The metabolic cost of changing walking speeds is significant,implies lower optimal speeds for shorter distances,and increases daily energy estimates

Humans do not generally walk at constant speed, except perhaps on a treadmill. Normal walking involves starting, stopping and changing speeds, in addition to roughly steady locomotion. Here, we measure the metabolic energy cost of walking when changing speed. Subjects (healthy adults) walked with oscillating speeds on a constant-speed treadmill, alternating between walking slower and faster than the treadmill belt, moving back and forth in the laboratory frame. The metabolic rate for oscillating-speed walking was significantly higher than that for constant-speed walking (6–20% cost increase for ±0.13–0.27 m s⁻¹ speed fluctuations). The metabolic rate increase was correlated with two models: a model based on kinetic energy fluctuations and an inverted pendulum walking model, optimized for oscillating-speed constraints. The cost of changing speeds may have behavioural implications: we predicted that the energy-optimal walking speed is lower for shorter distances. We measured preferred human walking speeds for different walking distances and found people preferred lower walking speeds for shorter distances as predicted. Further, analysing published daily walking-bout distributions, we estimate that the cost of changing speeds is 4–8% of daily walking energy budget.     

A comparison of the energetics of foraging of three species of Leptogenys (Hymenoptera, Formicidae)

Abstract. The three Leptogenys species L.nitida, L.schwabi and L.attenuata coexist in the coastal forests of South Africa and exhibit an array of foraging strategies ranging from individual foraging to group raiding. To determine whether there is a physiological basis for these strategies, the energetic cost of locomotion of individuals in these three species was determined. Carbon dioxide emission of voluntary running ants was measured using a flow-through technique, in order to determine their metabolic rate when running. The minimum cost of transport was constant over a range of temperatures (20–35°C), and similar for all three species (common value 212.96 ± 17.35 Jkg^_1m^_1). A comparison of the energy required to sustain representative foragers at 25°C indicated that it was energetically less expensive for L. nitida workers to forage than for the other two species. This may explain why L.nitida uses group raiding, while the other two species use individual foraging with limited recruitment for retrieval of large food items.     

Pendular mechanics and the kinematics and energetics of brachiating locomotion

Because brachiating locomotion is characterized by a pattern of swinging movements, brachiation has often been analogized to pendular motion, and aspects of the mechanics of pendular systems have been used to provide insight into both energetic and structural design aspects of this locomotor mode. However, there are several limitations to this approach. First, the motions of brachiating animals only approximate pendular motion, and therefore the energetics of these two systems are only roughly comparable. Second, the kinematic similarity between brachiation and pendular motion will be maximal at only one velocity, and the correspondence will be even less at greater or lesser speeds. Third, all forms of terrestrial locomotion that involve the use of limbs incorporate elements of pendular systems, and therefore brachiation is not unusual in this respect. Finally, it has been suggested that the mechanics of pendular motion will constrain the maximum attainable body size of brachiating animals and that this mechanical situation explains the lack of brachiating primates of greater than 30-kg body size; the present analysis provides evidence that the constraints on body size are far less strict than previously indicated and that extrinsic factors such as the geometry of the forest environment are more likely to dictate maximum body size for brachiators.     

Evidence for energy savings from aerial running in the Svalbard rock ptarmigan (Lagopus muta hyperborea)

Svalbard rock ptarmigans were walked and run upon a treadmill and their energy expenditure measured using respirometry. The ptarmigan used three different gaits: a walking gait at slow speeds (less than or equal to 0.75 m s(-1)), grounded running at intermediate speeds (0.75 m s(-1) < U < 1.67 m s(-1)) and aerial running at high speeds (greater than or equal to 1.67 m s(-1)). Changes of gait were associated with reductions in the gross cost of transport (COT; J kg(-1) m(-1)), providing the first evidence for energy savings with gait change in a small crouched-postured vertebrate. In addition, for the first time (excluding humans) a decrease in absolute metabolic energy expenditure (rate of O(2) consumption) in aerial running when compared with grounded running was identified. The COT versus U curve varies between species and the COT was cheaper during aerial running than grounded running, posing the question of why grounded running should be used at all. Existing explanations (e.g. stability during running over rocky terrain) amount to just so stories with no current evidence to support them. It may be that grounded running is just an artefact of treadmill studies. Research investigating the speeds used by animals in the field is sorely needed.     

Maximum sustainable speed, energetics and swimming kinematics of a tropical carangid fish, the green jack Caranx caballus

Maximum sustained swimming speeds, swimming energetics and swimming kinematics were measured in the green jack Caranx caballus (Teleostei: Carangidae) using a 41 l temperature‐controlled, Brett‐type swimming‐tunnel respirometer. In individual C. caballus [mean ±s.d. of 22·1 ± 2·2 cm fork length (L_F), 190 ± 61 g, n = 11] at 27·2 ± 0·7° C, mean critical speed (U_crit) was 102·5 ± 13·7 cm s^?1 or 4·6 ± 0·9 L_F s^?1. The maximum speed that was maintained for a 30 min period while swimming steadily using the slow, oxidative locomotor muscle (U_max,c) was 99·4 ± 14·4 cm s^?1 or 4·5 ± 0·9 L_F s^?1. Oxygen consumption rate (M in mg O₂ min^?1) increased with swimming speed and with fish mass, but mass‐specific M (mg O₂ kg^?1 h^?1) as a function of relative speed (L_F s^?1) did not vary significantly with fish size. Mean standard metabolic rate (R_S) was 170 ± 38 mg O₂ kg^?1 h^?1, and the mean ratio of M at U_max,c to R_S, an estimate of factorial aerobic scope, was 3·6 ± 1·0. The optimal speed (U_opt), at which the gross cost of transport was a minimum of 2·14 J kg^?1 m^?1, was 3·8 L_F s^?1. In a subset of the fish studied (19·7–22·7 cm L_F, 106–164 g, n = 5), the swimming kinematic variables of tailbeat frequency, yaw and stride length all increased significantly with swimming speed but not fish size, whereas tailbeat amplitude varied significantly with speed, fish mass and L_F. The mean propulsive wavelength was 86·7 ± 5·6 %L_F or 73·7 ± 5·2 %L_T. Mean ±s.d . yaw and tailbeat amplitude values, calculated from lateral displacement of each intervertebral joint during a complete tailbeat cycle in three C. caballus (19·7, 21·6 and 22·7 cm L_F; 23·4, 25·3 and 26·4 cm L_T), were 4·6 ± 0·1 and 17·1 ± 2·2 %L_T, respectively. Overall, the sustained swimming performance, energetics, kinematics, lateral displacement and intervertebral bending angles measured in C. caballus were similar to those of other active ectothermic fishes that have been studied, and C. caballus was more similar to the chub mackerel Scomber japonicus than to the kawakawa tuna Euthynnus affinis.     

Dynamic arm swinging in human walking

Humans tend to swing their arms when they walk, a curious behaviour since the arms play no obvious role in bipedal gait. It might be costly to use muscles to swing the arms, and it is unclear whether potential benefits elsewhere in the body would justify such costs. To examine these costs and benefits, we developed a passive dynamic walking model with free-swinging arms. Even with no torques driving the arms or legs, the model produced walking gaits with arm swinging similar to humans. Passive gaits with arm phasing opposite to normal were also found, but these induced a much greater reaction moment from the ground, which could require muscular effort in humans. We therefore hypothesized that the reduction of this moment may explain the physiological benefit of arm swinging. Experimental measurements of humans (n = 10) showed that normal arm swinging required minimal shoulder torque, while volitionally holding the arms still required 12 per cent more metabolic energy. Among measures of gait mechanics, vertical ground reaction moment was most affected by arm swinging and increased by 63 per cent without it. Walking with opposite-to-normal arm phasing required minimal shoulder effort but magnified the ground reaction moment, causing metabolic rate to increase by 26 per cent. Passive dynamics appear to make arm swinging easy, while indirect benefits from reduced vertical moments make it worthwhile overall.     

The metabolic and mechanical costs of step time asymmetry in walking

Animals use both pendular and elastic mechanisms to minimize energy expenditure during terrestrial locomotion. Elastic gaits can be either bilaterally symmetric (e.g. run and trot) or asymmetric (e.g. skip, canter and gallop), yet only symmetric pendular gaits (e.g. walk) are observed in nature. Does minimizing metabolic and mechanical power constrain pendular gaits to temporal symmetry? We measured rates of metabolic energy expenditure and calculated mechanical power production while healthy humans walked symmetrically and asymmetrically at a range of step and stride times. We found that walking with a 42 per cent step time asymmetry required 80 per cent (2.5 W kg⁻¹) more metabolic power than preferred symmetric gait. Positive mechanical power production increased by 64 per cent (approx. 0.24 W kg⁻¹), paralleling the increases we observed in metabolic power. We found that when walking asymmetrically, subjects absorbed more power during double support than during symmetric walking and compensated by increasing power production during single support. Overall, we identify inherent metabolic and mechanical costs to gait asymmetry and find that symmetry is optimal in healthy human walking.     

Energetic costs of activity by lizards in the field

1. The available data related to the activity energetics of lizards in the field were collated with respect to three indices of activity energetics: the ecological cost of transport (ECT) expressed as a percentage of the total energy, the proportion of total energy used in all forms of activity (%AR), and the sustained metabolic scope (SusMS), defined as the ratio of the total energy expenditure to the total resting metabolism.
2. The ECT values of lizards ranged from 3 to 36% with five of 11 species having values >20%. The percentage AR ranged from 23 to 80% for lizards during active seasons, with most species having values > 50%. The SusMS ranged from 1·1 to 5·1.
3. Values of ECT are higher for lizards than for mammals, in part because the costs of maintenance metabolism are higher in mammals.
4. The percentage AR and SusMS values of mammals are higher than those of lizards.
5. It follows from the previous two points that the proportion of the total daily energy that is expended in non-locomotory activities is disproportionately higher in mammals compared with lizards.
6. The energy expended in locomotion is a significant portion of the energy budget of lizards. This is generally true for all seasons in which there is activity.     

Two explanations for the compliant running paradox: reduced work of bouncing viscera and increased stability in uneven terrain

Economy is a central principle for understanding animal locomotion. Yet, compared with theoretical predictions concerning economy, animals run with compliant legs that are energetically costly. Here, we address this apparent paradox, highlighting two factors that predict benefits for compliant gaits: (i) minimizing cost of work associated with bouncing viscera; and (ii) leg control for robust stability in uneven terrain. We show that consideration of the effects of bouncing viscera predicts an energetic optimum for relatively compliant legs. To compare stability in uneven terrain, we introduce the normalized maximum drop (NMD), a measure based on simple kinematics, which predicts that compliant legs allow negotiation of relatively larger terrain perturbations without failure. Our model also suggests an inherent trade-off in control of leg retraction velocity (ω) for stability: low ω allows higher NMD, reducing fall risk, whereas high ω minimizes peak forces with terrain drops, reducing injury risk. Optimization for one of these factors explicitly limits the other; however, compliant legs relax this trade-off, allowing greater stability by both measures. Our models suggest compromises in leg control for economy and stability that might explain why animals run with compliant legs.     

The energetics of middle-distance running

In order to assess the relative contribution of aerobic processes to running velocity (v), 27 male athletes were selected on the basis of their middle-distance performances over 800, 1500, 3000 or 5000 m, during the 1987 track season. To be selected for study, the average running velocity (v) corresponding to their performances had to be superior to 90% of the best French v of the season. Maximum O2 consumption (VO2max) and energy cost of running (C) had been measured within the 2 months preceding the track season, which, together with oxygen consumption at rest (VO2rest) allowed us to calculate the maximal v that could be sustained under aerobic conditions: vamax = (VO2max - VO2rest) x C-1. The treadmill running v corresponding to a blood lactate of 4 mmol.l-1 (vla4), was also calculated. In the whole group, C was significantly related to height (r = -0.43; P less than 0.03). Neither C nor VO2max (with, in this case, the exception of the 3000 m athletes) were correlated to v. On the other hand, vamax was significantly correlated to v over distances longer than 800 m. These v were also correlated to vla4. However vla4 occurred at 87.5% SD 3.3% of vamax, this relationship was interpreted as being an expression of the correlation between vamax and v. Calculation of vamax provided a useful means of analysing the performances. At the level of achievement studied, v sustained over 3000 m corresponded to vamax.(ABSTRACT TRUNCATED AT 250 WORDS)     

More than energy cost: multiple benefits of the long Achilles tendon in human walking and running

Elastic strain energy that is stored and released from long, distal tendons such as the Achilles during locomotion allows for muscle power amplification as well as for reduction of the locomotor energy cost: as distal tendons perform mechanical work during recoil, plantar flexor muscle fibres can work over smaller length ranges, at slower shortening speeds, and at lower activation levels. Scant evidence exists that long distal tendons evolved in humans (or were retained from our more distant Hominoidea ancestors) primarily to allow high muscle–tendon power outputs, and indeed we remain relatively powerless compared to many other species. Instead, the majority of evidence suggests that such tendons evolved to reduce total locomotor energy cost. However, numerous additional, often unrecognised, advantages of long tendons may speculatively be of greater evolutionary advantage, including the reduced limb inertia afforded by shorter and lighter muscles (reducing proximal muscle force requirement), reduced energy dissipation during the foot–ground collisions, capacity to store and reuse the muscle work done to dampen the vibrations triggered by foot–ground collisions, reduced muscle heat production (and thus core temperature), and attenuation of work-induced muscle damage. Cumulatively, these effects should reduce both neuromotor fatigue and sense of locomotor effort, allowing humans to choose to move at faster speeds for longer. As these benefits are greater at faster locomotor speeds, they are consistent with the hypothesis that running gaits used by our ancestors may have exerted substantial evolutionary pressure on Achilles tendon length. The long Achilles tendon may therefore be a singular adaptation that provided numerous physiological, biomechanical, and psychological benefits and thus influenced behaviour across multiple tasks, both including and additional to locomotion. While energy cost may be a variable of interest in locomotor studies, future research should consider the broader range of factors influencing our movement capacity, including our decision to move over given distances at specific speeds, in order to understand more fully the effects of Achilles tendon function as well as changes in this function in response to physical activity, inactivity, disuse and disease, on movement performance.     

Discontinuous ventilation and energetics of locomotion in the desert-dwelling female mutillid wasp, Dasymutilla gloriosa

Abstract. Data on the discontinuous ventilation cycle and cost of pedestrian locomotion in female Dasymutilla gloriosa (Sauss.), a desert-dwelling mutillid, are described and compared with equivalent data from other Hymenoptera. The discontinuous ventilation cycle was intermediate between that found in xeric and mesic hymenopterans, with the open phase being about 20% of the cycle. No noticeable flutter phase was observed. Thus D. gloriosa does not attempt to reduce respiratory water loss to the same extent as found in other desert dwelling Hymenoptera. The minimum cost of transport was significantly higher than that obtained for several ant species, indicating that ants are probably more efficient runners than any other Hymenoptera.     

Lateral sequence walking in infant Papio cynocephalus: implications for the evolution of diagonal sequence walking in primates

One of the most distinctive aspects of primate quadrupedal walking is the use of diagonal sequence footfalls in combination with diagonal-couplets interlimb timing. Numerous hypotheses have been offered to explain why primates might have evolved this type of gait, yet this important question remains unresolved. Because infant primates use a wider variety of quadrupedal gaits than do adults, they provide a natural experiment with which to test hypotheses about the evolution of unique aspects of primate quadrupedalism. In this study, we present kinematic data on two infant baboons (Papio cynocephalus) in order to test the recent hypothesis that diagonal sequence, diagonal couplets walking might have evolved in primates because their limb positioning provides stability in a small branch environment (Cartmill et al. [2002] Zool J Linn Soc 136:401-420). To assess hindlimb position at the moment of forelimb touchdown, we measured hindlimb angular excursion and ankle position for 84 walking strides, across three different types of gaits (diagonal sequence, diagonal couplets (DSDC); lateral sequence lateral couplets (LSLC); and lateral sequence diagonal couplets (LSDC)). Results indicate that if a forelimb were to contact an unstable substrate, LSLC walking provides as much, and perhaps more, stability when compared to DSDC walking. Therefore, it appears that this moment in a stride was unlikely to be a particularly important selective factor in the evolution of DSDC walking. Further insight into this issue will likely be gained by observations of primate quadrupedalism in natural environments, where the use of lateral sequence gaits might be more common than currently known.     

Locomotion in copepods: pattern of movements and energetics of Cyclops

The cost of swimming in copepods has generally been estimated through the application of fluid dynamics theory to data on velocity and acceleration obtained by means of movies. It has also been estimated through the changes in fat content of copepods after sustained swimming (i.e. vertical migration). However, the range of estimated costs of locomotion is exceedingly large (from 0.1% to 95% of total metabolism). This communication studies the pattern of swimming movements and the work done by Cyclops, using high speed cinematographic techniques. The contribution of swimming to the energy expenditure of the individual is estimated, and consideration of the possible role of rubber-like proteins in the cuticle of copepods is made.     

Leg stiffness in unilateral transfemoral amputees across a range of running speeds

Carbon fiber running-specific prostheses have allowed lower extremity amputees to participate in running activity by providing spring-like properties in their affected limb. It has been established that as running speed increases, stiffness of the leg spring (leg stiffness; k_leg) remains constant in non-amputees. Although a better understanding of k_leg regulation may be helpful for the development of spring-based prostheses, little is known about stiffness regulation in unilateral transfemoral amputees. The aim of this study was to investigate stiffness regulation at different running speeds in unilateral transfemoral amputees wearing a running-specific prosthesis. Nine unilateral transfemoral amputees performed running on an instrumented treadmill across a range of speeds (30, 40, 50, 60, and 70% of their maximum running speed). Using a spring-mass model, k_leg was calculated as the ratio of maximal vertical ground reaction force to maximum leg compression during the stance phase in both affected and unaffected limbs. We found a decrease in k_leg from the slower speed to 70% speed for the affected limb, whereas no change was present in the unaffected limb. Specifically, there was a significant differences in the k_leg between 30% and 70%, 40% and 70%, and 50% and 70%, and the magnitude of the k_leg difference between affected and unaffected limbs varied with variations in running speeds in unilateral TFAs with an RSP. These results suggest the k_leg regulation strategy of unilateral transfemoral amputees is not the same in the affected and unaffected limbs across a range of running speeds.