Determination of toe-off event time during treadmill locomotion using kinematic data

Researchers collecting gait kinematic data during treadmill locomotion are often interested in determining the times of toe off and heel strike for each stride. In the absence of additional hardware, only position data collected with motion-capture equipment may be available. Others have published methods for using kinematic data for detecting overground gait events. However, during treadmill locomotion, especially running, overground methods may not possess sufficient accuracy. The purpose of this paper is to describe a method for using kinematic data to determine the time of toe off during treadmill locomotion. Ten subjects walked and ran on a treadmill while a motion-capture system collected positional data from heel and toe markers. The treadmill was equipped with force platforms that allowed an accurate determination of foot-ground contact. The time of toe off was determined using the vertical component of the toe marker, and this method was found to have greater accuracy for event detection than other published methods. Researchers can use the described method to determine times of heel strike and toe off during treadmill locomotion using only kinematic data.     

Error propagation from kinematic data to modeled muscle-tendon lengths during walking

Kinematic data from 3D gait analysis together with musculoskeletal modeling techniques allow the derivation of muscle-tendon lengths during walking. However, kinematic data are subject to soft tissue artifacts (STA), referring to skin marker displacements during movement. STA are known to significantly affect the computation of joint kinematics, and would therefore also have an effect on muscle-tendon lengths which are derived from the segmental positions. The present study aimed to introduce an analytical approach to calculate the error propagation from STA to modeled muscle-tendon lengths. Skin marker coordinates were assigned uncorrelated, isotropic error functions with given standard deviations accounting for STA. Two different musculoskeletal models were specified; one with the joints moving freely in all directions, and one with the joints constrained to rotation but no translation. Using reference kinematic data from two healthy boys (mean age 9 y 5 m), the propagation of STA to muscle-tendon lengths was quantified for semimembranosus, gastrocnemius and soleus. The resulting average SD ranged from 6% to 50% of the normalized muscle-tendon lengths during gait depending on the muscle, the STA magnitudes and the musculoskeletal model. These results highlight the potential impact STA has on the biomechanical analysis of modeled muscle-tendon lengths during walking, and suggest the need for caution in the clinical interpretation of muscle-tendon lengths derived from joint kinematics.     

The effects of fall history on kinematic synergy during walking

To prevent falls, control of the swing foot during walking is crucial. Recently, some studies demonstrated that the coordinated movement of lower limbs by kinematic synergy is important for stable walking. However, no study has been carried out to reveal the relation between falls and kinematic synergy, and it is unclear whether fall history alters the kinematic synergy. Thus, the purpose of this study was to test the effects of fall history on kinematic synergy using uncontrolled manifold (UCM) analysis. Older adults were divided into two groups: older adults without fall history (non-fallers, n = 14) and older adults with fall history of at least one fall in the 12 months prior to the measurements (fallers, n = 10). Subjects walked at their own comfortable speed on a pathway and kinematic data were collected. UCM analysis was performed to assess how variability of segmental configurations in the frontal plane, the mediolateral and vertical directions, affects the frontal trajectory of the swing foot. Fallers had a greater variability of segmental configurations than non-fallers in all phases. In the mediolateral direction, the kinematic synergy in fallers was significantly greater than that in non-fallers during the early and late swing phases. On the other hands, fallers continuously had greater kinematic synergy compared to non-fallers in the vertical direction. The results revealed that fall history increased the kinematic synergy, although fallers needed a greater variability of segmental configurations as a compensatory strategy to ensure kinematic synergy.     

Somatosensory unit input to the spinal cord during normal walking

Chronic recording techniques in freely walking cats have been used to sample unitary activity from most large myelinated afferent classes. Cutaneous mechanoreceptors are highly sensitive and generate regular activity patterns predictable from their modalities. Knee joint afferents can fire briskly midrange locomotory movements but appear to be influenced by factors other than joint angle. Golgi tendon organs generate activity consistent with sensitivity to active muscle tension. Muscle spindle afferents do not appear to conform to any single functional pattern for all muscles. It is suggested that degree and rate of stretch are sensed by spindles (possibly under dynamic fusimotor bias) in extensor muscles which normally undergo isometric or lengthening contractions whereas rapidly modulated static fusimotor activity is employed to preserve spindle activity during the rapidly shortening contractions of flexor muscles. Both patterns may be represented in different spindles of bifunctional, biarticular muscles such as rectus femoris and sartorius.     

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

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

Gait events during turning can be detected using kinematic features originally proposed for the analysis of straight-line walking

There is a growing interest for turning biomechanics notably because it is a more challenging task than straight-line walking during which some gait impairments are increased. Detecting heel-strike (HS) and toe-off (TO) events using the trajectory of markers attached to the feet is common in straight-line gait analysis and could reveal very useful to evaluate turning maneuvers. Yet, a comprehensive evaluation is missing, making difficult the selection of features for temporal analysis of turning. This study aimed to compare features of foot marker trajectories to detect HS and TO. Twenty healthy participants, 10 young (5 males, 23 ± 1 years old, 21.3 ± 2.2 kg/m²) and 10 elderly (4 males, 72 ± 5 years old, 26.4 ± 6.4 kg/m²), performed quarter, half, and full turns as well as straight-line walking in a gait lab. Fourteen features, adapted from straight-line walking literature, were used to detect HS and TO based on marker trajectories. Force plate measures served as reference. One HS and one TO feature were found particularly suitable. Overall, they detected more than 99% of the 1788 events recorded, with accuracies and precisions of −3.9 ms and 9.0 ms for HS and −7.8 ms and 10.7 ms for TO, respectively. Differences in accuracy and precision were observed among walking conditions and groups, but remained small, generally below 4.0 ms. In conclusion, this study identified kinematic features that can be used to analyze both turning and straight-line walking. Further assessment could be necessary with pathologies inducing severe degradation of gait patterns.     

Hemiplegic gait: a kinematic analysis using walking speed as a basis.

The kinematics of treadmill ambulation of stroke patients (N = 9) and healthy subjects (N = 4) was studied at a wide range of different velocities (i.e. 0.25-1.5 m s-1), with a focus on the transverse rotations of the trunk. Video recordings revealed, for both stroke patients and healthy subjects, similar relations between walking speed and stride length as well as stride frequency. The phase difference between pelvic and thoracic rotations (i.e. trunk rotation) and the total range of trunk rotation were almost linearly related to the walking speed. Healthy subjects showed a marked increase in pelvic rotation from 1 to 1.5 m s-1. Using dimensional analysis in a comparison between stroke patients and healthy subjects, invariances in the coordination of gait were found for stride length, stride frequency, pelvic rotation, and trunk rotation. Constant relations were obtained between, on the one hand, dimensionless velocity and, on the other, dimensionless stride length as well as stride frequency. Transitions were found between the velocities 0.75 and 1 m s-1 for dimensionless pelvic rotation and trunk rotation, indicating that, from this velocity range onwards, pelvic swing lengthens the stride: rotations of pelvis, thorax and trunk become tightly coordinated. On the basis of the dimensionless stride length, stride frequency, pelvic rotation and trunk rotation, deficits in the gait of stroke patients could be quantified. It is concluded that walking speed is an important control parameter, which should be used as a basic variable in the evaluation of the gait of stroke patients.     

Predictions of knee and ankle moments of force in walking from EMG and kinematic data

A deterministic model was developed and validated to calculate instantaneous ankle and knee moments during walking using processed EMG from representative muscles, instantaneous joint angle as a correlate of muscle length and angular velocity as a correlate of muscle velocity, and having available total instantaneous joint moments for derivation of certain model parameters. A linear regression of the moment on specifically processed EMG, recorded while each subject performed cycled isometric calibration contractions, yielded the constants for a basic moment-EMG relationship. Using the resultant moment for optimization, the predicted moment was proportionally augmented for longer muscle lengths and reduced for shorter lengths. Similarly, the predicted moment was reduced for shortening velocities and increased if the muscle was lengthening. The plots of moments predicted using the full model and those calculated from link segment mechanics followed each other quite closely. The range of root mean square errors were: 3.2-9.5 Nm for the ankle and 4.7-13.0 Nm for the knee.     

Individual muscle contributions to the axial knee joint contact force during normal walking

Muscles are significant contributors to the high joint forces developed in the knee during human walking. Not only do muscles contribute to the knee joint forces by acting to compress the joint, but they also develop joint forces indirectly through their contributions to the ground reaction forces via dynamic coupling. Thus, muscles can have significant contributions to forces at joints they do not span. However, few studies have investigated how the major lower-limb muscles contribute to the knee joint contact forces during walking. The goal of this study was to use a muscle-actuated forward dynamics simulation of walking to identify how individual muscles contribute to the axial tibio-femoral joint force. The simulation results showed that the vastii muscles are the primary contributors to the axial joint force in early stance while the gastrocnemius is the primary contributor in late stance. The tibio-femoral joint force generated by these muscles was at times greater than the muscle forces themselves. Muscles that do not cross the knee joint (e.g., the gluteus maximus and soleus) also have significant contributions to the tibio-femoral joint force through their contributions to the ground reaction forces. Further, small changes in walking kinematics (e.g., knee flexion angle) can have a significant effect on the magnitude of the knee joint forces. Thus, altering walking mechanics and muscle coordination patterns to utilize muscle groups that perform the same biomechanical function, yet contribute less to the knee joint forces may be an effective way to reduce knee joint loading during walking.     

Robust joint modeling of longitudinal measurements and time to event data using normal/independent distributions: A Bayesian approach

Joint modeling of longitudinal data and survival data has been used widely for analyzing AIDS clinical trials, where a biological marker such as CD4 count measurement can be an important predictor of survival. In most of these studies, a normal distribution is used for modeling longitudinal responses, which leads to vulnerable inference in the presence of outliers in longitudinal measurements. Powerful distributions for robust analysis are normal/independent distributions, which include univariate and multivariate versions of the Student's t, the slash and the contaminated normal distributions in addition to the normal. In this paper, a linear‐mixed effects model with normal/independent distribution for both random effects and residuals and Cox's model for survival time are used. For estimation, a Bayesian approach using Markov Chain Monte Carlo is adopted. Some simulation studies are performed for illustration of the proposed method. Also, the method is illustrated on a real AIDS data set and the best model is selected using some criteria.     

Interpolating three-dimensional kinematic data using quaternion splines and hermite curves

Kinematic interpolation is an important tool in biomechanics. The purpose of this work is to describe a method for interpolating three-dimensional kinematic data, minimizing error while maintaining ease of calculation. This method uses cubic quaternion and hermite interpolation to fill gaps between kinematic data points. Data sets with a small number of samples were extracted from a larger data set and used to validate the technique. Two additional types of interpolation were applied and then compared to the cubic quaternion interpolation. Displacement errors below 2% using the cubic quaternion method were achieved using 4% of the total samples, representing a decrease in error over the other algorithms.     

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.     

Individual differences and variability in the timing of motor activity during walking in insects

The uniformity of the neural physiology of an animal population is a fundamental, rarely tested assumption in most neurophysiological work. In this study, the variability of the timing between the movements of pairs of legs during free walking in cockroaches was assessed. Phases (a measure of timing) of motor bursts in muscles of legs in the American cockroach, Periplaneta americana, were calculated for insects walking straight over a flat, level surface. Student's t, Wallraff, Mann Whitney and Watson U² two-sample tests were used to compare the phases of motor bursts of the same pairs of legs in different insects. The comparisons showed that in spite of the homogeneity both of the animal population and of the conditions under which the insects walked, most of the inter-leg phases of the animals that were compared were significantly different statistically. Further testing of greater numbers of insects using analysis of variance to test for population uniformity confirmed that the insects we tested were not members of a single statistical population with respect to the timing of motor bursts of the legs during walking. We infer that this unexpectedly large variability in a population thought to be relatively homogeneous reflects subtle but biologically significant differences between animals. The possible sources of these differences and their consequences for the study of behavior and its physiological basis are discussed.     

Pendular activity of human upper limbs during slow and normal walking

When walking at normal and fast speeds, humans swing their upper limbs in alternation, each upper limb swinging in phase with the contralateral lower limb. However, at slow and very slow speeds, the upper limbs swing forward and back in unison, at twice the stride frequency of the lower limbs. The change from “single swinging” (in alternation) to “double swinging” (in unison) occurs consistently at a certain stride frequency for agiven individual, though different individuals may change at different stride frequencies. To explain this change in the way we use our upper limbs and individual variations in the occurrence of the change, the upper limb is modelled as a compound pendulum. Based on the kinematic properties of pendulums, we hypothesize that the stride frequency at which the change from “single swinging” to “double swinging” occurs will be at or slightly below the natural pendular frequency (NPF) of the upper limbs. Twenty-seven subjects were measured and then filmed while walking at various speeds. The mathematically derived NPF of each subject's upper limbs was compared to the stride frequency at which the subject changed from “single swinging” to “double swinging.” The results of the study conform very closely to the hypothesis, even when the NPF is artificially altered by adding weights to the subjects' hands. These results indicate that the pendulum model of the upper limb will be useful in further investigations of the function of the upper limbs in human walking. © 1994 Wiley-Liss, Inc.     

Patterns of trunk muscle activation during walking and pole walking using statistical non-parametric mapping

This study used surface electromyography (EMG) to investigate the regions and patterns of activity of the external oblique (EO), erector spinae longissimus (ES), multifidus (MU) and rectus abdominis (RA) muscles during walking (W) and pole walking (PW) performed at different speeds and grades. Eighteen healthy adults undertook W and PW on a motorized treadmill at 60% and 100% of their walk-to-run preferred transition speed at 0% and 7% treadmill grade. The Teager-Kaiser energy operator was employed to improve the muscle activity detection and statistical non-parametric mapping based on paired t-tests was used to highlight statistical differences in the EMG patterns corresponding to different trials. The activation amplitude of all trunk muscles increased at high speed, while no differences were recorded at 7% treadmill grade. ES and MU appeared to support the upper body at the heel-strike during both W and PW, with the latter resulting in elevated recruitment of EO and RA as required to control for the longer stride and the push of the pole. Accordingly, the greater activity of the abdominal muscles and the comparable intervention of the spine extensors supports the use of poles by walkers seeking higher engagement of the lower trunk region.     

Use of bilateral information to determine the walking direction during orientation to a pheromone source in the silkmoth Bombyx mori

Odor source localization is an important animal behavior. Male moths locate mates by tracking sex pheromone emitted by conspecific females. During this type of behavior, males exhibit a combination of upwind surge and zigzagging flight. Similarly, the male walking moth Bombyx mori responds to transient pheromone exposure with a surge in movement, followed by sustained zigzagging walking. The initial surge direction is known to be influenced by the pheromone input pattern. Here, we identified the sensory input patterns that determine the initial walking direction of males. We first quantified the stimulus by measuring electroantennogram values, which were used as a reference for subsequent tests. We used a brief stimulus pulse to examine the relationship between sensory stimulus patterns and the turning direction of initial surge. We found that the difference in input timing and intensity between left and right antennae affected the walking direction, indicating that B. mori integrate bilateral pheromone information during orientation behavior. When we tested pheromone stimulation for longer periods, turning behavior was suppressed, which was induced by stimulus cessation. This study contributes toward understanding efficient strategies for odor-source localization that is utilized by walking insects.