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.     

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.     

A biomechanical study of balance recovery during the fall forward

The study deals with the biomechanics of balance recovery of human subjects in a falling forward situation. Eight subjects took part in the experiment. The subject, held in the initial leaning forward position, was released without his knowledge. The instruction was to recover the induced disequilibrium by walking. The biomechanical analysis shows two phases in the balance recovery. The first phase—preparation phase—is characterized by three events at fixed timing whatever the initial inclination. (i) Dynamic reaction time, showing no significant inter-individual variation (mean VALUE = 90.8 ms). (ii) Braking of the forward fall, between 184 ms and 237.2 ms, depending on the subject. (iii) Beginning of the swing phase—i.e. toe-off instant—between 235.9 ms and 328.3 ms, depending on the subject. The second phase—gait execution phase—is characterized by the duration of the swing phase, the duration of the stance phase, the stride length and execution speed. The durations diminish whereas the stride length and the execution speed increase with respect to the initial inclination. For the same execution speed, the stride length is shorter than in normal walking.

It has been concluded that balance recovery following an induced fall forward begins with an invariable preparation process which is followed by an adaptable recovery one.     

Balance Recovery Prediction with Multiple Strategies for Standing Humans

Human balance recovery from external disturbances is a complex process, and simulating it remains an open challenge. In particular, there still is a need for a comprehensive numerical tool capable of predicting the outcome of a balance perturbation, including in particular the three elementary recovery strategies: ankle, hip and stepping with variable step duration. In order to fill this gap we further developed a previously proposed multiple step balance recovery prediction tool to include the use of the hip strategy and variable step duration. Simulated recovery reactions are compared against observations from different experimental situations from the literature. Reasonable accuracy in terms of step positions and durations were obtained for these different situations using a single set of controller parameters. Moreover, variations in the use of the hip strategy and the step duration between situations were consistent with biomechanical observations. Such a model could be useful to better understand the balance recovery mechanisms, and could also be used to identify potentially hazardous situations.     

Age and gender differences in peak lower extremity joint torques and ranges of motion used during single-step balance recovery from a forward fall.

Previous studies have found substantial age and gender group differences in the ability of healthy adults to regain balance with a single step after a forward fall. It was hypothesized that differences in lower extremity joint strengths and ranges of motion (ROM) may have contributed to these observed differences. Kinematic and forceplate data were therefore used with a rigid-link biomechanical model simulating stepped leg dynamics to examine the joint torques and ROM used by subjects during successful single-step balance recoveries after release from a forward lean. The peak ROM and torques used by subjects in the study were compared to published estimates or measured values of the available maxima. No significant age or gender group differences were found in the mean ROM used by the subjects for any given initial lean angle. As initial lean angle increased, larger knee ROM and significantly larger hip ROM were used in the successful recoveries. There were substantial gender differences and some age group differences in peak lower extremity joint torques used in successful recoveries. Both young and older females often used nearly maximal joint torques to recover balance. Subjects' maximum joint strengths in plantarflexion and hip flexion were not good predictors of single-step balance recovery ability, particularly among the female subjects.     

Minimal step length necessary for recovery of forward balance loss with a single step

Although the boundary conditions necessary to trigger a step in reaction to a forward balance loss have been predicted in previous research, the relationship between minimal step length needed for balance recovery with this single step and the center of mass (COM) motion state (i.e., its position and velocity) remains unknown. The purpose of this paper was to present a theoretical framework within which the minimal step length needed for balance recovery can be estimated. We therefore developed a simplified four-segment sagittal model of human body stepping for balance recovery. The work-energy principle of the Newtonian mechanics was employed in the simulation to determine the amount of excess mechanical energy that can be absorbed as a function of step length and the corresponding eccentric joint work that can be generated in a single step. We found that an increase in initial forward velocity and a greater forward shift of the COM require a corresponding increase in the minimal step length needed for balance recovery. Furthermore, the minimal step length is also a function of the muscle strength at the ankle: the lower the muscle strength, the greater the minimal step length required. Our theoretical framework reduces the complexity associated with previous studies relying on forward dynamics and iterative optimization processes. This method may also be applied to study aspects of balance control such as the prevention of balance loss in the posterior or mediolateral direction.     

Method for evoking a trip-like response using a treadmill-based perturbation during locomotion

Because trip-related falls account for a significant proportion of falls by patients with amputations and older adults, the ability to repeatedly and reliably simulate a trip or evoke a trip-like response in a laboratory setting has potential utility as a tool to assess trip-related fall risk and as a training tool to reduce fall risk. This paper describes a treadmill-based method for delivering postural perturbations during locomotion to evoke a trip-like response and serve as a surrogate for an overground trip. Subjects walked at a normalized velocity in a Computer Assisted Rehabilitation Environment (CAREN). During single-limb stance, the treadmill belt speed was rapidly changed, thereby requiring the subject to perform a compensatory stepping response to avoid falling. Peak trunk flexion angle and peak trunk flexion velocity during the initial compensatory step following the perturbation were smaller for responses associated with recoveries compared to those associated with falls. These key fall prediction variables were consistent with the outcomes observed for laboratory-induced trips of older adults. This perturbation technique also demonstrated that this method of repeated but randomly delivered perturbations can evoke consistent, within-subject responses.     

The threshold trip duration for which recovery is no longer possible is associated with strength and reaction time

The recovery of young adults from trips of increasing severity was studied. Our null hypothesis was that lower extremity strength, and reaction time, step time, step distance and step velocity measured in a volitional stepping task would not explain a significant portion of the variance in the magnitude of the threshold trip duration for which recovery is no longer possible. Ten males and 11 females (average age 26.8 and 28.4 years old, respectively) were subjected to trips of increasing duration until recovery was no longer possible with a single step. The average threshold trip duration for which subjects were no longer able to recover with a single step was 681+/-169ms. The threshold trip duration significantly increased as lower extremity strength increased and volitional reaction time decreased (multiple stepwise linear regression: R(2)=0.52, p=0.001). The other volitional step parameters and the subject characteristics were not significantly associated with the magnitude of the threshold trip duration. These results suggest that some trip-related falls may be due to slower reaction times and/or reduced lower extremity strengths.     

The discriminant capabilities of stability measures, trunk kinematics, and step kinematics in classifying successful and failed compensatory stepping responses by young adults

This study evaluated the discriminant capability of stability measures, trunk kinematics, and step kinematics to classify successful and failed compensatory stepping responses. In addition, the shared variance between stability measures, step kinematics, and trunk kinematics is reported. The stability measures included the anteroposterior distance (d) between the body center of mass and the stepping limb toe, the margin of stability (MOS), as well as time-to-boundary considering velocity (TTB(v)), velocity and acceleration (TTB(a)), and MOS (TTB(MOS)). Kinematic measures included trunk flexion angle and angular velocity, step length, and the time after disturbance onset of recovery step completion. Fourteen young adults stood on a treadmill that delivered surface accelerations necessitating multiple forward compensatory steps. Thirteen subjects fell from an initial disturbance, but recovered from a second, identical disturbance. Trunk flexion velocity at completion of the first recovery step and trunk flexion angle at completion of the second step had the greatest overall classification of all measures (92.3%). TTB(v) and TTB(a) at completion of both steps had the greatest classification accuracy of all stability measures (80.8%). The length of the first recovery step (r ≤ 0.70) and trunk flexion angle at completion of the second recovery step (r ≤ -0.54) had the largest correlations with stability measures. Although TTB(v) and TTB(a) demonstrated somewhat smaller discriminant capabilities than trunk kinematics, the small correlations between these stability measures and trunk kinematics (|r| ≤ 0.52) suggest that they reflect two important, yet different, aspects of a compensatory stepping response.     

Induced limb collapse in a sudden slip during termination of sit-to-stand

Despite repeated demonstration of how balance can be restored with protective stepping after the initiation of an induced fall, little is known about how accidental falling to the ground with the participant's body resting in a non-standing posture can be avoided during balance recovery. This is due to the difficulties inherent in experimentally eliciting such an event. The purpose of this study was, therefore, to determine failure rate and the characterization for balance recovery after young adults exposed to an experimentally induced novel slipping perturbation. Twenty-four healthy young adults first performed three to nine trials of regular sit-to-stand. In the following trial, slipping suddenly occurred during the termination of the sit-to-stand when the low-friction platform on which the participant stood was released. Participants were given no prior practice or knowledge of the experiment design. Slipping was then repeated in the subsequent trials. The results demonstrated for the first time that a high percentage (62%) of participants failed to recover standing balance, despite the fact that 14 of these 15 participants had initiated stepping at their first encounter of a sudden slip. Such failure was avoided immediately after the first encounter. It was postulated that a delay in the step initiation might have contributed to substantial vertical descent of the center-of-mass, leading to failure of balance recovery in limb collapse. To verify this and other hypotheses, a shift in experimental paradigms is warranted to include the study of spontaneous protective responses elicited when individuals first encounter previously unfamiliar balance perturbation as in real-life situations.     

An anatomical model to determine step height in step testing for estimating aerobic capacity

Physical fitness has been reported to be inversely related to coronary heart disease and other health related problems. One of the most valid means of assessing physical fitness is the test of aerobic capacity. Aerobic capacity is the greatest rate at which the body can consume oxygen and represents the most efficient integration of the various physiological processes which make up the oxygen transport system. However, direct measurement of aerobic capacity requires sophisticated laboratory equipment, and is adversive to subjects. Step tests are widely used to estimate aerobic capacity. Because the biomechanical efficiency and work rate is determined by step height, accommodation of step height to the subject's statute height should provide a better estimation of aerobic capacity. A hip angle of 73.3 degrees, when stepping, was found to give the best relationship of recovery heart rate of a step test to direct measurement of aerobic capacity. Using 73.3 degrees, the following equations were developed for determining the stepping height when using the step test: Hf = 0.189 Ih and Hf = 0.192 Ih for females and males respectively, where hf is the step height and Ih is the statute height of the subject. A correlation coefficient (r) of 0.93 was calculated between various hip angles and calculated foot height of 182 observations of 47 females while a correlation coefficient (r) of 0.96 was calculated from 208 observations of 53 males. Using these equations to determine step height, measurement of 30 females showed a mean hip angle of 73.3 degrees +/- 2.2 and measurement of 30 males showed a mean hip angle of 73.3 degrees +/- 2.1.(ABSTRACT TRUNCATED AT 250 WORDS)     

Newly Acquired Fear of Falling Leads to Altered Eye Movement Patterns and Reduced Stepping Safety: A Case Study

This opportune case study describes visual and stepping behaviours of an 87 year old female (P8), both prior to, and following two falls. Before falling, when asked to walk along a path containing two stepping guides positioned before and after an obstacle, P8 generally visually fixated the first stepping guide until after foot contact inside it. However, after falling P8 consistently looked away from the stepping guide before completing the step into it in order to fixate the upcoming obstacle in her path. The timing of gaze redirection away from the target (in relation to foot contact inside it) correlated with absolute stepping error. No differences in eyesight, cognitive function, or balance were found between pre- and post-fall recordings. However, P8 did report large increases in fall-related anxiety and reduced balance confidence, supporting previously suggested links between anxiety/increased fear or falling and maladaptive visual/stepping behaviours. The results represent a novel insight into how psychological and related behavioural factors can change in older adults following a fall, and provide a possible partial rationalisation for why recent fallers are more likely to fall again in the following 12 months. These findings highlight novel possibilities for falls prevention and rehabilitation.     

Adaptive recovery responses to repeated forward loss of balance in older adults

Experiments designed to assess balance recovery in older adults often involve exposing participants to repeated loss of balance. The purpose of this study was to investigate the adaptive balance recovery response exhibited by older adults following repeated exposure to forward loss of balance induced by releasing participants from a static forward lean angle. Fifty-eight healthy, community-dwelling older adults, aged 65-80 years, participated in the study. Participants were instructed to attempt to recover with a single step and performed four trials at each of three lean angles. Adaptive recovery responses at four events (cable release, toe-off of the stepping foot, foot contact and maximum knee flexion angle following landing in the stepping leg) were quantified for trials performed at the intermediate lean angle using the concept of margin of stability. The antero-posterior and medio-lateral margin of stability were computed as the difference between the velocity-adjusted position of the whole body centre of mass and the corresponding anterior or lateral boundary of the base of support. Across repeated trials adaptations in reactive stepping responses were detected that resulted in improved antero-posterior stability at foot contact and maximum knee flexion angle. Improved antero-posterior stability following repeated trials was explained by more effective control of the whole body centre of mass during the reactive stepping response and not by adjustments in step timing or base of support. The observed adaptations occurred within a single testing session and need to be considered in the design of balance recovery experiments.     

Muscle contributions to recovery from forward loss of balance by stepping

The purpose of this study was to determine the muscular contributions to the stepping phase of recovery from forward loss of balance in 5 young and 5 older adults that were able to recover balance in a single step, and 5 older adults that required multiple steps. Forward loss of balance was achieved by releasing participants from a static forward lean angle. All participants were instructed to attempt to recover balance by taking a rapid single step. A scalable anatomical model consisting of 36 degrees-of-freedom was used to compute kinematics and joint moments from motion capture and force plate data. Forces for 94 muscle actuators were computed using static optimisation and induced acceleration analysis was used to compute individual muscle contributions to net lumbar spine joint, and stepping side hip joint and knee joint accelerations during recovery. Older adults that required multiple recovery steps used a significantly shorter and faster initial recovery step and adopted significantly more trunk flexion throughout recovery compared to the older single steppers. Older multiple steppers also produced significantly more force in the stance side hamstrings, which resulted in significantly higher hamstring induced flexion accelerations at the lumbar spine and extension accelerations at the hip. However since the net joint lumbar spine and hip accelerations remained similar between older multiple steppers and older single steppers, we suggest that the recovery strategy adopted by older multiple steppers was less efficient as well as less effective than for older single steppers.     

Can stability really predict an impending slip-related fall among older adults?

The primary purpose of this study was to systematically evaluate and compare the predictive power of falls for a battery of stability indices, obtained during normal walking among community-dwelling older adults. One hundred and eighty seven community-dwelling older adults participated in the study. After walking regularly for 20 strides on a walkway, participants were subjected to an unannounced slip during gait under the protection of a safety harness. Full body kinematics and kinetics were monitored during walking using a motion capture system synchronized with force plates. Stability variables, including feasible-stability-region measurement, margin of stability, the maximum Floquet multiplier, the Lyapunov exponents (short- and long-term), and the variability of gait parameters (including the step length, step width, and step time), were calculated for each subject. Sensitivity of predicting slip outcome (fall vs. recovery) was examined for each stability variable using logistic regression. Results showed that the feasible-stability-region measurement predicted fall incidence among these subjects with the highest sensitivity (68.4%). Except for the step width (with an sensitivity of 60.2%), no other stability variables could differentiate fallers from those who did not fall for the sample included in this study. The findings from the present study could provide guidance to identify individuals at increased risk of falling using the feasible-stability-region measurement or variability of the step width.     

Decreased lower limb muscle recruitment contributes to the inability of older adults to recover with a single step following a forward loss of balance

In response to a balance disturbance, older individuals often require multiple steps to prevent a fall. Reliance on multiple steps to recover balance is predictive of a future fall, so studies should determine the mechanisms underlying differences between older adults who can and cannot recover balance with a single step. This study compared neural activation parameters of the major leg muscles during balance recovery from a sudden forward loss of balance in older individuals capable of recovering with a single step and those who required multiple steps to regain balance. Eighty-one healthy, community dwelling adults aged 70 ± 3 participated. Loss of balance was induced by releasing participants from a static forward lean. Participants performed four trials at three initial lean magnitudes and were subsequently classified as single or multiple steppers. Although step length was shorter in multiple compared to single steppers (F = 9.64; p = 0.02), no significant differences were found between groups in EMG onset time in the step limb muscles (F = 0.033–0.769; p = 0.478–0.967). However, peak EMG normalised to values obtained during maximal voluntary contraction was significantly higher in single steppers in 6 of the 7 stepping limb muscles (F = 1.054–4.167; p = 0.045–0.024). These data suggest that compared to multiple steppers, single steppers recruit a larger proportion of the available motor unit pool during balance recovery. Thus, modulation of EMG amplitude plays a larger role in balance recovery than EMG timing in this context.     

Mechanisms of limb collapse following a slip among young and older adults

Recovery from a large perturbation, such as a slip, can be successful when stability of movement can be reestablished with protective stepping. Nevertheless, one dilemma for executing a protective step is that its liftoff can weaken support against limb collapse. This study investigated whether failures in limb support leading to falls after a protective step result from insufficient joint moment generation, and whether such insufficiency is greater among older fallers. A novel, unexpected slip was induced immediately following seat-off during a sit-to-stand. Joint work and mechanical energy were calculated for 43 young (9 falls, 34 recoveries) and 22 older (13 falls, 9 recoveries) adults who responded with a protective step. Comparisons of the work produced at three joints of the bilateral lower limbs revealed that insufficient concentric knee and hip extensor work prior to step liftoff was a primary differentiating factor between falling and recovery, regardless of age. Also, during stepping, fallers regardless of age failed to limit the eccentric knee extensor work at their stance limb sufficiently to retard rapid knee flexion and the consequent potential energy loss. We concluded that young and older fallers had comparable weak limb support. The greater fall incidence among the older adults likely resulted from a greater proportion of subjects who responded to the slip with insufficient knee extensor support, possibly attributable to age-differences in chair-rising. One strategy to address this dilemma may rely on task-specific training to enhance feedforward control that improves movement stability, and thus lessens the reliance on protective stepping.     

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.     

Voluntary stepping behavior under single- and dual-task conditions in chronic stroke survivors: A comparison between the involved and uninvolved legs

ObjectiveIf balance is lost, quick step execution can prevent falls. Research has shown that speed of voluntary stepping was able to predict future falls in old adults. The aim of the study was to investigate voluntary stepping behavior, as well as to compare timing and leg push-off force–time relation parameters of involved and uninvolved legs in stroke survivors during single- and dual-task conditions. We also aimed to compare timing and leg push-off force–time relation parameters between stroke survivors and healthy individuals in both task conditions.MethodsTen stroke survivors performed a voluntary step execution test with their involved and uninvolved legs under two conditions: while focusing only on the stepping task and while a separate attention-demanding task was performed simultaneously. Temporal parameters related to the step time were measured including the duration of the step initiation phase, the preparatory phase, the swing phase, and the total step time. In addition, force–time parameters representing the push-off power during stepping were calculated from ground reaction data and compared with 10 healthy controls.ResultsThe involved legs of stroke survivors had a significantly slower stepping time than uninvolved legs due to increased swing phase duration during both single- and dual-task conditions. For dual compared to single task, the stepping time increased significantly due to a significant increase in the duration of step initiation. In general, the force time parameters were significantly different in both legs of stroke survivors as compared to healthy controls, with no significant effect of dual compared with single-task conditions in both groups.ConclusionsThe inability of stroke survivors to swing the involved leg quickly may be the most significant factor contributing to the large number of falls to the paretic side. The results suggest that stroke survivors were unable to rapidly produce muscle force in fast actions. This may be the mechanism of delayed execution of a fast step when balance is lost, thus increasing the likelihood of falls in stroke survivors.     

Stepping boundary of external force-controlled perturbations of varying durations: Comparison of experimental data and model simulations

This study investigated the stepping boundary – the force that can be resisted without stepping – for force-controlled perturbations of different durations. Twenty-two healthy young adults (19–37 years old) were instructed to try not to step in response to 86 different force/time combinations of forward waist-pulls. The forces at which 50% of subjects stepped (F₅₀) were identified for each tested perturbation durations. Results showed that F₅₀ decreased hyperbolically when the perturbation’s duration increased and converged toward a constant value (about 10% BW) for longer perturbations (over 1500 ms). The effect of perturbation duration was critical for the shortest perturbations (less than 1 s).In parallel, a simple function was proposed to estimate this stepping boundary. Considering the dynamics of a linear inverted pendulum + foot model and simple balance recovery reactions, we could express the maximum pulling force that can be withstood without stepping as a simple function of the perturbation duration. When used with values of the main model parameters determined experimentally, this function replicated adequately the experimental results.This study demonstrates for the first time that perturbation duration has a major influence on the outcomes of compliant perturbations such as force-controlled pulls. The stepping boundary corresponds to a constant perturbation force-duration product and is largely explained by only two parameters: the reaction time and the displacement of the center of pressure within the functional base of support. Future work should investigate pathological populations and additional parameters characterizing the perturbation time-profile such as the time derivative of the perturbation.