground reaction force at first contact decreased whereas the drop height increased at the second contact. In addition, at the end of this first contact the ankle and knee were more flexed and the trunk was more erect compared to level walking. During the perturbed second contact, first peak ground reaction force increased with drop height, whereas kinematic adjustments at touchdown were less. The visual perception of the perturbation facilitated prior adaptations. During walking across camouflaged changes in ground level such a visually guided preadaptation was not possible and the adaptations prior to the perturbation were less than those observed during walking across visible changes in the ground. However, when stepping into a camouflaged drop, the kinetic and kinematic adjustments became more obvious and they increased with increasing camouflaged drop height.     

Center of mass mechanics of chimpanzee bipedal walking

Center of mass (CoM) oscillations were documented for 81 bipedal walking strides of three chimpanzees. Full‐stride ground reaction forces were recorded as well as kinematic data to synchronize force to gait events and to determine speed. Despite being a bent‐hip, bent‐knee (BHBK) gait, chimpanzee walking uses pendulum‐like motion with vertical oscillations of the CoM that are similar in pattern and relative magnitude to those of humans. Maximum height is achieved during single support and minimum height during double support. The mediolateral oscillations of the CoM are more pronounced relative to stature than in human walking when compared at the same Froude speed. Despite the pendular nature of chimpanzee bipedalism, energy recoveries from exchanges of kinetic and potential energies are low on average and highly variable. This variability is probably related to the poor phasic coordination of energy fluctuations in these facultatively bipedal animals. The work on the CoM per unit mass and distance (mechanical cost of transport) is higher than that in humans, but lower than that in bipedally walking monkeys and gibbons. The pronounced side sway is not passive, but constitutes 10% of the total work of lifting and accelerating the CoM. CoM oscillations of bipedally walking chimpanzees are distinctly different from those of BHBK gait of humans with a flat trajectory, but this is often described as “chimpanzee‐like” walking. Human BHBK gait is a poor model for chimpanzee bipedal walking and offers limited insights for reconstructing early hominin gait evolution. Am J Phys Anthropol 156:422–433, 2015. © 2014 Wiley Periodicals, Inc.     

Interaction between fascicle and tendinous tissues in short-contact stretch-shortening cycle exercise with varying eccentric intensities.

The interaction between fascicle and tendinous tissues (TT) in short-contact drop jumps (DJ) with three different drop heights [low (Low), optimal (OP), and high (High)] was examined with 11 subjects. The ground reaction force (F(z)) and ankle and knee joint angles were measured together with real-time ultrasonography (fascicle length) and electromyographic activities of the medial gastrocnemius (MG) and vastus lateralis (VL) muscles during the movement. With increasing drop height, the braking force and flight time increased from Low to OP (P < 0.05). In High, the braking force increased but the flight time decreased compared with OP (P < 0.05). During contact of Low and OP conditions, the length of muscle-tendon unit and TT underwent lengthening before shortening in both MG and VL muscles. However, the two muscles differed in the fascicle behaviors. The MG fascicles behaved isometrically or shortened, and the VL fascicles underwent lengthening before shortening during contact. In High, the TT lengthening in both muscles decreased compared with OP (P < 0.05). The rapid stretch occurred in the MG fascicles but not in VL fascicles during the braking phase. The elastic recoil ratio decreased in both muscles with increasing the intensity during DJ. These findings demonstrated that TT underwent lengthening before shortening during DJ. However, the efficacy of elastic recoil decreased with increasing the drop intensity. The effective catapult action in TT can be limited by the drop intensity. In addition, the measured muscles behaved differently during DJ, providing evidence that each muscle may have a specific means of fascicle-TT interaction.     

Regulation of angular impulse during two forward translating tasks

Angular impulse generation is dependent on the position of the total body center of mass (CoM) relative to the ground reaction force (GRF) vector during contact with the environment. The purpose of this study was to determine how backward angular impulse was regulated during two forward translating tasks. Control of the relative angle between the CoM and the GRF was hypothesized to be mediated by altering trunk-leg coordination. Eight highly skilled athletes performed a series of standing reverse somersaults and reverse timers. Sagittal plane kinematics, GRF, and electromyograms of lower extremity muscles were acquired during the take-off phase of both tasks. The magnitude of the backward angular impulse generated during the push interval of both tasks was mediated by redirecting the GRF relative to the CoM. During the reverse timer, backward angular impulse generated during the early part of the take-off phase was negated by limiting backward trunk rotation and redirecting the GRF during the push interval. Biarticular muscles crossing the knee and hip coordinated the control of GRF direction and CoM trajectory via modulation of trunk-leg coordination.     

Patterns of mechanical energy change in tetrapod gait: pendula, springs and work

Kinematic and center of mass (CoM) mechanical variables used to define terrestrial gaits are compared for various tetrapod species. Kinematic variables (limb phase, duty factor) provide important timing information regarding the neural control and limb coordination of various gaits. Whereas, mechanical variables (potential and kinetic energy relative phase, %Recovery, %Congruity) provide insight into the underlying mechanisms that minimize muscle work and the metabolic cost of locomotion, and also influence neural control strategies. Two basic mechanisms identified by Cavagna et al. (1977. Am J Physiol 233:R243-R261) are used broadly by various bipedal and quadrupedal species. During walking, animals exchange CoM potential energy (PE) with kinetic energy (KE) via an inverted pendulum mechanism to reduce muscle work. During the stance period of running (including trotting, hopping and galloping) gaits, animals convert PE and KE into elastic strain energy in spring elements of the limbs and trunk and regain this energy later during limb support. The bouncing motion of the body on the support limb(s) is well represented by a simple mass-spring system. Limb spring compliance allows the storage and return of elastic energy to reduce muscle work. These two distinct patterns of CoM mechanical energy exchange are fairly well correlated with kinematic distinctions of limb movement patterns associated with gait change. However, in some cases such correlations can be misleading. When running (or trotting) at low speeds many animals lack an aerial period and have limb duty factors that exceed 0.5. Rather than interpreting this as a change of gait, the underlying mechanics of the body's CoM motion indicate no fundamental change in limb movement pattern or CoM dynamics has occurred. Nevertheless, the idealized, distinctive patterns of CoM energy fluctuation predicted by an inverted pendulum for walking and a bouncing mass spring for running are often not clear cut, especially for less cursorial species. When the kinematic and mechanical patterns of a broader diversity of quadrupeds and bipeds are compared, more complex patterns emerge, indicating that some animals may combine walking and running mechanics at intermediate speeds or at very large size. These models also ignore energy costs that are likely associated with the opposing action of limbs that have overlapping support times during walking. A recent model of terrestrial gait (Ruina et al., 2005. J Theor Biol, in press) that treats limb contact with the ground in terms of collisional energy loss indicates that considerable CoM energy can be conserved simply by matching the path of CoM motion perpendicular to limb ground force. This model, coupled with the earlier ones of pendular exchange during walking and mass-spring elastic energy savings during running, provides compelling argument for the view that the legged locomotion of quadrupeds and other terrestrial animals has generally evolved to minimize muscle work during steady level movement.     

A Paradigm of Uphill Running

The biomechanical management of bioenergetics of runners when running uphill was investigated. Several metabolic and mechanical variables have been studied simultaneously to spread light on the locomotory strategy operated by humans for effective locomotion. The studied variables were: heart rate, heart rate variability, oxygen intake and blood lactate, metabolic cost, kinematics, ground reaction force and muscular activity. 18 high-level competitive male runners ran at 70% VO_2max on different uphill slope conditions: 0%, 2% and 7%. Modifications were significant in almost all variables studied, and were more pronounced with increasing incline. Step frequency/length and ground reaction force are adjusted to cope with both the task of uphill progression and the available (limited) metabolic power. From 0% to 7% slope, step frequency and ground reaction force and metabolic cost increased concurrently by 4%, 12% and 53%, respectively (with a 4% step length decrease as well). It is hypothesised that this biomechanical management is allowed by an environment-body communication performed by means of specific muscular activity.     

Landmark registering waveform data improves the ability to predict performance measures

The purpose of this study was to investigate the benefit of landmark registration when applied to waveform data. We compared the ability of data reduced from time-normalised and landmark registered vertical ground reaction force (vGRF) waveforms captured during maximal countermovement jumps (CMJ) of 53 active male subjects to predict jump height. vGRF waveforms were landmark registered using different landmarks resulting in four registration conditions: (i) end of the eccentric phase, (ii) adding maximum centre of mass (CoM) power, (iii) adding minimum CoM power, (iv) adding minimum vGRF. In addition to the four registration conditions, the non-registered vGRF and concentric phase only were time-normalised and used in subsequent analysis. Analysis of characterising phases was performed to reduce the vGRF data to features that captured the behaviour of each waveform. These features were extracted from each condition’s vGRF waveform, time-domain (time taken to complete the movement), and warping functions (generated from landmark registration). The identified features were used as predictor features to fit a step-wise multilinear regression to jump height. Features generated from the best performing registration condition were able to predict jump height to a similar extent as the concentric phase (86–87%), while all registration conditions could explain jump height to a greater extent than time-normalisation alone (65%). This suggests waveform variability was reduced as phases of the CMJ were aligned. However, findings suggest that over-registration can occur when applying landmark registration. Overall, landmark registration can improve prediction power to performance measures as waveform data can be reduced to more appropriate performance related features.     

The effect of drop jump starting height and contact time on power, work performed, and moment of force

The purposes of this study are (a) to examine the effects of contact time manipulation on jump parameters and (b) to examine the interaction between starting height changes and contact time changes on important jump parameters. Fifteen male athletes performed a series of drop jumps from heights of 20, 40, and 60 cm. The instructions given to the subjects were (a) "jump as high as you can" and (b) "jump high a little faster than your previous jump." Jumps were performed at each height until the athlete could not achieve a shorter ground contact time. The data were divided into 5 groups where group 1 was made up of the longest ground contact times of each athlete and groups 2-4 were composed of progressively shorter contact times, with group 5 having the shortest contact times. The jumps of group 3 produced the highest maximum and mean mechanical power (p <0.05) during the positive phase of the drop jumps regardless of starting jump height. The vertical takeoff velocities for the first 3 groups did not show significant (p < 0.05) differences. These results indicate that the manipulation of jump technique plays larger role than jump height in the manipulation of important jump parameters.     

Subject-specific and group-based running pattern classification using a single wearable sensor

The objective of this study was to determine whether subject-specific or group-based models provided better classification accuracy to identify changes in biomechanical running gait patterns across different inclination conditions. The classification process was based on measurements from a single wearable sensor using a total of 41,780 strides from eleven recreational runners while running in real-world and uncontrolled environment. Biomechanical variables included pelvic drop, ground contact time, braking, vertical oscillation of pelvis, pelvic rotation, and cadence were recorded during running on three inclination grades: downhill, −2° to −7°; level, −0.2° to +0.2°; and uphill, +2° to +7°. An ensemble and non-linear machine learning algorithm, random forest (RF), was used to classify inclination condition and determine the importance of each of the biomechanical variables. Classification accuracy was determined for subject-specific and group-based RF models. The mean classification accuracy of all subject-specific RF models was 86.29%, while group-based classification accuracy was 76.17%. Braking was identified as the most important variable for all the runners using the group-based model and for most of the runners based on a subject-specific models. In addition, individual runners used different strategies across different inclination conditions and the ranked order of variable importance was unique for each runner. These results demonstrate that subject-specific models can better characterize changes in gait biomechanical patterns compared to a more traditional group-based approach.     

Gastrointestinal Symptoms of Marathon Runners

A survey of 707 participants in the 13th Annual Trail''s End Marathon in Seaside, Oregon, showed a high incidence of gastrointestinal disturbances, predominantly of the lower tract, associated with long-distance running. The urge to defecate, both during and immediately after running, occurred in over a third of runners. Bowel movements (35%) and diarrhea (19%) were relatively common after running, and runners occasionally interrupted hard runs or races for bowel movements (18%) or diarrhea (10%). Lower gastrointestinal disturbances were more frequent in women than in men and in younger than in older runners. Awareness of the frequency and nature of gastrointestinal symptoms documented by this survey will assist physicians in evaluating abdominal complaints in runners.     

Model of a predatory stealth behaviour camouflaging motion

A computational model of a stealth strategy inspired by the apparent mating tactics of male hoverflies is presented. The stealth strategy (motion camouflage) paradoxically allows a predator to approach a moving prey in such a way that it appears to be a stationary object. In the model, the predators are controlled by neural sensorimotor systems that base their decisions on realistic levels of input information. They are shown to be able to employ motion camouflage to approach prey that move along both real hoverfly flight paths and artificially generated flight paths. The camouflaged approaches made demonstrate that the control systems have an ability to predict future prey movements. This is illustrated using two- and three-dimensional simulations.     

Countermovement strategy changes with vertical jump height to accommodate feasible force constraints

In this study, we developed a curve-fit model of countermovement dynamics and examined whether the characteristics of a countermovement jump can be quantified using the model parameter and its scaling; we expected that the model-based analysis would facilitate an understanding of the basic mechanisms of force reduction and propulsion with a simplified framework of the center of mass (CoM) mechanics. Ten healthy young subjects jumped straight up to five different levels ranging from approximately 10% to 35% of their body heights. The kinematic and kinetic data on the CoM were measured using a force plate system synchronized with motion capture cameras. All subjects generated larger vertical forces compared with their body weights from the countermovement and sufficiently lowered their CoM position to support the work performed by push-off as the vertical elevations became more challenging. The model simulation reasonably reproduced the trajectories of vertical force during the countermovement, and the model parameters were replaced by linear and polynomial regression functions in terms of the vertical jump height. Gradual scaling trends of the individual model parameters were observed as a function of the vertical jump height with different degrees of scaling, depending on the subject. The results imply that the subjects may be aware of the jumping dynamics when subjected to various vertical jump heights and may select their countermovement strategies to effectively accommodate biomechanical constraints, i.e., limited force generation for the standing vertical jump.     

Leg stiffness increases with speed to modulate gait frequency and propulsion energy

Bipedal walking models with compliant legs have been employed to represent the ground reaction forces (GRFs) observed in human subjects. Quantification of the leg stiffness at varying gait speeds, therefore, would improve our understanding of the contributions of spring-like leg behavior to gait dynamics. In this study, we tuned a model of bipedal walking with damped compliant legs to match human GRFs at different gait speeds. Eight subjects walked at four different gait speeds, ranging from their self-selected speed to their maximum speed, in a random order. To examine the correlation between leg stiffness and the oscillatory behavior of the center of mass (CoM) during the single support phase, the damped natural frequency of the single compliant leg was compared with the duration of the single support phase. We observed that leg stiffness increased with speed and that the damping ratio was low and increased slightly with speed. The duration of the single support phase correlated well with the oscillation period of the damped complaint walking model, suggesting that CoM oscillations during single support may take advantage of resonance characteristics of the spring-like leg. The theoretical leg stiffness that maximizes the elastic energy stored in the compliant leg at the end of the single support phase is approximated by the empirical leg stiffness used to match model GRFs to human GRFs. This result implies that the CoM momentum change during the double support phase requires maximum forward propulsion and that an increase in leg stiffness with speed would beneficially increase the propulsion energy. Our results suggest that humans emulate, and may benefit from, spring-like leg mechanics.     

Foot strike patterns of runners at the 15-km point during an elite-level half marathon

There are various recommendations by many coaches regarding foot landing techniques in distance running that are meant to improve running performance and prevent injuries. Several studies have investigated the kinematic and kinetic differences between rearfoot strike (RFS), midfoot strike (MFS), and forefoot strike (FFS) patterns at foot landing and their effects on running efficiency on a treadmill and over ground conditions. However, little is known about the actual condition of the foot strike pattern during an actual road race at the elite level of competition. The purpose of the present study was to document actual foot strike patterns during a half marathon in which elite international level runners, including Olympians, compete. Four hundred fifteen runners were filmed by 2 120-Hz video cameras in the height of 0.15 m placed at the 15.0-km point and obtained sagittal foot landing and taking off images for 283 runners. Rearfoot strike was observed in 74.9% of all analyzed runners, MFS in 23.7%, and FFS in 1.4%. The percentage of MFS was higher in the faster runners group, when all runners were ranked and divided into 50 runner groups at the 15.0-km point of the competition. In the top 50, which included up to the 69th place runner in actual order who passed the 15-km point at 45 minutes, 53 second (this speed represents 5.45 m x s(-1), or 15 minutes, 17 seconds per 5 km), RFS, MFS, and FFS were 62.0, 36.0, and 2.0%, respectively. Contact time (CT) clearly increased for the slower runners, or the placement order increased (r = 0.71, p < or = 0.05). The CT for RFS + FFS for every 50 runners group significantly increased with increase of the placement order. The CT for RFS was significantly longer than MFS + FFS (200.0 +/- 21.3 vs. 183.0 +/- 16 millisecond). Apparent inversion (INV) of the foot at the foot strike was observed in 42% of all runners. The percentage of INV for MFS was higher than for RFS and FFS (62.5, 32.0, and 50%, respectively). The CT with INV for MFS + FFS was significantly shorter than the CT with and without INV for RFS. Furthermore, the CT with INV was significantly shorter than push-off time without INV for RFS. The findings of this study indicate that foot strike patterns are related to running speed. The percentage of RFS increases with the decreasing of the running speed; conversely, the percentage of MFS increases as the running speed increases. A shorter contact time and a higher frequency of inversion at the foot contact might contribute to higher running economy.     

Effect of elastic-cord towing on the kinematics of the acceleration phase of sprinting

We studied the specificity of elastic-cord towing by measuring selected kinematics of the acceleration phase of sprinting. Nine collegiate sprinters ran two 20-m maximal sprints (MSs) and towed sprints (TSs) that were recorded on high-speed video (180 Hz). Sagittal plane kinematics of a 4-segment model of the right side of the body were digitized for a complete stride at the 15-m point for the fastest trial. Significant (p < 0.001) differences were observed for horizontal velocity of the center of mass (CoM), stride length (SL), and horizontal distance from the CoM of the foot to the CoM of the body. There was no significant difference in stride rate between the MS and TS conditions. Omega-squared analysis showed that elastic-cord towing accounted for most of the variance in acute changes in horizontal velocity (73%), SL (68%), and horizontal position of the CoM at foot contact (64%). Elastic-cord tow training resulted in significant acute changes in sprint kinematics in the acceleration phase of an MS that do not appear to be sprint specific. More research is needed on the specificity of TS training and long-term effects on sprinting performance.     

Neuromuscular functioning of athletes and non-athletes in the drop jump

In many sports vertical jumping is important. This study compared neuromuscular functioning of the lower extremity muscles together with some kinetic and kinematic parameters before and during ground contact in drop jumps from two heights [0.4 m (DJ40) and 0.8 m (DJ80)] in 7 highly trained triple-jumpers and 11 physically active controls. The triple-jumpers jumped 32% higher in DJ40 and 34% higher in DJ80, had shorter braking and total contact times, and greater average and peak vertical ground reaction forces than the controls. In both drop jumps in the electromyogram pre-activity of the vastus lateralis and gastrocnemius muscles started earlier in the jumpers than in the controls. For the control group the increase in dropping height was associated with a decrease in the propulsion force, and resulted in more extended knee and ankle angles at touch down and more flexed angles at the deepest position than for the jumpers. All angular displacements for DJ80 were larger than for DJ40 in the control group. The triple jumpers and control subjects differed with respect to their neuromuscular functioning in the drop jump exercise and they responded in a different way to the increase in dropping height. Accepted: 2 April 1998     

Regulation of step frequency in transtibial amputee endurance athletes using a running-specific prosthesis

Running specific prostheses (RSP) are designed to replicate the spring-like behaviour of the human leg during running, by incorporating a real physical spring in the prosthesis. Leg stiffness is an important parameter in running as it is strongly related to step frequency and running economy. To be able to select a prosthesis that contributes to the required leg stiffness of the athlete, it needs to be known to what extent the behaviour of the prosthetic leg during running is dominated by the stiffness of the prosthesis or whether it can be regulated by adaptations of the residual joints. The aim of this study was to investigate whether and how athletes with an RSP could regulate leg stiffness during distance running at different step frequencies.Seven endurance runners with an unilateral transtibial amputation performed five running trials on a treadmill at a fixed speed, while different step frequencies were imposed (preferred step frequency (PSF) and −15%, −7.5%, +7.5% and +15% of PSF). Among others, step time, ground contact time, flight time, leg stiffness and joint kinetics were measured for both legs.In the intact leg, increasing step frequency was accompanied by a decrease in both contact and flight time, while in the prosthetic leg contact time remained constant and only flight time decreased. In accordance, leg stiffness increased in the intact leg, but not in the prosthetic leg. Although a substantial contribution of the residual leg to total leg stiffness was observed, this contribution did not change considerably with changing step frequency.Amputee athletes do not seem to be able to alter prosthetic leg stiffness to regulate step frequency during running. This invariant behaviour indicates that RSP stiffness has a large effect on total leg stiffness and therefore can have an important influence on running performance. Nevertheless, since prosthetic leg stiffness was considerably lower than stiffness of the RSP, compliance of the residual leg should not be ignored when selecting RSP stiffness.     

The relationship between kinematic determinants of jump and sprint performance in division I women soccer players

The purpose of this study was to determine the relationship between measures of unilateral and bilateral jumping performance and 10- and 25-m sprint performance. Fifteen division I women soccer players (height 165 ± 2.44 cm, mass 61.65 ± 7.7 kg, age 20.19 ± 0.91 years) volunteered to participate in this study. The subjects completed a 10- and 25-m sprint test. The following jump kinematic variables were measured using accelerometry: sprint time, step length, step frequency, jump height and distance, contact time, concentric contact time, and flight time (Inform Sport Training Systems, Victoria, BC, Canada). The following jumps were completed in random order: bilateral countermovement vertical jump, bilateral countermovement horizontal jump, bilateral 40-cm drop vertical jump, bilateral 40-cm drop horizontal jump, unilateral countermovement vertical jump (UCV), unilateral countermovement horizontal jump, unilateral 20-cm drop vertical jump (UDV), and unilateral 20-cm drop horizontal jump (UDH). The trial with the best jump height or distance, reactive strength (jump height or distance/total contact time), and flight time to concentric contact time ratio (FT/CCT) was recorded to analyze the relationship between jump kinematics and sprint performance. None of the bilateral jump kinematics significantly correlated with 10- and 25-m sprint time, step length, or step frequency. Right-leg jump height (r = -0.71, p = 0.006, SEE = 0.152 seconds), FT/CCT (r = -0.58, p = 0.04, SEE = 0.176 seconds), and combined right and left-leg jump height (r = -0.61) were significantly correlated with the 25-m sprint time during the UCV. Right-leg FT/CCT was also significantly related to 25-m step length (r = 0.68, p = 0.03, SEE = 0.06 m) during the UDV. The combined right and left leg jump distance to standing height ratio during the UDH significantly correlated (r = -0.58) with 10-m sprint time. In comparison to bilateral jumps, unilateral jumps produced a stronger relationship with sprint performance.     

Different plantar flexors neuromuscular and mechanical characteristics depending on the preferred running form

Two main types of endurance runners have been identified: aerial runners (AER), who have a larger flight time, and terrestrial runners (TER), who have a longer ground contact time. The purpose of this study was to assess the neuromuscular characteristics of plantar flexors between AER and TER runners. Twenty-four well-trained runners participated in the experiment. They were classified either in a TER or AER group according to the Volodalen® scale. Plantar flexors’ maximal rate of force development (RFD) and maximal voluntary contraction force (MVC) were assessed. Percutaneous electrical stimulation was delivered to the posterior tibial nerve to evoke maximal M-waves and H-reflexes of the triceps surae muscles. These responses, as well as voluntary activation, muscle potentiation, and V-waves, were recorded by superimposing stimulations to MVCs. RFD was significantly higher in AER than in TER, while MVC remained unchanged. This was accompanied by higher myoelectrical activity recorded in the soleus muscle. While M-waves and other parameters remained unchanged, maximal H-reflex was significantly higher in AER than in TER, still in soleus only. The present study raised the possibility of different plantar flexors’ neuromuscular characteristics according to running profile. These differences seemed to be focused on the soleus rather than on the gastrocnemii.     

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.