Mechanical and metabolic requirements for active lateral stabilization in human walking

Donelan, J. Maxwell; Shipman, David W.; Kram, Rodger; Kuo, Arthur D.

doi:10.1016/j.jbiomech.2003.06.002

Cited by 398 publications

(457 citation statements)

References 12 publications

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“…However, we did observe a 22% increase in step length variability and a 36% increase in step width variability. As shown by others (Donelan et al, 2004;O'Connor et al, 2012), it is costlier to walk with more variability (e.g. 65% greater step width variability results in 5.9% higher energetic cost), in part because increased step variability reduces the use of passive energy exchange and increases step-to-step transition costs.…”

Section: Discussionmentioning

confidence: 85%

Biomechanics and energetics of walking on uneven terrain

Voloshina

Kuo

Daley

et al. 2013

Journal of Experimental Biology

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202

186

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Summary Walking on uneven terrain is more energetically costly than walking on smooth ground, but the biomechanical factors that contribute to this increase are unknown. To identify possible factors, we constructed an uneven terrain treadmill that allowed us to record biomechanical, electromyographic, and metabolic energetics data from human subjects. We hypothesized that walking on uneven terrain would increase step width and length variability, joint mechanical work, and muscle co-activation compared to walking on smooth terrain. We tested healthy subjects (N=11) walking at 1.0 m/s, and found that, when walking on uneven terrain with up to 2.5 cm variation, subjects decreased their step length by 4% and did not significantly change their step width, while both step length and width variability increased significantly (22% and 36%, respectively; p<0.05). Uneven terrain walking caused a 28% and 62% increase in positive knee and hip work, and a 26% greater magnitude of negative knee work (0.0106, 0.1078, and 0.0425 J/kg, respectively; p<0.05). Mean muscle activity increased in seven muscles in the lower leg and thigh (p<0.05). These changes caused overall net metabolic energy expenditure to increase by 0.73 W/kg (28%; p<0.0001). Much of that increase could be explained by the increased mechanical work observed at the knee and hip. Greater muscle co-activation could also contribute to increased energetic cost but to unknown degree. The findings provide insight into how lower limb muscles are used differently for natural terrain compared to laboratory conditions.

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Section: Discussionmentioning

confidence: 85%

Biomechanics and energetics of walking on uneven terrain

Voloshina

Kuo

Daley

et al. 2013

Journal of Experimental Biology

Self Cite

202

186

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“…Donelan et al reported that the preferred step width in nondisabled humans is 13 percent of leg length and that the mechanical and metabolic costs of walking increase with steps that are both wider and narrower than the preferred step width [23]. Donelan et al also studied the mechanical and metabolic requirements for active lateral stabilization in human walking by providing external lateral stabilization to walking subjects and reported that external stabilization reduced foot placement variability for both preferred and prescribed step width conditions [24]. They suggested that lateral instability affects the choice of preferred step width.…”

Section: Discussionmentioning

confidence: 99%

Effect of ankle-foot orthosis on roll-over shape in adults with hemiplegia

Fatone

Hansen

2007

JRRD

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Abstract-Ankle-foot orthoses (AFOs) are intended to improve toe clearance during swing and ankle position at initial contact (IC) and midstance. Changes that lead to improved ankle-foot kinematics may result in a more biomimetic rollover shape (ROS). ROS is the effective geometry to which the ankle-foot complex conforms between IC and contralateral IC. An effective ROS during gait may facilitate forward progression. This study investigated the effect of an AFO on ROS in adults with hemiplegia following stroke. Kinematic and force data were recorded from 13 people with hemiplegia and 12 controls. Hemiplegic subjects walked at a self-selected speed with and without an articulated AFO with plantar flexion stop. For the involved limb, the AFO significantly increased the ROS arc length (from 32.6% to 55.7% of foot length [FL]) and arc radius (67.4% to 139.3% of FL) and significantly altered the sagittal plane location of the first center of pressure (COP) point, moving it posterior to the ankle center (-1.2% to -20% of FL) (p < 0.002 for all comparisons). However, when hemiplegic patients walked with an AFO, their mean arc radius was greater, mean arc length less, and the first COP point further posterior than those of control subjects.

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“…Active control is needed to stabilize the body in response to lateral perturbations. Such responses rely on sensory (e.g., visual, vestibular) information, involve adjustments to foot placement that affect step width, and exact some metabolic cost (77,78).…”

Section: Significancementioning

confidence: 99%

The critical phase for visual control of human walking over complex terrain

Matthis

Barton

Fajen

2017

Proc. Natl. Acad. Sci. U.S.A.

103

104

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To walk efficiently over complex terrain, humans must use vision to tailor their gait to the upcoming ground surface without interfering with the exploitation of passive mechanical forces. We propose that walkers use visual information to initialize the mechanical state of the body before the beginning of each step so the resulting ballistic trajectory of the walker's center-of-mass will facilitate stepping on target footholds. Using a precision stepping task and synchronizing target visibility to the gait cycle, we empirically validated two predictions derived from this strategy: (1) Walkers must have information about upcoming footholds during the second half of the preceding step, and (2) foot placement is guided by information about the position of the target foothold relative to the preceding base of support. We conclude that active and passive modes of control work synergistically to allow walkers to negotiate complex terrain with efficiency, stability, and precision.H umans and other animals are remarkable in their ability to take advantage of what is freely available in the environment to the benefit of efficiency, stability, and coordination in movement. This opportunism can take on at least two forms, both of which are evident in human locomotion over complex terrain: (i) harnessing external forces to minimize the need for self-generated (i.e., muscular) forces (1), and (ii) taking advantage of passive stability to simplify the control of a complex movement (e.g., ref. 2). In the ensuing section, we explain how walkers exploit external forces and passive stability while walking over flat, obstacle-free terrain.* We then generalize this account to walking over irregular surfaces by explaining how walkers can adapt gait to terrain variations while still reaping the benefits of the available mechanical forces and inherent stability. This account leads to hypotheses about how and when walkers use visual information about the upcoming terrain and where that information is found. We derive several predictions from these hypotheses and then put them to the test in three experiments. Passive Control in Human WalkingThe basic movement pattern of the human gait cycle arises primarily from the phasic activation of flexor and extensor muscle groups by spinal-level central pattern generators, regulated by sensory signals from lower limb proprioceptors and cutaneous feedback from the plantar surface of the foot. This low-level neuromuscular circuitry serves to maintain the rhythmic physical oscillations that define locomotor behavior (see ref. 3 for review). This section will provide an overview of the basic biomechanics of the bipedal gait cycle to show how these inherent physical dynamics contribute to the passive stability and energetic efficiency of human locomotion.During the single support phase of the bipedal gait cycle, when only one foot is in contact with the ground, a walker shares the physical dynamics of an inverted pendulum. The body's center of mass (COM) acts as the bob of the pendulum and is support...

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Mechanical and metabolic requirements for active lateral stabilization in human walking

Cited by 398 publications

References 12 publications

Biomechanics and energetics of walking on uneven terrain

Biomechanics and energetics of walking on uneven terrain

Effect of ankle-foot orthosis on roll-over shape in adults with hemiplegia

The critical phase for visual control of human walking over complex terrain

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