Normal gait characteristics under temporal and distance constraints

Walking patterns of 53 males and 39 females, all in good health, were studied at slow, free, and fast speeds using a walkway system developed by the author. Three males and three females, also in good health, were then studied under constrained walking conditions such as rhythm constraint, speed coupled with constraint, walking up or down a slope, line stepping contraint, stepping onto a marked square, and starting/stopping of walking. In the first set of experiments, the following results were obtained. When increasing speed, the male had a tendency to increase step length and the female had a tendency to increase cadence. The relationships between the speed and the statistics of gait parameters, i.e. the coefficient of variation and the symmetry were examined. The data in this experiment were also applied to Grieve's gait equations which formulated the relationships between step frequency and speed, or between swing time and cycle time.In the second set of experiments the following results were obtained. Although rhythm constraint (induced by a metronome) resulted in no difference of gait between males and females, a difference did appear in the case of speed coupled with constraint. When walking up and down a slope, the ascent case showed a longer step length and a lower cadence compared with the descent. The idea of functional asymmetry, a supporting function of the left leg and a moving function of the right leg, is well accepted. However, in this study of the effect of line stepping constraints predominant right-left functional differences were found. The perturbation of gait when the subjects stepped onto a marked square resembling a force-plate was recorded quantitatively. With regard to the starting and stopping characteristics of walking, it was concluded that the two steps from starting and the three steps before stopping should be excluded from ordinary data due to their acceleration and deceleration properties.     

Effects of walking speed and step frequency on estimation of physical activity using accelerometers

This study evaluated the accuracy of assessing step counts and energy costs under walking conditions altered by step frequency changes at given speeds using uni- (LC) and tri-axial accelerometers (AM, ASP). Healthy young men and women (n=18) volunteered as subjects. Nine tests were designed to manipulate three step frequencies, low (-15% of normal), normal, and high (+15%), at each walking speed (55, 75, and 95 m/min). A facemask connected to a Douglas bag was attached to subjects, who wore accelerometers around their waist. LC underestimated the step counts at normal or high step frequency at 55 m/min and AM also at all step frequencies at 55 m/min, whereas ASP did not in all trials. LC underestimated metabolic equivalents (METs) at low or normal step frequency at all walking speeds. AM underestimated METs at low step frequency at all walking speeds and at high step frequency of 95 m/min. ASP gave underestimates only at low step frequency of 95 m/min. The degree of the percentage error of METs for AM and ASP was affected by step frequency. Significant interaction between step frequency and speed was found that for LC. These results suggest that LC and AM can cause errors in step-count functions at a low walking speed. Furthermore, LC may show low accuracy of the METs measurement during walking altered according to step frequency and speed, whereas AM and ASP, which are tri-axial accelerometers, are more accurate but the degree of the percentage error is affected by step frequency.     

Effects of wind on movement of Diachasmimorpha longicaudata, a parasitoid of tephritid fruit flies, in a laboratory flight tunnel

Cohorts of mass-reared adult female Diachasmimorpha longicaudata (Ashmead), parasitoids of tephritid fruit fly larvae, were released in a laminar air flow wind tunnel to study the effects of air movement on flight and walking behaviors. Wind in the tunnel was cycled on and off at intervals to simulate gusty conditions observed in the field. Wind speed influenced parasitoid movement during both the wind-on periods and during the calm intervals between gusts. Wind speeds of 0.8 m per second suppressed flight and walking behaviors, while wind speeds of 0.4 m/s stimulated both flight and walking behaviors. There was an exponential increase in the ratio of activity in calm to activity in wind as wind speed increased.     

Gait patterns of Japanese pedestrians

Gait patterns of adult Japanese were observed while walking on a sidewalk at Fukuoka city under natural conditions on clear days during December 1987. Pedestrians were recorded by means of video recorder for eleven 1-hr observations. From the measurements of the number of steps and the time required for each subject to traverse 50 m, walking speed was calculated for 479 women and 139 men, and step length and cadence for 292 women and 117 men. The following factors were taken into account in the data analysis: footwear, accompanist, time of day, estimated age and sex. Normal values for walking speed, step length, and cadence information on present-day adult Japanese were documented. The range for the total sample was from 49 to 119 m/min in walking speed, from 51 to 91 cm in step length, and from 95 to 160 steps/min in cadence. There were no significant differences in walking speed, step length, and cadence of the women between wearing flat shoes and heeled shoes. Walking velocity and step length were greater in single walking than in group walking. As compared with the values in the daytime (10:00-15:30) velocity, step length, and cadence tended to be higher in the morning (7:30-10:00) and lower in the evening (15:30-18:00). Older people walked at a slower speed with shorter steps than younger people. For younger pedestrians no significant sex difference was observed in walking speed. Women required a higher cadence than men because of their shorter step lengths. Older men walked faster than older women.     

Comparison of energy expenditure and substrate oxidation between walking and running in men and women

[Purpose]The present study compared energy metabolism between walking and running at equivalent speeds during two incremental exercise tests.[Methods]Thirty four university students (18 males, 16 females) were recruited. Each participant completed two trials, consisting of walking (Walk) and running (Run) trials on different days, with 2-3 days apart. Exercise on a treadmill was started from initial stage of 3 min (3.0 k/m in Walk trial, 5.0 km/h in Run trial), and the speed for walking and running was progressively every minute by 0.5 km/h. The changes in metabolic variables, heart rate (HR), and rating of perceived exertion (RPE) during exercise were compared between the trials.[Results]Energy expenditure (EE) increased with speed in each trial. However, the Walk trial had a significantly higher EE than the Run trial at speeds exceeding 92 ± 2 % of the maximal walking speed (MWS, p < 0.01). Similarly, carbohydrate (CHO) oxidation was significantly higher in the Walk trial than in the Run trial at above 92 ± 2 %MWS in males (p < 0.001) and above 93 ± 1 %MWS in females (p < 0.05).[Conclusion]These findings suggest that EE and CHO oxidation during walking increase non-linearly with speed, and walking at a fast speed causes greater metabolic responses than running at the equivalent speed in young participants.     

Calf muscle moment, work and efficiency in level walking; role of series elasticity

Moment and work of the human calf muscles in level walking were determined by means of an EMG to force processor, based on a muscle analogue (Hof and Van den Berg (1981) J. Biomechanics, 14, 747-758, 759-770, 771-785, 787-792). Nine subjects (four women, five men) walked on a level treadmill at speeds between 0.5 and 2.5 ms-1, in their self-chosen pace and at forced pace with steplengths between 0.3 and 1.1 m. The calf muscles are normally only active in the stance phase. The moment increases, with a variable course, to a peak just before push-off. This peak moment increases with the walking speed, from the reference moment (the value in standing on the toes with one leg) at zero speed, to 1.5-2.1 times this value at a speed of 2 ms-1, and decreases at still greater speeds. During the roll-over phase work is done on the calf muscles ('negative work'), followed by positive work in push-off. The negative work is constant, 0.20-0.36 J kg-1, depending on the subject. The positive work increases linearly with steplength--not with speed--from zero at ca. 0.35 m to 0.50 J kg-1 at a steplength of 1.1 m. The interaction between the contractile and the series elastic component in the muscle could be studied by means of the analogue. A great part of the work done on the muscle and of the positive work done by the contractile component are stored in the series elastic component. The stored energy is released at a high rate in push-off. This mechanism ideally requires a concerted contraction, i.e. a contraction in which the activation is matched to the load to the effect that the length of the contractile component remains constant. The muscle then behaves like a spring. Consequences are (a) only little of the negative work gets lost, (b) the length of the contractile component remains close to the optimum of the force-length relation, (c) the shortening speed of the contractile component is now in the range where the muscle works at a high efficiency, and (d) high power peaks can be delivered due to the 'catapult action'.     

Energetic Consequences of Human Sociality: Walking Speed Choices among Friendly Dyads

Research has shown that individuals have an optimal walking speed–a speed which minimizes energy expenditure for a given distance. Because the optimal walking speed varies with mass and lower limb length, it also varies with sex, with males in any given population tending to have faster optimal walking speeds. This potentially creates an energetic dilemma for mixed-sex walking groups. Here we examine speed choices made by individuals of varying stature, mass, and sex walking together. Individuals (N = 22) walked around a track alone, with a significant other (with and without holding hands), and with friends of the same and opposite sex while their speeds were recorded every 100 m. Our findings show that males walk at a significantly slower pace to match the females’ paces (p = 0.009), when the female is their romantic partner. The paces of friends of either same or mixed sex walking together did not significantly change (p>0.05). Thus significant pace adjustment appears to be limited to romantic partners. These findings have implications for both mobility and reproductive strategies of groups. Because the male carries the energetic burden by adjusting his pace (slowing down 7%), the female is spared the potentially increased caloric cost required to walk together. In energetically demanding environments, we will expect to find gender segregation in group composition, particularly when travelling longer distances.     

Control of lateral weight transfer is associated with walking speed in individuals post-stroke

Restoring functional gait speed is an important goal for rehabilitation post-stroke. During walking, transferring of one’s body weight between the limbs and maintaining balance stability are necessary for independent functional gait. Although it is documented that individuals post-stroke commonly have difficulties with performing weight transfer onto their paretic limbs, it remains to be determined if these deficits contributed to slower walking speeds. The primary purpose of this study was to compare the weight transfer characteristics between slow and fast post-stroke ambulators. Participants (N = 36) with chronic post-stroke hemiparesis walked at their comfortable and maximal walking speeds on a treadmill. Participants were stratified into 2 groups based on their comfortable walking speeds (≥0.8 m/s or <0.8 m/s). Minimum body center of mass (COM) to center of pressure (COP) distance, weight transfer timing, step width, lateral foot placement relative to the COM, hip moment, peak vertical and anterior ground reaction forces, and changes in walking speed were analyzed. Results showed that slow walkers walked with a delayed and deficient weight transfer to the paretic limb, lower hip abductor moment, and more lateral paretic limb foot placement relative to the COM compared to fast walkers. In addition, propulsive force and walking speed capacity was related to lateral weight transfer ability. These findings demonstrated that deficits in lateral weight transfer and stability could potentially be one of the limiting factors underlying comfortable walking speeds and a determinant of chronic stroke survivors’ ability to increase walking speed.     

Vertical displacement of the centre of mass during walking in people with diabetes and diabetic neuropathy does not explain their higher metabolic cost of walking

People with diabetes display biomechanical gait alterations compared to controls and have a higher metabolic cost of walking (CoW), but it remains unknown whether differences in the vertical displacement of the body centre of mass (CoM) may play a role in this higher CoW. The aim of this study was to investigate vertical CoM displacement (and step length as a potential underpinning factor) as an explanatory factor in the previously observed increased CoW with diabetes. Thirty-one non-diabetic controls (Ctrl); 22 diabetic patients without peripheral neuropathy (DM) and 14 patients with moderate/severe Diabetic Peripheral Neuropathy (DPN), underwent gait analysis using a motion analysis system and force plates while walking at a range of matched speeds between 0.6 and 1.6 m/s. Vertical displacement of the CoM was measured over the gait cycle, and was not different in either diabetes patients with or without diabetic peripheral neuropathy compared to controls across the range of matched walking speeds examined (at 1 m/s: Ctrl: 5.59 (SD: 1.6), DM: 5.41 (1.63), DPN: 4.91 (1.66) cm; p > 0.05). The DPN group displayed significantly shorter steps (at 1 m/s: Ctrl: 69, DM: 67, DPN: 64 cm; p > 0.05) and higher cadence (at 1 m/s: Ctrl: 117 (SD1.12), DM: 119 (1.08), DPN: 122 (1.25) steps per minute; p > 0.05) across all walking speeds compared to controls. The vertical CoM displacement is therefore unlikely to be a factor in itself that contributes towards the higher CoW observed recently in people with diabetic neuropathy. The higher CoW in patients with diabetes may not be explained by the CoM displacement, but rather may be more related to shorter step lengths, increased cadence and the associated increased internal work and higher muscle forces developed by walking with more flexed joints.     

Spatio-temporal gait characteristics of the hind-limb cycles during voluntary bipedal and quadrupedal walking in bonobos (Pan paniscus)

Spatio-temporal gait characteristics (step and stride length, stride frequency, duty factor) were determined for the hind-limb cycles of nine bonobos (Pan paniscus) walking quadrupedally and bipedally at a range of speeds. The data were recalculated to dimensionless quantities according to the principle of dynamic similarity. Lower leg length was used as the reference length. Interindividual variability in speed modulation strategy of bonobos appears to be low. Compared to quadrupedal walking, bipedal bonobos use smaller steps to attain a given speed (differences increase with speed), resulting in shorter strides at a higher frequency. In the context of the ("hybrid") dynamic pattern approach to locomotion (Latach, 1998) we argue that, despite these absolute differences, intended walking speed is the basic control variable which elicits both quadrupedal and bipedal walking kinematics in a similar way. Differences in the initial status of the dynamic system may be responsible for the differences in step length between both gaits. Comparison with data deduced from the literature shows that the effects of walking speed on stride length and frequency are similar in bonobos, common chimpanzees, and humans. This suggests that (at least) within extant homininae, spatio-temporal gait characteristics are highly comparable, and this in spite of obvious differences in mass distribution and bipedal posture.     

Sex, Reproductive Status, and Cost of Tail Autotomy via Decreased Running Speed in Lizards

Autotomy, voluntary shedding of body parts to permit escape, is a theoretically interesting defense because escape benefit is offset by numerous costs, including impaired future escape ability. Reduced sprint speed is a major escape cost in some lizards. We predicted that tail loss causes decreased speed in males and previtellogenic females, but not vitellogenic females already slowed by mass gain. In the striped plateau lizard, Sceloporus virgatus , adults of both sexes are subject to autotomy, and females undergo large increases in body condition (mass/length) during vitellogenesis. Time required for running 1 m was similar in intact autotomized males and previtellogenic females, but increased by nearly half after autotomy. Vitellogenic females were slower than other lizards when intact, but their speed was unaffected by autotomy. Following autotomy, speeds of all groups were similar. Thus, speed costs of autotomy vary with sex and reproductive condition: decreased running speed is not a cost of autotomy in vitellogenic females or presumably gravid females. Costs of autotomy are more complex than previously known. Speed and other costs might interact in unforseen ways, making it difficult to predict whether strategies to compensate for diminished escape ability differ with reproductive condition in females.     

Estimation of gait cycle characteristics by trunk accelerometry

This study reports on the novel use of a portable system to measure gait cycle parameters. Measurements were made by a triaxial accelerometer over the lower trunk during timed walking over a range of self-administered speeds. Signals from each trial were transformed to a horizontal-vertical coordinate system and analyzed by an unbiased autocorrelation procedure to obtain cadence, step length, and measures of gait regularity and symmetry. By curvilinear interpolation, speed-dependent gait parameters could be compared at a normalized speed. It was demonstrated that analysis of gait cycle parameters which previously required fixed laboratory equipment and paced walking procedures, now can be made from data obtained by a timing device and a portable sensor at free walking speeds.     

Predicting metabolic cost of level walking

Energy expenditure in walking is usually expressed as a function of walking speed. However, this relationship applies only to freely adopted step length-step rate patterns. Both the step length and the step rate must be used to preduct the energy expenditure for any combination of step length and step rate. Evidence on seven subjects indicates that the energy demand for such a combination can be determined by conducting two experiments. In the first, the subject is allowed to freely choose his own walking pattern to achieve a set of prescribed speeds. In the second, the speed is kept constant but the subject is forced to adopt a range of prescribed step rates. The results of the two experiments combined yield enough data to make possible the determination of the energy equation of the pattern, encompassing both "free" and "forced" gaits. Results show that the freely chosen step rate requires the least oxygen consumption at any given speed. Any other forced step rate at the same speed increases the oxygen cost over that required for the "free" step rate.     

Kinematic and kinetic changes in obese gait in bariatric surgery-induced weight loss

This study examines the effects of a radical bariatric surgery-induced weight loss on the gait of obese subjects. We performed a three-dimensional motion analysis of lower limbs, and collected force platform data in the gait laboratory to calculate knee and hip joint moments. Subjects (n=13) performed walking trials in the laboratory before and 8.8 months (SD 4.2) after the surgical procedure at two gait speeds (1.2m/s and 1.5m/s). The average weight loss was 26.7kg (SD 9.2kg), corresponding to 21.5% (SD 6.8%) of the initial weight. We observed a decrease in step width at both gait speeds, but no changes in relative double support or swing time or stride length. A significant decrease was noted in the absolute values of peak knee abductor, peak knee flexor and peak hip extensor moments. However, the moment values normalized by the body weight and height remained unchanged in most cases. Thus, we conclude that weight loss reduces hip and knee joint moments in proportion to the amount of weight lost.     

Physiological responses to water-walking in middle aged women

The purpose of the present study was to examine the physiological responses to water-walking using the Flowmill, which has a treadmill at the base of a water-flume, in two groups of women. In the first group, the women were known to regularly swim and exercise in water (group A), while in the second, they did not routinely participate in water-exercise (group B). In both groups, twelve healthy female volunteers in their fifties participated in the study. All of the subjects walked in water using the Flowmill for the first time. Subjects completed four consecutive bouts of 4-minute duration at progressively increasing speeds (20, 30, 40, and 50 m.min-1), with 1-minute rests between each bout. In addition, water-velocity was adjusted to the walking speed of each bout. The water-depth of the Flowmill was the level of the xiphoid process. The water and room temperatures were 30.3 +/- 0.1 degrees C and 24.9 +/- 0.4 degrees C, respectively. In both groups, the relationship between walking speed and oxygen uptake (VO2) as well as that between walking speed and heart rate (HR) changed exponentially as the walking speed increased, and the relationship between HR and VO2 was linear. The relationship between HR and VO2 was similar in both groups, and there was no significant difference between the predicted maximal oxygen uptake (VO2max) of the two groups. VO2 and HR of group B during water-walking, however, were significantly higher than those of group A at all walking speeds. The results of this study clearly showed that experience in moving through the water strongly affects physiological responses to water-exercise, even when fitness levels are equivalent.     

Optimal rate of work for mountaineers

The physiological responses of seven young male highlanders were recorded at high altitude while they were carrying loads (0, 25, 35, 45, and 55 kg) on snow at different speeds, supporting the loads on their backs by circular straps around the forehead. The rates of work calculated from the gross weight (body weight plus actual load in kg) multiplied by the speed of walking, m.min-1, ranged from 4,460 to 8,440 kg.m.min-1. The relationship between the rate of work and energy expenditure was rectilinear within the present range of values. The oxygen consumption (51.6 and 59.7 ml.min-1.kg-1 BW) for 55-kg load (at 4.09 and 4.64 km.h-1) possibly reached maximal aerobic capacity. At higher energy output at high altitude the subjects were exhausted after a short period of work. The proportion of increase of oxygen consumption per kg gross weight carried or per kg.m was almost constant up to a 55-kg experimental load. It is suggested that for day-to-day operations work should not be undertaken at more than 30-40% of maximal work capacity; a rate of work around 4,000 kg.m.min-1 (25-30 kg actual load at 3.0 to 3.5 km.h-1) may be considered as optimal for highlanders and porters at high altitude.     

Step-to-Step Variability in Treadmill Walking: Influence of Rhythmic Auditory Cueing

While walking, human beings continuously adjust step length (SpL), step time (SpT), step speed (SpS = SpL/SpT) and step width (SpW) by integrating both feedforward and feedback mechanisms. These motor control processes result in correlations of gait parameters between consecutive strides (statistical persistence). Constraining gait with a speed cue (treadmill) and/or a rhythmic auditory cue (metronome), modifies the statistical persistence to anti-persistence. The objective was to analyze whether the combined effect of treadmill and rhythmic auditory cueing (RAC) modified not only statistical persistence, but also fluctuation magnitude (standard deviation, SD), and stationarity of SpL, SpT, SpS and SpW. Twenty healthy subjects performed 6×5 min. walking tests at various imposed speeds on a treadmill instrumented with foot-pressure sensors. Freely-chosen walking cadences were assessed during the first three trials, and then imposed accordingly in the last trials with a metronome. Fluctuation magnitude (SD) of SpT, SpL, SpS and SpW was assessed, as well as NonStationarity Index (NSI), which estimates the dispersion of local means in the times series (SD of 20 local means over 10 steps). No effect of RAC on fluctuation magnitude (SD) was observed. SpW was not modified by RAC, what is likely the evidence that lateral foot placement is separately regulated. Stationarity (NSI) was modified by RAC in the same manner as persistent pattern: Treadmill induced low NSI in the time series of SpS, and high NSI in SpT and SpL. On the contrary, SpT, SpL and SpS exhibited low NSI under RAC condition. We used relatively short sample of consecutive strides (100) as compared to the usual number of strides required to analyze fluctuation dynamics (200 to 1000 strides). Therefore, the responsiveness of stationarity measure (NSI) to cued walking opens the perspective to perform short walking tests that would be adapted to patients with a reduced gait perimeter.     

Asymmetric interlimb role-sharing in mechanical power during human sideways locomotion

Sideways movement at a wide variety of speeds is required in daily life and sports. The purpose of this study was to identify the characteristics of asymmetry in power output between lower limbs during sideways gait patterns. Seven healthy men performed steady-state sideways locomotion at various speeds. The mechanical external power of each limb was calculated and decomposed to the lateral and vertical components by the center of mass velocity and ground reaction force. We acquired data from 126 steps of sideways walking at 0.44–1.21 m/s, and from 41 steps of sideways galloping at 1.04–3.00 m/s. The results showed asymmetric power production between the limbs during sideways locomotion. During sideways walking, the trailing limb predominantly produced positive external power and the leading limb produced predominantly negative external power, and these amplitudes increased with step speed. In contrast, during sideways galloping, negative and subsequent positive power production was observed in both limbs. These differences in asymmetric interlimb role-sharing were mainly due to the vertical component. During sideways galloping, the trailing limb absorbs vertical power produced by the leading limb due to the longer flight time. This characteristic of vertical power production in the trailing limb may explain the presence of a double-support phase, which is not observed during forward running, even at high speeds. Our results will help to elucidate the asymmetric movements of the limbs in lateral directions at various speeds.     

Stability-normalised walking speed: A new approach for human gait perturbation research

In gait stability research, neither self-selected walking speeds, nor the same prescribed walking speed for all participants, guarantee equivalent gait stability among participants. Furthermore, these options may differentially affect the response to different gait perturbations, which is problematic when comparing groups with different capacities. We present a method for decreasing inter-individual differences in gait stability by adjusting walking speed to equivalent margins of stability (MoS). Eighteen healthy adults walked on a split-belt treadmill for two-minute bouts at 0.4 m/s up to 1.8 m/s in 0.2 m/s intervals. The stability-normalised walking speed (MoS = 0.05 m) was calculated using the mean MoS at touchdown of the final 10 steps of each speed. Participants then walked for three minutes at this speed and were subsequently exposed to a treadmill belt acceleration perturbation. A further 12 healthy adults were exposed to the same perturbation while walking at 1.3 m/s: the average of the previous group. Large ranges in MoS were observed during the prescribed speeds (6–10 cm across speeds) and walking speed significantly (P < 0.001) affected MoS. The stability-normalised walking speeds resulted in MoS equal or very close to the desired 0.05 m and reduced between-participant variability in MoS. The second group of participants walking at 1.3 m/s had greater inter-individual variation in MoS during both unperturbed and perturbed walking compared to 12 sex, height and leg length-matched participants from the stability-normalised walking speed group. The current method decreases inter-individual differences in gait stability which may benefit gait perturbation and stability research, in particular studies on populations with different locomotor capacities. [Preprint: https://doi.org/10.1101/314757]