The influence of vibration on spinal alpha-motoneurons excitability in static conditions and during evoked stepping in human

In healthy human the excitability of spinal alpha-motoneurons under application of vibrostimulation (20-60 Hz) to different leg muscles was investigated both in stationary condition and during stepping movements caused by vibration in the condition of suspended leg. In 15 subjects the amplitude of H-reflex were compared under vibration of rectus femoris (RF) and biceps femoris (BF) muscles of left leg as well during vibration of rectus femoris of contralateral, motionless leg in three spatial positions: upright, supine and on right side of body with suspended left leg. In dynamic conditions the amount of H-reflex was compared during evoked and voluntary stepping at 8 intervals of step cycle. In all body positions the vibration of each ipsilateral leg muscles caused significant suppression of H-reflex, this suppression was more prominent in the air-stepping conditions. The vibration of contralateral leg RF muscle had a weak influence on the amplitude of H-reflex. In 7 subjects the muscle vibration of ipsilateral and contralateral legs generated stepping movements. During evoked "air-stepping" H-reflex had different amplitudes in different phases of step cycle. At the same time the differences between responses under voluntary and non-voluntary stepping were revealed only in stance phase. Thus, different degree of H-reflex suppression by vibration under different body position in space depends on, it seems to be, from summary afferent inflows to spinal cord interneurons, which participate in regulation of posture and locomotion. Seemingly, the increasing of spinal cord neurons excitability occurs under involuntary air-stepping in swing phase, which is necessary for activation of locomotor automatism under unloading leg conditions.     

Biomechanical influences on balance recovery by stepping.

Stepping represents a common means for balance recovery after a perturbation to upright posture. Yet little is known regarding the biomechanical factors which determine whether a step succeeds in preventing a fall. In the present study, we developed a simple pendulum-spring model of balance recovery by stepping, and used this to assess how step length and step contact time influence the effort (leg contact force) and feasibility of balance recovery by stepping. We then compared model predictions of step characteristics which minimize leg contact force to experimentally observed values over a range of perturbation strengths. At all perturbation levels, experimentally observed step execution times were higher than optimal, and step lengths were smaller than optimal. However, the predicted increase in leg contact force associated with these deviations was substantial only for large perturbations. Furthermore, increases in the strength of the perturbation caused subjects to take larger, quicker steps, which reduced their predicted leg contact force. We interpret these data to reflect young subjects' desire to minimize recovery effort, subject to neuromuscular constraints on step execution time and step length. Finally, our model predicts that successful balance recovery by stepping is governed by a coupling between step length, step execution time, and leg strength, so that the feasibility of balance recovery decreases unless declines in one capacity are offset by enhancements in the others. This suggests that one's risk for falls may be affected more by small but diffuse neuromuscular impairments than by larger impairment in a single motor capacity.     

Influence of vibration on the excitability of spinal α-motoneurons under static conditions and during evoked stepping in humans

The excitability of spinal α-motoneurons in healthy humans was investigated with vibrostimulation (20–60 Hz) applied to different groups of muscles both under stationary conditions and during vibration-evoked stepping movements with leg suspension. In 15 subjects, the H-reflex amplitude was compared under the conditions of vibration of the left leg quadriceps femoris (QFM) or biceps femoris (BFM) muscle, as well as under the conditions of vibration of the contralateral, motionless leg QFM muscle in three spatial positions of the body: upright, supine, and lying on the side with the left leg suspended. Under dynamic conditions, the H-reflex value was compared during evoked and voluntary steppings at eight intervals of the step cycle. In all body positions, the vibration of each ipsilateral leg muscle caused a significant H-reflex suppression, this suppression being more prominent under the air-stepping conditions. The vibration of the contralateral leg QFM had weak influence on the H-reflex amplitude. In seven subjects, the vibration of the ipsilateral and contralateral leg muscles generated stepping movements. During vibration-evoked air-stepping, the H-reflex had different amplitudes in different phases of the step cycle. At the same time, the differences between responses under voluntary and involuntary stepping conditions were revealed only in the step cycle phase corresponding to the stance phase. Thus, the different degrees of the H-reflex suppression by vibration in different spatial positions of the body seem to depend on the summary afferent inflows to the spinal cord interneurons involved in the regulation of locomotion and posture. Apparently, an increase in the spinal cord neuronal excitability, which is necessary for activating locomotor automatism under the leg unloading conditions, occurs during evoked air-stepping in the swing phase.     

Stay Focused! The Effects of Internal and External Focus of Attention on Movement Automaticity in Patients with Stroke

Dual-task performance is often impaired after stroke. This may be resolved by enhancing patients’ automaticity of movement. This study sets out to test the constrained action hypothesis, which holds that automaticity of movement is enhanced by triggering an external focus (on movement effects), rather than an internal focus (on movement execution). Thirty-nine individuals with chronic, unilateral stroke performed a one-leg-stepping task with both legs in single- and dual-task conditions. Attentional focus was manipulated with instructions. Motor performance (movement speed), movement automaticity (fluency of movement), and dual-task performance (dual-task costs) were assessed. The effects of focus on movement speed, single- and dual-task movement fluency, and dual-task costs were analysed with generalized estimating equations. Results showed that, overall, single-task performance was unaffected by focus (p = .341). Regarding movement fluency, no main effects of focus were found in single- or dual-task conditions (p’s ≥ .13). However, focus by leg interactions suggested that an external focus reduced movement fluency of the paretic leg compared to an internal focus (single-task conditions: p = .068; dual-task conditions: p = .084). An external focus also tended to result in inferior dual-task performance (β = -2.38, p = .065). Finally, a near-significant interaction (β = 2.36, p = .055) suggested that dual-task performance was more constrained by patients’ attentional capacity in external focus conditions. We conclude that, compared to an internal focus, an external focus did not result in more automated movements in chronic stroke patients. Contrary to expectations, trends were found for enhanced automaticity with an internal focus. These findings might be due to patients’ strong preference to use an internal focus in daily life. Future work needs to establish the more permanent effects of learning with different attentional foci on re-automating motor control after stroke.     

Balance control in stepping down expected and unexpected level changes

Stepping down an elevation in ongoing gait is a common task that can cause falls when the level change is unexpected. The aim of this study was to compare expected and unexpected stepping down. We hypothesized that unexpected stepping would lead to loss of control over the movement and potentially falls due to buckling of the leading leg at landing. Ten male subjects repeatedly walked over a platform on which they stepped down an expected 10-cm height difference. In 5 out of 50 trials, the height difference was encountered unexpectedly early. Kinematics and ground reaction forces under both feet were measured during the stride in which the height difference was negotiated. Stepping down involved a substantial increase in forward horizontal and angular momenta (approximately 40 N s and 20 N ms). In expected stepping down, step length was significantly increased (17%), which allowed control of these forward horizontal and angular momenta immediately following landing. In unexpected stepping down, the time between expected ground contact and actual ground contact (110 ms) appeared too short to substantially adjust leg movement and increase step length. Although buckling of the leg did not occur, presumably due to its more vertical orientation at landing, momentum could not be sufficiently attenuated at landing, but a fall was prevented by a rapid step of the trailing limb. The lack of control of momentum might cause a fall, when the capacity to make such a rapid step falls short, as in the elderly, or when the height difference is larger.     

Factors influencing the quick onset of stepping following postural perturbation.

It has been shown that the stepping to recover balance following a forward fall occurs at a constant time (on average 293 ms) (Do et al. Journal of Biomechanics 15, 1982, 933-939). In this study, we tested the hypothesis according to which programming to make fast movement could trigger the movement earlier than when programming self-pace movement. The same experimental paradigm of forward fall was used (see Do et al., 1982) to induce stepping. Different extents of stepping were manipulated by instructions: Subjects were instructed to step to recover their balance naturally (control condition); to make shorter steps than in the control condition; longer steps; faster steps. Lastly, a fast step was also induced by the biomechanical constraint on the initial posture, i.e. by inclining the subject forward at his maximum capacity. Data were collected from 12 subjects. The variables analyzed were the onset latency of step execution and other classical parameters (time of heel-contact, duration of the swing phase, step length, center of mass progression velocity, and step velocity). The results showed that the onset of stepping was unchanged in the longer- and faster-step conditions, relative to the control condition (mean control value = 280 ms). In contrast, the onset of stepping was significantly earlier in the short-step condition, and when the initial inclination was greater (250 and 252 ms, respectively). The swing phase duration in these two conditions averaged 140 and 185 ms, was significantly shorter than in the other conditions, whereas step length was obviously expected to be shorter in the shorter-step condition and longer in the longer-step condition than in the other conditions. Step length was similar between the other conditions. We conclude that neither step length or step velocity programming could induce an earlier onset latency of stepping. Step programming in relation to these specific instructions seemed to concern the extent of step execution and not the time of triggering of the stepping. We suggest that the control of short swing phase duration resulted in an earlier onset latency of stepping to recover the balance. This control depends on the combination of biomechanical constraints and cognitive processes, including subject's interpretation of the instructions and evaluation of the risk of fall.     

A model of leg coordination in the stick insect,Carausius morosus

A model of interleg coordination presented in a separate report is evaluated here by perturbing the step pattern in three ways. First, when the initial leg configuration is varied, the simulated leg movements assume a stable coordination from natural starting configurations in a natural way (Fig. 1a). They also rapidly re-establish the normal coordination when started from unnatural configurations (Fig. 1b-d). An explicit hierarchy of natural frequencies for the legs of the three thoracic segments is not required. Second, when the coordination is perturbed by assigning one or more legs a retraction velocity different from the rest, gliding coordination or various integer step ratios can be produced (Figs. 2–4). Third, when the swing of one leg is obstructed, characteristic changes in the stepping of other legs occur (Fig. 5). Overall differences between the step patterns of the model and those of the stick insect are related to the form of the coordinating mechanisms. Errors made by the model, such as overlapping swings by adjacent legs or discrepancies in step timing and step end-points, point out the limitations of a model restricted to kinematic parameters.     

A model of leg coordination in the stick insect,Carausius morosus

Mechanisms dependent upon leg position coordinate the alternate stepping of adjacent ipsilateral and contralateral legs in the stick insect. In this insect, swing duration and step amplitude are independent of walking speed. A simple geometrical model of the leg controller is used here to test different mechanisms for compatibility with these two invariant features. Leg position is the state variable of a relaxation oscillator and position thresholds determine the transitions between swing and stance. The coordination mechanisms alter these thresholds. The position-dependent mechanisms considered differ either in the form or the speed-dependence of the function relating the shift in the posterior threshold of the receiving leg to the position of the sending leg. The results identify parameter combinations leading to alternate stepping with symmetric or asymmetric phase distributions, to shifts in the posterior extreme position as a function of speed, to double stepping or to in-phase stepping. An optimal position-dependent excitatory mechanism is described. Finally the consequences of adding either inhibitory influences or time-dependent excitatory influences are analyzed.     

Starting from standing; why step backwards?

At push-off, the mass centre of gravity of the body must be positioned in front of the foot to prevent a somersault. When starting a sprint from out the standing position the use of a step backwards is necessary for maximal acceleration. The aim of the present study was to quantify the positive contribution to push off from a backward step of the leg, which seems to be counterproductive. Ten subjects were instructed to sprint start in three different ways: (a) starting from the standing position just in front of the force platform on the subject's own initiative, (b) starting from the standing position on the force platform with no step backward allowed, and (c) starting out of the starting position with one leg in front of the force platform and the push-off leg on the force platform. A step backwards was observed in 95% of the starts from the standing position. The push-off force was highest in starting type (a), which had the shortest time to build up the push-off force. The results indicate a positive contribution to the force and power from a step backwards. We advocate developing a training program with special attention to the phenomenon step backwards.     

Basic processes of locomotor coordination in the rock lobster

Rock lobsters are able to perform long and stereotyped stepping sequences above a motor driven treadmill. Forward walking samples are estimated by mean of statistical methods to draw out the basic rules involved in the locomotor behaviour (Fig. 1).

- The spatial and temporal parameters defined in a single propulsive leg are either invariable in respect to the imposed speed, as the mean step length (L), the return stroke duration (Tr) and the pause times (T's, T'r), or speed dependent as the power stroke duration (Ts) and the whole period (Figs. 2 and 3).

- The interleg phase coupling is strong and stable in the ipsilateral rear pairs (4–5), these legs acting most of the time in absolute coordination (1:1) or in harmonic ratio (2:1). In the contralateral pairs (R4-L4, R5-L5) the legs roughly operate in antiphase, but the relationship appears much weaker and variable, with frequent episodes of relative coordination (Fig. 4).

- The time intervals between the ground contact of any leg and the swing initiation in the nearest ones appear somewhat constant and could be closely related to the mechanism of stepping synchronization. The “5 on - 4 off” delay, very stable and always positive, suggests that the rear legs could exert a predominant influence upon the rhythmical movements of the next anterior ipsilateral appendages (Fig. 5).

- To test the contralateral relationships, the treadmill belts can be decoupled in order to impose different walking speeds on each side. Such a conflicting stimulus reveals that:

1. The relative hierarchy always observed between the ipsilateral legs can be artificially created between the two sides (Fig. 6).
2. The driving influence of a given leg is closely linked to the intensity of EMG's discharges in its power stroke muscles.
3. The contralateral appendages are able to walk in absolute coordination despite a large speed difference between the two sides (up to 4 cm/s). Under such a constraint, the walking legs alter its invariable parameters (L and Tr) to reach a common step period and steadily maintain the alternating pattern (Figs. 6 and 7).

     

Abnormalities in mutual influences of upper and lower limbs in patients with stroke

Previously, in healthy subjects the common pattern of muscle activation and specifics of interlimb neuron connections during performance of rhythmic separate and simultaneous movements of arms and legs in the lying position, which reflect functional meaningful of interlimb interactions, were shown. The aim of this research was to investigate such mutual influences of upper and lower limbs during the execution of similar motor tasks by patients with stroke. In sixteen poststroke patients with different stage of hemiparesis arms movements together with or without legs movements were performed, while lying supine. It was demonstrated that the common pattern of muscle activity distribution under the execution of voluntary cyclic movements by both arms was disordered. Passive rhythmic movements of each arm caused the phased EMG activity in shoulder muscles in patients with mild hemiparesis, but no activation was observed in patients with severe paresis. The loading of nonparetic arm resulted in an increasing of activity in shoulder flexor muscles of paretic arm in patients with weak paresis (which was typical for healthy subjects), while it not exerted essential influences in patients with severe paresis. Under connecting the cyclic movements of arms with stepping movements of legs in diagonal synergy the activity in proximal muscles of both arms was decreased irrespective of the paresis degree, as it was seeing in healthy subjects. Simultaneous arms and legs movements did not change the muscle activity in non-paretic leg in both groups of patients, but in some muscles of paretic leg the activity even decreased. The results obtained revealed important features of poststroke motor disturbances, which caused the changes of interlimb interaction and in great degree depended on the level of paresis. The data of investigation can be of a great importance for developing the new methods for rehabilitative procedure in patients with stroke.     

The investigation of locomotor activity control system in humans under the air-stepping conditions during passive and voluntary leg movements

The degree of activation of the central stepping program during passive leg movement was studied in healthy subjects under unloading conditions; the excitability of spinal motoneurons was studied during passive and voluntary stepping movements. Passive stepping movements with characteristics maximally close to those during voluntary stepping were accomplished by the experimenter. The bursts of muscular activity during voluntary and imposed stepping movements were compared. In addition, the influence on the leg movement of artificially created loading onto the foot was studied. The excitability of spinal motoneurons was estimated by the amplitude of modulation of the m. soleus H reflex. Changes in the H reflex (Hoffmann’s reflex) after fixation of the knee and hip joints were also studied. In most subjects, passive movements were accompanied by bursts of electromyographic (EMG) activity in the hip muscles (sometimes in shank muscles); the timing of the EMG burst during the step cycle coincided with the burst’s timing during voluntary stepping. In many cases, the bursts in EMG activity exceeded the activity of homonymous muscles during voluntary stepping. Simulation of foot loading influenced significantly the distal part of the moving extremity during both voluntary and passive movements, which was expressed in the appearance of movements in the ankle joint and an increase in the phasic EMG activity of the shank muscles. The excitability of motoneurons during passive movements was higher than during voluntary movements. Changes and modulation of the H reflex throughout the step cycle were similar without restriction of joint mobility and without hip joint mobility. Fixation of the knee joint was of great importance. It is supposed that imposed movements activate the same mechanisms of rhythm generation as supraspinal commands during voluntary movements. During passive movements, presynaptic inhibition depends mostly on the afferent influences from the moving leg rather than on the central commands. Under the conditions of “air-stepping,” the afferent influences from the foot pressure receptors are likely to interact actively with the central program of stepping and to determine the final activity pattern irrespective of the movement type (voluntary or passive).     

Are interlimb interactions disturbed in patients with Parkinson’s disease? A study under unloading conditions

During natural human locomotion, neural connections are activated that are typical of regulation of the quadrupedal walking. The interaction between the neural networks generating rhythmic movements of the upper and lower limbs depends on tonic state of each of these networks regulated by motor signals from the brain. Distortion of these signals in patients with Parkinson’s disease (PD) may lead to disruption of the interlimb interactions. We examined the effect of movements of the limbs of one girdle on the parameters of the motor activity of another limb girdle at their joint cyclic movements under the conditions of arm and leg unloading in 17 patients with PD and 16 healthy subjects. We have shown that, in patients, the effect of voluntary and passive movements of arms, as well as the active movement of the distal parts of arms, on the voluntary movement of legs is weak, while in healthy subjects, the effect of arm movements on the parameters of voluntary stepping is significant. The effect of arm movements on the activation of the involuntary stepping by vibrational stimulation of-legs in patients was absent, while in healthy subjects, the motor activity of arms increased the possibility of involuntary rhythmic movements activation. Differences in the effect of leg movements on the rhythmic movements of arms were found in both patients and healthy subjects. The interlimb interaction appeared after drug administration. However, the effect of the drug was not sufficient for the recovery of normal state of the neural networks in patients. In PD patients, neural networks generating stepping rhythm have an increased tonic activity, which prevents the activation and appearance of involuntary rhythmic movements facilitating the effects of arms on legs.     

Activation of interlimb interactions increases the motor output in legs of healthy subjects: Study under the conditions of arm and leg unloading

The effect of arm movements and movements of individual arm joints on the electrophysiological and kinematic characteristics of voluntary and vibration-triggered stepping-like leg movements was studied under the conditions of horizontal support of the upper and lower limbs. The horizontal support of arms provided a significant increase in the rate of activation of locomotor automatism by noninvasive impact on tonic sensory inputs. The addition of active arm movements during involuntary stepping-like leg movements led to an increase in the EMG activity of hip muscles and was accompanied by an increase in the amplitude of hip and shin movements. The movement of the shoulder joints led to an increase in the activity of hip muscles and was accompanied by an increase in the amplitude of hip and shin movements. Passive arm movements had the same effect on induced leg movements. The movement of the shoulder joints led to an increase in the activity of hip muscles and an increase in the amplitude of movements of knee and hip joints. At the same time, the movement of forearms and wrists had a similar facilitating effect on the physiological and kinematic characteristics of rhythmic stepping-like movements, but influenced the distal segments of legs to a greater extent. Under the conditions of subthreshold vibration of leg muscles, voluntary arm movements led to activation of involuntary rhythmic stepping movements. During voluntary leg movements, the addition of arm movements had a significantly smaller impact on the parameters of rhythmic stepping than during involuntary leg movements. Thus, the simultaneous movements of the upper and lower limbs are an effective method of activation of neural networks connecting the rhythm generators of arms and legs. Under the conditions of arm and leg unloading, the interactions between the cervical and lumbosacral segments of the spinal cord seem to play the major role in the impact of arm movements on the patterns of leg movements. The described methods of activation of interlimb interactions can be used in the rehabilitation of post-stroke patients and patients with spinal cord injuries, Parkinson’s disease, and other neurological diseases.     

Walking in Aretaon asperrimus

This article describes basic parameters characterizing walking of the stick insect Aretaon asperrimus to allow a comparative approach with other insects studied. As in many other animals, geometrical parameters such as step amplitude and leg extreme positions do not vary with walking velocity. However, the relation between swing duration and stance duration is quite constant, in contrast to most insects studied. Therefore, velocity profiles during swing vary with walking velocity whereas time course of leg trajectories and leg angle trajectories are independent of walking velocity. Nevertheless, A. asperrimus does not show a classical tripod gait, but performs a metachronal, or tetrapod, gait, showing phase values differing from 0.5 between ipsilateral neighbouring legs. As in Carausius morosus, the detailed shape of the swing trajectory may depend on the form of the substrate. Effects describing coordinating influences between legs have been found that prevent the start of a swing as long as the posterior leg performs a swing. Further, the treading on tarsus reflex can be observed in Aretaon. No hint to the existence of a targeting influence has been found. Control of rearward walking is easiest interpreted by maintaining the basic rules but an anterior-posterior reversal of the information flow.     

Muscle dynamics differences between legs in healthy adults

Differences in muscle dynamics between the preferred and nonpreferred jumping legs of subjects in maximal, explosive exercise were examined. Eight subjects performed nonfatiguing bouts of single-legged drop jumps and rebound jumps on a force sledge apparatus. Measures of flight time, reactive strength index, peak vertical force, and vertical leg-spring stiffness were obtained for 3 drop jumps and 3 rebound jumps on both legs. Subjects utilized a stiffer leg spring and a more explosive jumping action in the nonpreferred leg when performing a cyclical rebound jumping task in comparison to a single drop jump task (observed through differences in vertical leg-spring stiffness, peak vertical force, and reactive strength index, p < 0.05). The preferred leg performed equally well in both tasks. Between-leg analysis showed no differences in dependent variables between the preferred and the nonpreferred leg in the rebound jumping protocol. However, the drop jump protocol showed significant performance differences, with flight time and reactive strength index greater in the preferred leg than the nonpreferred leg (p < 0.05). We hypothesize that, throughout the lifespan, both legs are equally trained in cyclical rebound jumping tasks through running. However, because a preferred leg must be selected when performing any one-off, single-legged jump, imbalances in this specific task develop over time with consistent selection of a preferred jumping leg. The data demonstrate that the rebound jump protocol is representative of the symmetrical mechanics of forward running and that leg-spring stiffness is modulated depending on the demands of the specific task involved. Strength and conditioning practitioners should give careful consideration to appropriate jump protocol selection and should exercise caution when comparing laboratory results to data gathered in field testing.     

The investigation of control mechanisms of stepping rhythm in human in the air-stepping conditions during passive and voluntary leg movements

In unloading condition the degree of activation of the central stepping program was investigated during passive leg movements in healthy subjects, as well as the excitability of spinal motoneurons during passive and voluntary stepping movement. Passive stepping movements with characteristics maximally approximated to those during voluntary stepping were accomplished by experimenter. The comparison of the muscle activity bursts during voluntary and imposed movements was made. In addition to that the influence of artificially created loading onto the foot to the leg movement characteristics was analyzed. Spinal motoneuron excitability was estimated by means of evaluation of amplitude modulation of the soleus H-reflex. The changes of H-reflexes under the fixation of knee or hip joints were also studied. In majority of subjects the passive movements were accompanied by bursts of EMG activity of hip muscles (and sometimes of knee muscles), which timing during step cycle was coincided with burst timing of voluntary step cycle. In many cases the bursts of EMG activity during passive movements exceeded activity in homonymous muscles during voluntary stepping. The foot loading imitation exerted essential influence on distal parts of moving extremity during voluntary as well passive movements, that was expressed in the appearance of movements in the ankle joint and accompanied by emergence and increasing of phasic EMG activity of shank muscles. The excitability of motoneurons during passive movements was greater then during voluntary ones. The changes and modulation of H-reflex throughout the step cycle without restriction of joint mobility and during exclusion of hip joint mobility were similar. The knee joint fixation exerted the greater influence. It is supposed that imposed movements activate the same mechanisms of rhythm generation as a supraspinal commands during voluntary movements. In the conditions of passive movements the presynaptic inhibition depend on afferent influences from moving leg in the most degree then on central commands. It seems that afferent inputs from pressure receptors of foot in the condition of "air-stepping" actively interact with central program of stepping and, irrespective of type of the performing movements (voluntary or passive), form the final pattern activity.     

Force control of quadriceps muscle is bilaterally impaired in subacute stroke

We tested the hypothesis that force variability and error during maintenance of submaximal isometric knee extension are greater in subacute stroke patients than in controls and are related to motor impairments. Contralesional (more-affected) and ipsilesional (less-affected) legs of 33 stroke patients with sufficiently high motor abilities (62 ± 13 yr, 16 ± 2 days postinjury) and the dominant leg of 20 controls (62 ± 10 yr) were tested in sitting position. After peak knee extension torque [maximum voluntary contraction (MVC)] was established, subjects maintained 10, 20, 30, and 50% of MVC as steady and accurate as possible for 10 s by matching voluntary force to the target level displayed on a monitor. Coefficient of variation (CV) and root-mean-square error (RMSE) were used to quantify force variability and error, respectively. The MVC was significantly smaller in the more-affected than less-affected leg, and both were significantly lower than in controls. The CV was significantly larger in the more-affected than less-affected leg at 20 and 50% MVC, whereas both were significantly larger compared with controls across all force levels. Both more-affected and less-affected legs of patients showed significantly greater RMSE than controls at 30 and 50% MVC. The CV and RMSE were not related to the Fugl-Meyer motor score or to the Rivermead Mobility Index. The CV negatively correlated with MVC in controls but only in the less-affected leg of patients. It is concluded that isometric knee extension strength and force control are bilaterally impaired soon after stroke but more so in the more-affected leg. Future studies should examine possible mechanisms and the evolution of these changes.     

The control of walking movements in the leg of the rock lobster

1. Experiments with rock lobsters walking on a treadmill were undertaken to obtain information upon the system controlling the movement of the legs. Results show that the position of the leg is an important parameter affecting the cyclic movement of the walking leg. Stepping can be interrupted when the geometrical conditions for terminating either a return stroke or a power stroke are not fullfilled. 2. The mean value of anterior and posterior extreme positions (AEP and PEP respectively) of the walking legs do not depend on the walking speed (Fig. 1). 3. When one leg is isolated from the other walking legs by placing it on a platform the AEPs and PEPs of the other legs show a broader distribution compared to controls (Figs. 2 and 3). 4. Force measurements (Fig. 4) are in agreement with the hypothesis that the movement of the leg is controlled by a position servomechanism. 5. When one leg stands on a stationary force transducer this leg develops forces which oscillate with the step rhythm of the other legs (Fig. 5). 6. A posteriorly directed influence is found, by which the return stroke of a leg can be started when the anterior leg performs a backward directed movement. 7. Results are compared with those obtained from stick insects. The systems controlling the movement of the individual leg are similar in both, lobster and stick insect but the influences between the legs seem to be considerably different.