Bipedal locomotion: effects of speed, size and limb posture in birds and humans

Seven species of ground-dwelling birds (body mass range: 0.045-90 kg) were filmed while walking and running on a treadmill. High-speed light films were also taken of humans to compare kinematic patterns of avian with human bipedalism. Consistent patterns of stride frequency, stride length, step length, duty factor and limb excursion were observed in all species, with most of the variation among species being due to differences in body size. In general, smaller bipeds have higher stride frequencies (α M ^−0.18), shorter stride lengths (α M ^0.38) and more limited ranges of speed within each gait than large bipeds. After normalizing for size (based on Froude number, after Alexander, 1977), remaining kinematic variation is largely due to interspecific differences in posture and relative limb segment lengths. For their size, smaller bipeds have greater step lengths, limb excursion angles and duty factors than large bipeds because of their more crouched posture and greater effective limb length. The most notable differences in limb kinematics between birds and humans occur at the walk-run transition and are maintained as running speed increases. Change of gait is smooth and difficult to discern in birds, but distinct in humans, involving abrupt decreases in step length and duty factor (time of contact) and a corresponding increase in limb swing time. These differences appear to reflect a spring-like run that is stiff in humans (favouring elastic energy recovery) but more compliant in birds (increasing time of ground contact). Differences between birds and humans in balance of the body's centre of mass not only affect femoral orientation and motion, but also affect pattern of limb excursion with speed.     

Ultrasonic motion analysis system--measurement of temporal and spatial gait parameters

The duration of stance and swing phase and step and stride length are important parameters in human gait. In this technical note a low-cost ultrasonic motion analysis system is described that is capable of measuring these temporal and spatial parameters while subjects walk on the floor. By using the propagation delay of sound when transmitted in air, this system is able to record the position of the subjects' feet. A small ultrasonic receiver is attached to both shoes of the subject while a transmitter is placed stationary on the floor. Four healthy subjects were used to test the device. Subtracting positions of the foot with zero velocity yielded step and stride length. The duration of stance and swing phase was calculated from heel-strike and toe-off. Comparison with data obtained from foot contact switches showed that applying two relative thresholds to the speed graph of the foot could reliably generate heel-strike and toe-off. Although the device is tested on healthy subjects in this study, it promises to be extremely valuable in examining pathological gait. When gait is asymmetrical, walking speed is not constant or when patients do not completely lift their feet, most existing devices will fail to correctly assess the proper gait parameters. Our device does not have this shortcoming and it will accurately demonstrate asymmetries and variations in the patient's gait. As an example, the recording of a left hemiplegic patient is presented in the discussion.     

Phase-Dependent Effects of Transcutaneous Spinal Cord Stimulation on Regulation of Kinematics of Human Stepping Motions

The effect of transcutaneous electrical spinal cord stimulation on the kinematic parameters of movement of the ipsilateral and contralateral legs in healthy subjects during treadmill walking at speeds of 1.5 to 1.7 km/h has been studied. The stimulation electrodes were placed 2.5 cm lateral from the right and left sides of the spinal midline at L1 and T11 levels. During the stance phase, stimulation was administered at L1 level at a frequency of 15 Hz; during the swing phase the stimuli was delivered to T11 at a frequency of 30 Hz, followed by alternating stimulation at L1 and T11. The stimulation during the swing phase (T11) was more effective than that during the stance phase (L1); the most impressive changes in kinematic parameters were observed when combined delivery of stimulations to L1 and T11 was performed. With unilateral spinal stimulation, the amplitude of the angles in the hip, knee and/or ankle joints, the length of the transfer, and the height of the leg elevation increased in the ipsilateral leg. Similar but less pronounced changes were observed in the contralateral leg. A 10% increase in the duration of stimulation in the swing phase caused a change in the kinematic stepping parameters both in ipsilateral and contralateral legs. The maximum effect was observed when bilateral alternating stimulation was used. These data show that phasic transcutaneous electrical spinal cord stimulation, using a wide range of natural walking speeds, can be applied to control kinematic movement parameters.

     

Kinematic parameters of the walking of herons, ground-feeders, and waterfowl

The kinematic gait characteristics of six species of birds in three groups were compared. The groups studied were herons (Gray Herons and Little Egrets), ground-feeders (Domestic Pigeons and Gray Starlings), and waterfowl (Pintails and Black-headed Gulls). The results showed that the relative stride frequency was greater in the waterfowl than in the other species. Complementary to this, the amplitude of the movements was smaller in the waterfowl than in the others. These differences between the waterfowl and the other species might be caused by their morphological and/or physiological adaptation to swimming. Another possible cause for these differences was the magnitude of head bobbing, as the ground-feeders and herons, which walk with head bobbing, showed a large relative stride length and excursion angle, while the waterfowl, which do not head-bob, walk with a relatively short stride length and small excursion angle. Moreover, the relative magnitude of head movement during walking was especially large in Little Egrets, which showed an especially large relative stride length and excursion angle. These parameters may have some mechanical relationships with each other.     

Energetic costs of surface swimming and diving of birds

The energetic costs of swimming at the surface (swimming) and swimming underwater (diving) are compared in tufted ducks (Aythya fuligula) and three species of penguins, the gentoo (Pygoscelis papua), the king (Aptenodytes patagonicus), and the emperor (Aythya forsteri). Ducks swim on the surface and use their webbed feet as paddles, whereas penguins tend to swim just below the surface and use their flippers as hydrofoils, the latter being much more efficient. Penguins are more streamlined in shape. Thus, the amount of energy required to transport a given mass of bird a given distance (known as the cost of transport) is some two to three times greater in ducks than in penguins. Ducks are also very buoyant, and overcoming the force of buoyancy accounts for 60% and 85% of the cost of descent and remaining on the bottom, respectively, in these birds. The energy cost of a tufted duck diving to about 1.7 m is similar to that when it is swimming at its maximum sustainable speed at the surface (i.e., approximately 3.5 times the value when resting on water). Nonetheless, because of the relatively short duration of its dives, the tufted duck dives well within its calculated aerobic dive limit (cADL, usable O(2) stores per rate of O(2) usage when underwater). However, these three species of penguins have maximum dive durations ranging from 5 min to almost 16 min and maximum dive depths from 155 to 530 m. When these birds dive, they have to metabolise at no more than when resting in water in order for cADL to encompass the duration of most of their natural dives. In gentoo and king penguins, there is a fall in abdominal temperature during bouts of diving; this may reduce the oxygen requirements in the abdominal region, thus enabling dive duration to be extended further than would otherwise be the case.     

COMPARATIVE EVIDENCE FOR THE EVOLUTION OF SPERM SWIMMING SPEED BY SPERM COMPETITION AND FEMALE SPERM STORAGE DURATION IN PASSERINE BIRDS

Sperm swimming speed is an important determinant of male fertility and sperm competitiveness. Despite its fundamental biological importance, the underlying evolutionary processes affecting this male reproductive trait are poorly understood. Using a comparative approach in a phylogenetic framework, we tested the predictions that sperm swim faster with (1) increased risk of sperm competition, (2) shorter duration of female sperm storage, and (3) increased sperm length. We recorded sperm swimming speed in 42 North American and European free-living passerine bird species, representing 35 genera and 16 families. We found that sperm swimming speed was positively related to the frequency of extrapair paternity (a proxy for the risk of sperm competition) and negatively associated with clutch size (a proxy for the duration of female sperm storage). Sperm swimming speed was unrelated to sperm length, although sperm length also increased with the frequency of extrapair paternity. These results suggest that sperm swimming speed and sperm length are not closely associated traits and evolve independently in response to sperm competition in passerine birds. Our findings emphasize the significance of both sperm competition and female sperm storage duration as evolutionary forces driving sperm swimming speed.     

Spring migratory routes and stopover duration of satellite‐tracked Eurasian Teals Anas crecca wintering in Italy

Identifying an organism's migratory strategies and routes has important implications for conservation. For most species of European ducks, information on the general course of migration, revealed by ringing recoveries, is available, whereas tracking data on migratory movements are limited to the largest species. In the present paper, we report the results of a tracking study on 29 Eurasian Teals, the smallest European duck, captured during the wintering period at three Italian sites. The departure date of spring migration was determined for 21 individuals, and for 15 the entire spring migratory route was reconstructed. Most ducks departed from wintering grounds between mid‐February and March following straight and direct routes along the Black Sea‐Mediterranean flyway. The breeding sites, usually reached by May, were spread from central to north‐Eastern Europe to east of the Urals. The migratory speed was slow (approximately 36 km/day on average) because most birds stopped for several weeks at stopover sites, mainly in south‐eastern Europe, especially at the very beginning of migration. The active flight migration segments were covered at much higher speeds, up to 872 km/day. Stopover duration tended to be shorter when birds were closer to their breeding site. These results, based on the largest satellite tracking effort for this species, revealed for the first time the main features of the migratory strategies of individual Teals wintering in Europe, such as the migration timing and speed and stopover localization and duration.     

Functional types of diving beetle (Coleoptera: Hygrobiidae and Dytiscidae), as identified by comparative swimming behaviour

The swimming behaviour of ten species of diving beetles was studied with a video image analysing system, with the aim of testing the interpretation of their size and shape as functional characters reflecting adaptations to different swimming strategies. Velocity, sinuosity of the trajectory, and the relation between the two were studied in an unobstructed aquarium and, for the four largest species, in an aquarium with vertical sticks. Species predicted to be poor swimmers had the lowest average and maximum velocities. A globular species considered to have high manoeuvrability swam in highly sinuous trajectories, and could maintain this sinuosity at a wide range of velocities. One of the larger species, considered to be adapted to high speed swimming, also swam in highly sinuous trajectories, but only at slow velocities; its swimming pattern was considered to be the product of behavioural rather than morphological constraints. For two of the largest species, there was a significant decrease in sinuosity at higher velocities, whilst another was found to have a good compromise between velocity and manoeuvrability. In the aquarium with obstacles all the species reduced their maximum velocity, while the effect on sinuosity varied between species. Although the space limitation of the aquarium and the lack of motivation could have prevented some species from reaching their maximal velocities, a good agreement was found between the predicted and the actual swimming characteristics.     

Cineradiographic study of forelimb movements during quadrupedal walking in the brown lemur (Eulemur fulvus, Primates: Lemuridae)

Movements of forelimb joints and segments during walking in the brown lemur (Eulemur fulvus) were analyzed using cineradiography (150 frames/sec). Metric gait parameters, forelimb kinematics, and intralimb coordination are described. Calculation of contribution of segment displacements to stance propulsion shows that scapular retroversion in a fulcrum near the vertebral border causes more than 60% of propulsion. The contribution by the shoulder joint is 30%, elbow joint 5%, and wrist joint 1%. Correlation analysis was applied to reveal the interdependency between metric and kinematic parameters. Only the effective angular movement of the elbow joint during stance is speed-dependent. Movements of all other forelimb joints and segments are independent of speed and influence, mainly, linear gait parameters (stride length, stance length). Perhaps the most important result is the hitherto unknown and unexpected degree of scapular mobility. Scapular movements consist of ante-/retroversion, adduction/abduction, and scapular rotation about the longitudinal axis. Inside rotation of the scapula (60 degrees -70 degrees ), together with flexion in the shoulder joint, mediates abduction of the humerus, which is not achieved in the shoulder joint, and is therefore strikingly different from humeral abduction in man. Movements of the shoulder joint are restricted to flexion and extension. At touch down, the shoulder joint of the brown lemur is more extended compared to that of other small mammals. The relatively long humerus and forearm, characteristic for primates, are thus effectively converted into stride length. Observed asymmetries in metric and kinematic behavior of the left and right forelimb are caused by an unequal lateral bending of the spinal column.     

Sensory modulation of gait characteristics in human locomotion: A neuromusculoskeletal modeling study

The central nervous system of humans and other animals modulates spinal cord activity to achieve several locomotion behaviors. Previous neuromechanical models investigated the modulation of human gait changing selected parameters belonging to CPGs (Central Pattern Generators) feedforward oscillatory structures or to feedback reflex circuits. CPG-based models could replicate slow and fast walking by changing only the oscillation’s properties. On the other hand, reflex-based models could achieve different behaviors through optimizations of large dimensional parameter spaces. However, they could not effectively identify individual key reflex parameters responsible for gait characteristics’ modulation. This study investigates which reflex parameters modulate the gait characteristics through neuromechanical simulations. A recently developed reflex-based model is used to perform optimizations with different target behaviors on speed, step length, and step duration to analyze the correlation between reflex parameters and their influence on these gait characteristics. We identified nine key parameters that may affect the target speed ranging from slow to fast walking (0.48 and 1.71 m/s) as well as a large range of step lengths (0.43 and 0.88 m) and step duration (0.51, 0.98 s). The findings show that specific reflexes during stance significantly affect step length regulation, mainly given by positive force feedback of the ankle plantarflexors’ group. On the other hand, stretch reflexes active during swing of iliopsoas and gluteus maximus regulate all the gait characteristics under analysis. Additionally, the results show that the hamstrings’ group’s stretch reflex during the landing phase is responsible for modulating the step length and step duration. Additional validation studies in simulations demonstrated that the modulation of identified reflexes is sufficient to regulate the investigated gait characteristics. Thus, this study provides an overview of possible reflexes involved in modulating speed, step length, and step duration of human gaits.     

Guineafowl hind limb function. I: Cineradiographic analysis and speed effects

Avian striding bipedalism was studied in the helmeted guineafowl, Numida meleagris. High‐speed cineradiographs, light films, and videos were used to record hind limb movements across a wide range of speeds. In particular, direct visualization of the skeleton in X‐ray images allowed changes in pelvic and femoral position to be quantified with great accuracy for the first time. With the exception of limb protraction angle, all stride parameters are speed‐dependent. During the stance phase, guineafowl primarily employ knee flexion at very low speeds. At higher speeds, the magnitudes of hip and knee extension in the second half of stance progressively increase. Pelvic rotations are relatively small, but birds gradually pitch further forward with speed. An aerial phase is not present at speeds less than 2.0 m/sec, but discontinuities in the relationship of some parameters to speed indicate a gait transition near 0.9 m/sec. Birds are considered to be flying theropod dinosaurs, making characterization of bipedalism in living birds essential to understanding the evolution of theropod locomotion. Data from guineafowl, including the kinematic effects of speed, are informative about several aspects of locomotion in extinct theropods. However, many details of avian bipedalism evolved only within a subset of Theropoda, and are therefore not directly applicable to all members of the clade. J. Morphol. 240:115–125, 1999. © 1999 Wiley‐Liss, Inc.     

The walk of the Silver gull (Larus novaehollandiae) and of other birds

A total of 317 steps of walking Silver gulls ( Larus novaehollandiiae ) and filmed sequences of 24 other species of medium-sized and large birds were analyzed. The angles made by the tibiotarsus-tarsometatarsus joint of each leg during walking were measured. These varied depending on the species. In the Silver gull, where the angles were correlated with speed, the leg bent more sharply the slower the step; otherwise the angles were not correlated with speed. In all but the four largest birds, as in man, the leg was more bent in the middle of its stance phase than it was at the beginning or end of this phase. Thejoint was never completely straight, or 180". In general the larger the bird, the slower was its step. The Silver gull and other birds do not bob their heads back-and-forth as they walk, but many birds do. It is not known why some birds bob their heads, although it may be correlated in part with a relative horizontal body posture, with seeing effectively, with balance during locomotion, or with habitat. The Silver gull does not hop, but some birds do, usually birds that live in the bush, or that are small.     

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.     

Kinematics of swimming of penguins at the Detroit Zoo

Kinematic parameters were examined in a study of the swimming abilities of seven species of penguins housed at the Detroit Zoo. Penguins produce thrust over both halves of the wing stroke cycle, as observed in fishes using the caudal or pectoral fins for locomotion, but not in other birds in level forward flight. Unpowered gliding phases between wing strokes were observed in all species at swimming speeds less than 1.25 m/sec, while Emperor, King and Adelie penguins interpose gliding phases over a broad range of speeds. Videotape records reveal that length-specific speed is correlated with increases in wingbeat frequency and, for most of the species examined, stride length. These findings are in contrast to those reported for other, flying birds, which maintain a relatively constant wingbeat frequency but vary stride length with forward speed, and for most fishes, which vary speed with tailbeat frequency but maintain a constant stride length. The results are somewhat comparable to those reported for Cymatogaster , a fish which uses the pectoral fins for locomotion. Drag coefficients of three gliding Emperor penguins were 2.1, 3.0 and 3.0 × 10-⁻³ at Reynolds numbers of 1.25, 1.62 and 1.76 × 10⁶, respectively.     

THE EVOLUTION OF THE SEXUALLY SELECTED SWORD IN XIPHOPHORUS DOES NOT COMPROMISE AEROBIC LOCOMOTOR PERFORMANCE

Sexual selection can increase morphological diversity within and among species. Little is known regarding how interspecific variation produced through sexual selection affects other functional systems. Here, we examine how morphological diversity resulting from sexual selection impacts aerobic locomotor performance. Using Xiphophorus (swordtail fish) and their close relatives (N = 19 species), we examined whether the evolution of a longer sexually selected sword affects critical swimming speed. We also examined the effect of other suborganismal, physiological, and morphological traits on critical swimming speed, as well as their relationship with sword length. In correlation analyses, we found no significant relationship between sword length and critical swimming speed. Unexpectedly, we found that critical swimming speed was higher in species with longer swords, after controlling for body size in multiple regression analyses. We also found several suborganismal and morphological predictors of critical swimming speed, as well as a significant negative relationship between sword length and heart and gill mass. Our results suggest that interspecific variation in sword length is not costly for this aspect of swimming performance, but further studies should examine potential costs for other types of locomotion and other components of Darwinian fitness (e.g., survivorship, life span).     

Locomotion of Gymnarchus Niloticus： Experiment and Kinematics

In addition to forward undulatory swimming, Gymnarchus niloticus can swim via undulations of the dorsal fin while the body axis remains straight; furthermore, it swims forward and backward in a similar way, which indicates that the undulation of the dorsal fin can simultaneously provide bidirectional propulsive and maneuvering forces with the help of the tail fin. A high-resolution Charge-Coupled Device （CCD） imaging camera system is used to record kinematics of steady swimming as well as maneuvering in G. niloticus. Based on experimental data, this paper discusses the kinematics （cruising speed, wave speed, cycle frequency, amplitude, lateral displacement） of forward as well as backward swimming and maneuvering. During forward swimming, the propulsive force is generated mainly by undulations of the dorsal fin while the body axis remains straight. The kinematic parameters （wave speed, wavelength, cycle frequency, amplitude） have statistically significant correlations with cruising speed. In addition, the yaw at the head is minimal during steady swimming. From experimental data, the maximal lateral displacement of head is not more than 1% of the body length, while the maximal lateral displacement of the whole body is not more than 5% of the body length. Another important feature is that G. niloticus swims backwards using an undulatory mechanism that resembles the forward undulatory swimming mechanism. In backward swimming, the increase of lateral displacement of the head is comparatively significant; the amplitude profiles of the propulsive wave along the dorsal fin are significantly different from those in forward swimming. When G. niloticus does fast maneuvering, its body is first bent into either a C shape or an S shape, then it is rapidly unwound in a travelling wave fashion. It rarely maneuvers without the help of the tail fin and body bending.     

The role of vibrissal sensing in forelimb position control during travelling locomotion in the rat (Rattus norvegicus,Rodentia)

In the stem lineage of therians, a comprehensive reorganization of limb and body mechanics took place to provide dynamic stability for rapid locomotion in a highly structured environment. At what was probably the same time, mammals developed an active sense of touch in the form of movable mystacial vibrissae. The rhythmic movements of the limbs and vibrissae are controlled by central pattern-generating networks which might interact with each other in sensorimotor control. To test this possible interaction, we studied covariation between the two by investigating speed-dependent adjustments in temporal and spatial parameters of forelimb and vibrissal kinematics in the rat. Furthermore, the possible role of carpal vibrissae in connecting the two oscillating systems was explored. We compared locomotion on continuous and discontinuous substrates in the presence and absence of the mystacial or/and carpal vibrissae across a speed range of 0.2–0.5 m/s and found that a close coupling of the kinematics of the two oscillating systems appears to be precluded by their differential dependence on the animal's speed. Speed-related changes in forelimb kinematics mainly occur in temporal parameters, whereas vibrissae change their spatial excursion. However, whisking frequency is always high enough that at least one whisk cycle falls into the swing phase of the limb, which is the maximum critical period for sensing the substrate on which the forepaw will be placed. The influence of tactile cues on forelimb positional control is more subtle than expected. Tactile cues appear to affect the degree of parameter variation but not average parameters or the failure rate of limbs during walking on a perforated treadmill. The carpal vibrissae appear to play a role in sensing the animal's speed by measuring the duration of the stance phase. The absence of this cue significantly reduces speed-related variation in stride frequency and vibrissal protraction.     

Locomotion patterns in two South American gymnophthalmid lizards: Vanzosaura rubricauda and Procellosaurinus tetradactylus

We quantified gait and stride characteristics (velocity, frequency, stride length, stance and swing duration, and duty factor) in the bursts of locomotion of two small, intermittently moving, closely related South American gymnophthalmid lizards: Vanzosaura rubricauda and Procellosaurinus tetradactylus. They occur in different environments: V. rubricauda is widely distributed in open areas with various habitats and substrates, while P. tetradactylus is endemic to dunes in the semi-arid Brazilian Caatinga. Both use trot or walking trot characterised by a lateral sequence. For various substrates in a gradient of roughness (perspex, cardboard, sand, gravel), both species have low relative velocities in comparison with those reported for larger continuously moving lizards. To generate velocity, these animals increase stride frequency but decrease relative stride length. For these parameters, P. tetradactylus showed lower values than V. rubricauda. In their relative range of velocities, no significant differences in stride length and frequency were recorded for gravel. However, the slopes of a correlation between velocity and its components were lower in P. tetradactylus on cardboard, whereas on sand this was only observed for velocity and stride length. The data showed that the difference in rhythmic parameters between both species increased with the smoothness of the substrates. Moreover, P. tetradactylus shows a highly specialised locomotor strategy involving lower stride length and frequency for generating lower velocities than in V. rubricauda. This suggests the evolution of a central motor pattern generator to control slower limb movements and to produce fewer and longer pauses in intermittent locomotion.