A kinematic and strain gauge study of the reciprocal apparatus in the equine hind limb.

Hind limb kinematics were recorded in five horses at walk and trot using an opto-electronic CODA-3 system. Simultaneously, in vivo strain in the completely tendinous peroneus tertius muscle was registered by implanted mercury-in-silastic strain gauges. The origin-insertion length patterns of the peroneus tertius were calculated from raw kinematic data and from data corrected for the error caused by skin displacement, and compared with the directly measured strain. The strain patterns calculated from externally measured kinematic data appeared to be in accordance with the directly measured strain gauge data. However, a correction for skin displacement is an obligatory prerequisite to obtain reliable results. The amplitudes of strain did not exceed 3% and appeared to be of about the same magnitude at both walk and trot.     

The effect of a novel gait retraining device on lower limb kinematics and muscle activation in healthy adults

The Re-Link Trainer (RLT) is a modified walking frame with a linkage system designed to apply a non-individualized kinematic constraint to normalize gait trajectory of the left limb. The premise behind the RLT is that a user’s lower limb is constrained into a physiologically normal gait pattern, ideally generating symmetry across gait cycle parameters and kinematics. This pilot study investigated adaptations in the natural gait pattern of healthy adults when using the RLT compared to normal overground walking. Bilateral lower limb kinematic and electromyography data were collected while participants walked overground at a self-selected speed, followed by walking in the RLT. A series of 2-way analyses of variance examined between-limb and between-condition differences. Peak hip extension and knee flexion were reduced bilaterally when walking in the RLT. Left peak hip extension occurred earlier in the gait cycle when using the RLT, but later for the right limb. Peak hip flexion was significantly increased and occurred earlier for the constrained limb, while peak plantarflexion was significantly reduced. Peak knee flexion and plantarflexion in the right limb occurred later when using the RLT. Significant bilateral reductions in peak electromyography amplitude were evident when walking in the RLT, along with a significant shift in when peak muscle activity was occurring. These findings suggest that the RLT does impose a significant constraint, but generates asymmetries in lower limb kinematics and muscle activity patterns. The large interindividual variation suggests users may utilize differing motor strategies to adapt their gait pattern to the imposed constraint.     

Morphology and the gradient of a symmetric potential predict gait transitions of dogs

Gaits and gait transitions play a central role in the movement of animals. Symmetry is thought to govern the structure of the nervous system, and constrain the limb motions of quadrupeds. We quantify the symmetry of dog gaits with respect to combinations of bilateral, fore–aft, and spatio-temporal symmetry groups. We tested the ability of symmetries to model motion capture data of dogs walking, trotting and transitioning between those gaits. Fully symmetric models performed comparably to asymmetric with only a \(22\%\) increase in the residual sum of squares and only one-quarter of the parameters. This required adding a spatio-temporal shift representing a lag between fore and hind limbs. Without this shift, the symmetric model residual sum of squares was \(1700\%\) larger. This shift is related to (linear regression, \(n=5\), \(p=0.0328\)) dog morphology. That this symmetry is respected throughout the gaits and transitions indicates that it generalizes outside a single gait. We propose that relative phasing of limb motions can be described by an interaction potential with a symmetric structure. This approach can be extended to the study of interaction of neurodynamic and kinematic variables, providing a system-level model that couples neuronal central pattern generator networks and mechanical models.     

A study of physical demands in riding

Thirteen experienced riders and three elite riders underwent bicycle ergometer tests at submaximal and maximal workloads. Oxygen uptake, pulmonary ventilation and heart rate were also studied during riding at a walk, a trot and a canter. The mean maximal oxygen uptake of the experienced riders in the ergometer test (2.71 . min-1) was superior to the average maximal oxygen uptake of other groups of the same age and sex. The average oxygen uptake of the experienced riders in trot sitting was 1.701 . min-1, trot rising 1.681 . min-1 and in canter 1.801 . min-1. The experienced riders used at least 60% of their maximal aerobic power in trot and canter, which is an exercise intensity that may induce some training effect. Two elite riders consistently had lower oxygen uptakes in riding than the other riders. The heart rate -- oxygen uptake relationships in riding and in the ergometer tests were similar, except during trot sitting when the heart rate tended to be higher, indicating a larger share of static muscle contraction in this gait. Static muscle strength was measured in nine riders and seven non-riders. Six muscle groups were investigated, but no significant difference in muscle strength could be demonstrated between riders and controls.     

Interlimb Coordination during Forward and Backward Walking in Primary School-Aged Children

Previous studies comparing forward (FW) and backward (BW) walking suggested that the leg kinematics in BW were essentially those of FW in reverse. This led to the proposition that in adults the neural control of FW and BW originates from the same basic neural circuitry. One aspect that has not received much attention is to what extent development plays a role in the maturation of neural control of gait in different directions. BW has been examined either in adults or infants younger than one year. Therefore, we questioned which changes occur in the intermediate phases (i.e. in primary school-aged children). Furthermore, previous research focused on the lower limbs, thereby raising the question whether upper limb kinematics are also simply reversed from FW to BW. Therefore, in the current study the emphasis was put both on upper and lower limb movements, and the coordination between the limbs. Total body 3D gait analysis was performed in primary school-aged children (N = 24, aged five to twelve years) at a preferred walking speed to record angular displacements of upper arm, lower arm, upper leg, lower leg, and foot with respect to the vertical (i.e. elevation angle). Kinematics and interlimb coordination were compared between FW and BW. Additionally, elevation angle traces of BW were reversed in time (revBW) and correlated to FW traces. Results showed that upper and lower limb kinematics of FW correlated highly to revBW kinematics in children, which appears to be consistent with the proposal that control of FW and BW may be similar. In addition, age was found to mildly alter lower limb kinematic patterns. In contrast, interlimb coordination was similar across all children, but was different compared to adults, measured for comparison. It is concluded that development plays a role in the fine-tuning of neural control of FW and BW.     

Symmetry indices based on accelerometric data in trotting horses

Detection and quantification of lameness in horses consists primarily of a subjective assessment, whereby both intra- and inter-observer disagreements exist, especially with low grade lameness. Therefore, clinically applicable methods are needed for reliable, objective assessments. The aim of this study was to describe three symmetry indices derived from a simple accelerometric method and investigate these in sound trotting horses. The indices describe the overall symmetry of the gait, the symmetry of loads placed on the limbs and the symmetry in timing between left and right steps. These symmetry indices were able to quantify the high degree of symmetry of the trot in sound horses that has been described in earlier studies using other gait analysis methods. Also, we have analysed the variances and have found high repeatability for all three indices.This provides a basis for future investigations of the symmetry indices and their potential for objective detection and quantification of lameness in horses.     

Trot Gait Design and CPG Method for a Quadruped Robot

Developing efficient walking gaits for quadruped robots has intrigued investigators for years. Trot gait, as a fast locomotion gait, has been widely used in robot control. This paper follows the idea of the six determinants of gait and designs a trot gait for a parallel-leg quadruped robot, Baby Elephant. The walking period and step length are set as constants to maintain a relatively fast speed while changing different foot trajectories to test walking quality. Experiments show that kicking leg back improves body stability. Then, a steady and smooth trot gait is designed. Furthermore, inspired by Central Pattern Generators （CPG）, a series CPG model is proposed to achieve robust and dynamic trot gait. It is generally believed that CPG is capable of producing rhythmic movements, such as swimming, walking, and flying, even when isolated from brain and sensory inputs. The proposed CPG model, inspired by the series concept, can automatically learn the previous well-designed trot gait and reproduce it, and has the ability to change its walking frequency online as well. Experiments are done in real world to verify this method.     

Dynamic structure of lower limb joint angles during walking post-stroke

BackgroundVariability in joint kinematics is necessary for adaptability and response to everyday perturbations; however, intrinsic neuromotor changes secondary to stroke often cause abnormal movement patterns. How these abnormal movement patterns relate to joint kinematic variability and its influence on post-stroke walking impairments is not well understood.ObjectiveThe purpose of this study was to evaluate the movement variability at the individual joint level in the paretic and non-paretic limbs of individuals post-stroke.MethodsSeven individuals with hemiparesis post-stroke walked on a treadmill for two minutes at their self-selected speed and the average speed of the six-minute walk test while kinematics were recorded using motion-capture. Variability in hip, knee, and ankle flexion/extension angles during walking were quantified with the Lyapunov exponent (LyE). Interlimb differences were evaluated.ResultsThe paretic side LyE was higher than the non-paretic side at both self-selected speed (Hip: 50%; Knee: 74%), and the average speed of the 6-min walk test (Hip: 15%; Knee: 93%).ConclusionDifferences in joint kinematic variability between limbs of persons post-stroke supports further study of the source of non-paretic limb deviations as well as the clinical implications of joint kinematic variability in persons post-stroke. The development of bilaterally-targeted post-stroke gait interventions to address variability in both limbs may promote improved outcomes.     

To pace or not to pace: a pilot study of four‐ and five‐gaited Icelandic horses homozygous for the DMRT3 ‘Gait Keeper’ mutation

The Icelandic horse is a breed known mainly for its ability to perform the ambling four‐beat gait ‘tölt’ and the lateral two‐beat gait pace. The natural ability of the breed to perform these alternative gaits is highly desired by breeders. Therefore, the discovery that a nonsense mutation (C>A) in the DMRT3 gene was the main genetic factor for horses' ability to perform gaits in addition to walk, trot and canter was of great interest. Although several studies have demonstrated that homozygosity for the DMRT3 mutation is important for the ability to pace, only about 70% of the homozygous mutant (AA) Icelandic horses are reported to pace. The aim of the study was to genetically compare four‐ and five‐gaited (i.e. horses with and without the ability to pace) AA Icelandic horses by performing a genome‐wide association (GWA) analysis. All horses (n = 55) were genotyped on the 670K Axiom Equine Genotyping Array, and a GWA analysis was performed using the genabel package in r . No SNP demonstrated genome‐wide significance, implying that the ability to pace goes beyond the presence of a single gene variant. Despite its limitations, the current study provides additional information regarding the genetic complexity of pacing ability in horses. However, to fully understand the genetic differences between four‐ and five‐gaited AA horses, additional studies with larger sample materials and consistent phenotyping are needed.     

Accuracy and precision of hind limb foot contact timings of horses determined using a pelvis-mounted inertial measurement unit

Gait analysis using small sensor units is becoming increasingly popular in the clinical context. In order to segment continuous movement from a defined point of the stride cycle, knowledge about footfall timings is essential. We evaluated the accuracy and precision of foot contact timings of a defined limb determined using an inertial sensor mounted on the pelvis of ten horses during walk and trot at different speeds and in different directions. Foot contact was estimated from vertical velocity events occurring before maximum sensor roll towards the contralateral limb. Foot contact timings matched data from a synchronised hoof mounted accelerometer well when velocity minimum was used for walk (mean (SD) difference of 15 (18)ms across horses) and velocity zero-crossing for trot (mean (SD) difference from -4 (14) to 12 (7)ms depending on the condition). The stride segmentation method also remained robust when applied to movement data of hind limb lame horses. In future, this method may find application in segmenting overground sensor data of various species.     

Influence of joint constraints on lower limb kinematics estimation from skin markers using global optimization

In order to obtain the lower limb kinematics from skin-based markers, the soft tissue artefact (STA) has to be compensated. Global optimization (GO) methods rely on a predefined kinematic model and attempt to limit STA by minimizing the differences between model predicted and skin-based marker positions. Thus, the reliability of GO methods depends directly on the chosen model, whose influence is not well known yet.This study develops a GO method that allows to easily implement different sets of joint constraints in order to assess their influence on the lower limb kinematics during gait. The segment definition was based on generalized coordinates giving only linear or quadratic joint constraints. Seven sets of joint constraints were assessed, corresponding to different kinematic models at the ankle, knee and hip: SSS, USS, PSS, SHS, SPS, UHS and PPS (where S, U and H stand for spherical, universal and hinge joints and P for parallel mechanism). GO was applied to gait data from five healthy males.Results showed that the lower limb kinematics, except hip kinematics, knee and ankle flexion–extension, significantly depend on the chosen ankle and knee constraints. The knee parallel mechanism generated some typical knee rotation patterns previously observed in lower limb kinematic studies. Furthermore, only the parallel mechanisms produced joint displacements.Thus, GO using parallel mechanism seems promising. It also offers some perspectives of subject-specific joint constraints.     

Response of able-bodied persons to changes in shoe rocker radius during walking: Changes in ankle kinematics to maintain a consistent roll-over shape

Recent studies have determined a seemingly consistent feature of able-bodied level ground walking, termed the roll-over shape, which is the effective rocker (cam) shape that the lower limb system conforms to between heel contact and contralateral heel contact during walking (first half of the gait cycle). The roll-over shape has been found to be largely unaffected by changes in walking speed, load carriage, and shoe heel height. However, it is unclear from previous studies whether persons are controlling their lower limb systems to maintain a consistent roll-over shape or whether this finding is a byproduct of their attempt to keep ankle kinematic patterns similar during the first half of the gait cycle. We measured the ankle–foot roll-over shapes and ankle kinematics of eleven able-bodied subjects while walking on rocker shoes of different radii. We hypothesized that the ankle flexion patterns during single support would change to maintain a similar roll-over shape. We also hypothesized that with decrease in rocker shoe radii, the difference in ankle flexion between the end and beginning of single support would decrease. Our results supported these hypotheses. Ankle kinematics were changed significantly during walking with the different rocker shoe radii (p<0.001), while ankle–foot roll-over shape radii (p=0.146) and fore–aft position (p=0.132) were not significantly affected. The results of this study have direct implications for designers of ankle–foot prostheses, orthoses, walking casts/boots, and rocker shoes. The results may also be relevant to researchers studying control of human movements.     

Functional Locomotor Consequences of Uneven Forefeet for Trot Symmetry in Individual Riding Horses

Left-right symmetrical distal limb conformation can be an important prerequisite for a successful performance, and it is often hypothesized that asymmetric or uneven feet are important enhancing factors for the development of lameness. On a population level, it has been demonstrated that uneven footed horses are retiring earlier from elite level competition, but the biomechanical consequences are not yet known. The objectives of this study were to compare the functional locomotor asymmetries of horses with uneven to those with even feet.Hoof kinetics and distal limb kinematics were collected from horses (n = 34) at trot. Dorsal hoof wall angle was used to classify horses as even or uneven (<1.5 and >1.5° difference between forefeet respectively) and individual feet as flat (<50°), medium (between 50° and 55°) or upright (>55°). Functional kinetic parameters were compared between even and uneven forefeet using MANOVA followed by ANOVA. The relative influences of differences in hoof angle between the forefeet and of absolute hoof angle on functional parameters were analysed using multiple regression analysis (P<0.05).In horses with uneven feet, the side with the flatter foot showed a significantly larger maximal horizontal braking and vertical ground reaction force, a larger vertical fetlock displacement and a suppler fetlock spring. The foot with a steeper hoof angle was linearly correlated with an earlier braking-propulsion transition. The conformational differences between both forefeet were more important for loading characteristics than the individual foot conformation of each individual horse. The differences in vertical force and braking force between uneven forefeet could imply either an asymmetrical loading pattern without a pathological component or a subclinical lameness as a result of a pathological development in the steeper foot.     

Designing an early selection morphological linear traits index for dressage in the Pura Raza Español horse

Making a morphological pre-selection of Pura Raza Español horses (PRE) for dressage is a challenging task within its current breeding program. The aim of our research was to design an early genetic selection morphological linear traits index to improve dressage performance, using 26 morphological linear traits and six dressage traits (walk, trot, canter, submission, general impression – partial scores – and total score) as selection criteria. The data set included morphological linear traits of 10 127 PRE (4159 males and 5968 females) collected between 2008 and 2013 (one record per horse) and 19 095 dressage traits of 1545 PRE (1476 males and 69 females; 12.4 records of average) collected between 2004 and 2014. A univariate animal model was applied to predict the breeding values (PBV). A partial least squares regression analysis was used to select the most predictive morphological linear traits PBV on the dressage traits PBV. According to the Wold Criterion, the 13 morphological linear traits (width of head, head–neck junction, upper neck line, neck–body junction, width of chest, angle of shoulder, lateral angle of knee, frontal angle of knee, cannon bone perimeter, length of croup, angle of croup, ischium–stifle distance and lateral hock angle) most closely related to total score PBV, partial scores PBV and gait scores PBV (walk, trot and canter) were selected. A multivariate genetic analysis was performed among the 13 morphological linear traits selected and the six dressage traits to estimate the genetic parameters. After it, the selection index theory was used to compute the expected genetic response using different strategies. The expected genetic response of total score PBV (0.76), partial scores PBV (0.04) and gait scores PBV (0.03) as selection objectives using morphological linear traits PBV as criteria selection were positive, but lower than that obtained using dressage traits PBV (1.80, 0.16 and 0.14 for total score PBV, partial scores PBV and gait scores PBV) or dressage traits PBV and morphological linear traits PBV (2.97, 0.16 and 0.15 for total score PBV, partial scores PBV and gait scores PBV), as selection criteria. This suggests that it is possible to preselect the PRE without dressage traits PBV using as selection criteria the morphological linear traits PBV, but the expected genetic response will be lower.     

Multiple-trait selection for radiographic health of the limbs, conformation and performance in Warmblood riding horses

Information on 26 434 German Warmblood horses born between 1992 and 2001 was used for multivariate genetic analyses of radiographic health, conformation and performance traits to compare different modes of single- and multiple-trait selection of sires. Results of standardized radiological examinations of 5155 Hanoverian Warmblood horses, conformation evaluations from studbook inspections of 20 603 mares, and performance evaluations from mare performance tests and auction horse inspections of 16 098 horses were used for multivariate genetic analyses. Genetic parameters were estimated with restricted maximum likelihood (REML), and relative breeding values (RBV) were predicted with best linear unbiased prediction (BLUP) in multivariate linear animal models for four radiographic health traits, three conformation traits and five performance traits. Heritability estimates for osseous fragments in fetlock joints (OFF), osseous fragments in hock joints (OFH), deforming arthropathy in hock joints (DAH) and distinct radiographic findings in the navicular bones (DNB) ranged between 0.15 and 0.35 after transformation to the liability scale. Front limb conformation, hind limb conformation, withers height, walk, trot, canter, rideability and free jumping showed heritabilities between 0.09 and 0.49 and additive genetic correlations with OFF, OFH, DAH and DNB ranging between -0.53 and +0.52. Selection of sires was based on RBV or combinations of RBV, with selection for individual traits or traits from one of the three considered trait groups being considered as single-trait selection, and selection for traits from more than one trait group being considered as multiple-trait selection. The selection modes were compared by means of the expected selection response after one generation, calculated as the relative change in the prevalences of the radiographic findings or the mean conformation or performance scores in the offspring of the selected sires when compared with the offspring of all sires. The prevalences of OFF, OFH, DAH and DNB decreased by 30% to 57% after single-trait selection and 14% to 29% after multiple-trait selection, while mean conformation and performance scores increased by up to 4%. The results indicated that it is possible to simultaneously improve the radiographic health of the limbs, limb conformation, quality of gaits and rideability. However, genetic progress in free jumping ability and style could only be achieved by single- or multiple-trait selection with focus on jumping performance.     

Kinematics of lower limbs during walking are emulated by springy walking model with a compliantly connected,off-centered curvy foot

The dynamics of the center of mass (CoM) during walking and running at various gait conditions are well described by the mechanics of a simple passive spring loaded inverted pendulum (SLIP). Due to its simplicity, however, the current form of the SLIP model is limited at providing any further information about multi-segmental lower limbs that generate oscillatory CoM behaviors and their corresponding ground reaction forces. Considering that the dynamics of the CoM are simply achieved by mass-spring mechanics, we wondered whether any of the multi-joint motions could be demonstrated by simple mechanics. In this study, we expand a SLIP model of human locomotion with an off-centered curvy foot connected to the leg by a springy segment that emulates the asymmetric kinematics and kinetics of the ankle joint. The passive dynamics of the proposed expansion of the SLIP model demonstrated the empirical data of ground reaction forces, center of mass trajectories, ankle joint kinematics and corresponding ankle joint torque at various gait speeds. From the mechanically simulated trajectories of the ankle joint and CoM, the motion of lower-limb segments, such as thigh and shank angles, could be estimated from inverse kinematics. The estimation of lower limb kinematics showed a qualitative match with empirical data of walking at various speeds. The representability of passive compliant mechanics for the kinetics of the CoM and ankle joint and lower limb joint kinematics implies that the coordination of multi-joint lower limbs during gait can be understood with a mechanical framework.     

Biomechanics and kinematics of limb-based locomotion in lizards: review, synthesis and prospectus.

The sprawling pattern of locomotion in lizards is kinematically intriguing and is underpinned by a distinctive pattern of appendicular morphology. The statics of the sprawling posture dictate fundamental design principles, and these place constraints on the three-dimensional kinematics of the limbs and body axis as locomotion is effected. The fore and hind limbs accommodate these constraints and dictates in fundamentally similar, but positionally different ways, resulting in different kinematic profiles for these two appendages. Recent kinematic investigations have helped to clarify earlier generalizations about lizard locomotion and have revealed that kinematic patterns are more variable than was previously supposed. Such analyses, and attendant detailed studies of the anatomy of the locomotor system, promise a new synthesis and enhanced understanding of evolutionary patterns of locomotion of lizards and adjustment to various locomotor substrata and modes of progression.     

Three-dimensional kinematics of capuchin monkey bipedalism

Capuchin monkeys are known to use bipedalism when transporting food items and tools. The bipedal gait of two capuchin monkeys in the laboratory was studied with three-dimensional kinematics. Capuchins progress bipedally with a bent-hip, bent-knee gait. The knee collapses into flexion during stance and the hip drops in height. The knee is also highly flexed during swing to allow the foot which is plantarflexed to clear the ground. The forefoot makes first contact at touchdown. Stride frequency is high, and stride length and limb excursion low. Hind limb retraction is limited, presumably to reduce the pitch moment of the forward-leaning trunk. Unlike human bipedalism, the bipedal gait of capuchins is not a vaulting gait, and energy recovery from pendulum-like exchanges is unlikely. It extends into speeds at which humans and other animals run, but without a human-like gait transition. In this respect it resembles avian bipedal gaits. It remains to be tested whether energy is recovered through cyclic elastic storage and release as in bipedal birds at higher speeds. Capuchin bipedalism has many features in common with the facultative bipedalism of other primates which is further evidence for restrictions on a fully upright striding gait in primates that transition to bipedalism. It differs from the facultative bipedalism of other primates in the lack of an extended double-support phase and short aerial phases at higher speeds that make it a run by kinematic definition. This demonstrates that facultative bipedalism of quadrupedal primates need not necessarily be a walking gait.