Adaptive control for backward quadrupedal walking. I. Posture and hindlimb kinematics

1. To gain new perspectives on the neural control of different forms of quadruped locomotion, we studied adaptations in posture and hindlimb kinematics for backward (BWD) walking in normal cats. Data from four animals were obtained from high-speed (100 fr/s) ciné film of BWD treadmill walking over a range of slow walking speeds (0.3-0.6 m/s) and forward (FWD) treadmill walking at 0.6 m/s. 2. Postural adaptations during BWD walking included flexion of the lumbar spine, compared to a relatively straight spine during FWD walking. The usual paw-contact sequence for FWD walking [right hindlimb (RH), right forelimb (RF), left hindlimb (LH), left forelimb (LF)] was typically reversed for BWD walking (RH, LF, LH, RF). The hindlimbs alternated consistently with a phase difference averaging 0.5 for both forms of walking, but the phasing of the forelimbs was variable during BWD walking. 3. As BWD walking speed increased from 0.3 to 0.6 m/s, average hindlimb cycle period decreased 21%, stance-phase duration decreased 29%, and stride length increased 38%. Compared to FWD walking at 0.6 m/s, stride length was 30% shorter, whereas cycle period and stance-phase duration were 17% shorter for BWD walking. For both directions, stance occupied 64 +/- 4% (mean +/- SD) of the step cycle. 4. During swing for both forms of walking, the hip, knee, and ankle joints had flexion (F) and extension (E1) phases; however, the F-E1 reversals occurred earlier at the hip and later at the knee for BWD than for FWD walking. At the ankle joint, the ranges of motion during the F and E1 phases were similar for both directions. During BWD walking, however, the knee flexed more and extended less, whereas the hip flexed less and extended more. Thus horizontal displacement of the limb resulted primarily from hip extension and knee flexion during BWD swing, but hip flexion and knee extension during FWD swing. 5. At the knee and ankle joints, there were yield (E2) and extension (E3) phases during stance for both forms of walking; however, yields at the knee and ankle joints were reduced during BWD walking. At the hip, angular motion was unidirectional, as the hip flexed during BWD stance but extended during FWD stance. Knee extension was the prime contributor to horizontal displacement of the body during BWD stance, but hip extension was the prime contributor to horizontal displacement during FWD stance. 6. Our kinematic data revealed two discriminators between BWD and FWD walking.(ABSTRACT TRUNCATED AT 400 WORDS)     

Co-ordination of a simple voluntary multi-joint movement with postural demands: trunk extension in standing man

The interaction between primary movements and associated postural adjustments was studied during trunk extension movements in standing man. Six healthy male subjects performed one series of six consecutive fast trunk extensions. Movements were recorded with an optoelectronic system (Selspot). Angular displacements, velocities and accelerations at the ankle, knee, hip and trunk were calculated. Trunk inclination was measured as the sum of pelvic tilt and spine flexion. The spatial and temporal coordination patterns chosen by the subjects to complete the task were compared. The self-selected trunk movement amplitude ranged 14-30 degrees for all subjects. The individual amplitude was maintained within 4-7 degrees over the six consecutive trials. Peak velocity of the primary trunk movement was highly correlated with movement amplitude (r = 0.73, P less than 0.01), whereas peak acceleration was not. Trunk extension, was the result of a simultaneous backward pelvic tilt and spine extension, together with hip extension and knee flexion. Knee flexion became increasingly important at larger movement amplitudes since hip extension as well as spine extension was limited. Associated postural adjustments occurred mainly as ankle flexion. In conclusion, individuals can accurately reproduce the multi-joint co-ordination pattern seen during a voluntary trunk extension movement. Movements at the ankle appear to be controlled to counteract the backward shift of the centre of gravity caused by the primary movement. Knee and ankle movements seem to be independently controlled in the preparatory phase, whereas they are closely linked later during the primary movement. It is suggested that the interaction between knee and ankle movements is necessary for optimal equilibrium control during trunk extension movements in standing.     

Adaptive control for backward quadrupedal walking. II. Hindlimb muscle synergies

1. To compare the basic hindlimb synergies for backward (BWD) and forward (FWD) walking, electromyograms (EMG) were recorded from selected flexor and extensor muscles of the hip, knee, and ankle joints from four cats trained to perform both forms of walking at a moderate walking speed (0.6 m/s). For each muscle, EMG measurements included burst duration, burst latencies referenced to the time of paw contact or paw off, and integrated burst amplitudes. To relate patterns of muscle activity to various phases of the step cycle, EMG records were synchronized with kinematic data obtained by digitizing high-speed ciné film. 2. Hindlimb EMG data indicate that BWD walking in the cat was characterized by reciprocal flexor and extensor synergies similar to those for FWD walking, with flexors active during swing and extensors active during stance. Although the underlying synergies were similar, temporal parameters (burst latencies and durations) and amplitude levels for specific muscles were different for BWD and FWD walking. 3. For both directions, iliopsoas (IP) and semitendinosus (ST) were active as the hip and knee joints flexed at the onset of swing. For BWD walking, IP activity decreased early, and ST activity continued as the hip extended and the knee flexed. For FWD walking, in contrast, ST activity ceased early, and IP activity continued as the hip flexed and the knee extended. For both directions, tibialis anterior (TA) was active throughout swing as the ankle flexed and then extended. A second ST burst occurred at the end of swing for FWD walking as hip flexion and knee extension slowed for paw contact. 4. For both directions, knee extensor (vastus lateralis, VL) activity began at paw contact. Ankle extensor (lateral gastrocnemius, LG) activity began during midswing for BWD walking but just before paw contact for FWD walking. At the ankle joint, flexion during the E2 phase (yield) of stance was minimal or absent for BWD walking, and ankle extension during BWD stance was accompanied by a ramp increase in LG-EMG activity. At the knee joint, the yield was also small (or absent) for BWD walking, and increased VL-EMG amplitudes were associated with the increased range of knee extension for BWD stance. 5. Although the uniarticular hip extensor (anterior biceps femoris, ABF) was active during stance for both directions, the hip flexed during BWD stance and extended during FWD stance.(ABSTRACT TRUNCATED AT 400 WORDS)     

Kinetic and energetic patterns for hindlimb obstacle avoidance during cat locomotion

 The safe control of walking over different terrains requires appropriate adaptations in the dynamic and kinematic limb patterns. To date, the study of locomotor dynamics in the cat has been confined to level, unobstructed walking. The present study extends the work of Lavoie et al. by applying linked segment analyses to estimate muscle contributions to torque and mechanical power at the hindlimb joints of two female cats during both unobstructed walking and obstacle avoidance. Data during obstacle avoidance were analyzed both when the hindlimb led in clearance and was farthest from the obstacle, and when it trailed in clearance and was closest or near to the obstacle. It was found that, in both the Far and Near obstructed conditions, the cats cleared the obstacles primarily by increasing the knee flexor torque already used during unobstructed gait. Contributions from the hip and ankle muscle groups were more variable. There was more emphasis on the hip extensors in mid to late stance, and the hip flexors generated a small amount of energy at paw-lift in the Far condition. In the Near condition, the hip extensors were employed to control hip flexion. We suggest that hip flexor generation power in mid-swing contributes to the clearance of the upcoming obstacle in the Far condition while, in the Near condition, hip flexion advances the already extended limb ahead of the obstacle. The ankle was actively dorsiflexed in the Near condition but was maintained in extension in the Far condition. The emphasis on active knee flexor control by the cat to avoid obstacles, as well as the dependence of ankle control on obstacle proximity, is similar to strategies seen for humans. However, the knee flexor strategy is innate to the cat’s normal level walking control, whereas in humans active knee flexion at toe-off requires a reorganization from level, non-obstructed gait. Received: 2 February 1998 / Accepted: 21 September 1998     

正走和倒走的膝关节生物力学特征比较

目的 比较正走和倒走两种不同行走模式时膝关节的生物力学特征。方法 采用三维运动捕捉系统Vicon T40和测力台AMTI OR6-7采集并比较13名健康青年男性志愿者正走和倒走时的时间、空间、运动学和动力学参数。结果 与正走相比,倒走时的步速、步频和步幅均显著减小,跨步周期和支撑相所占百分比显著增加;在矢状面上,倒走时膝关节活动度、最大屈伸力矩较正走小;在冠状面上,倒走时膝关节内翻外展活动范围也较正走小,内翻力矩峰值在支撑早期较正走小,但在支撑晚期较正走大;地面反作用力在支撑早期较正走大,但在支撑晚期较正走小。结论 倒走和正走膝关节生物力学特征差异明显。与正走相比倒走在支撑相早期能减轻膝关节内侧间室的负荷,而倒走在支撑相晚期对膝关节负荷的影响则尚须进一步研究。     

Fast voluntary trunk flexion movements in standing: primary movements and associated postural adjustments

Movement patterns were studied during fast voluntary forward flexions of the trunk from an erect standing position. Three healthy subjects performed three series of six consecutive trunk flexions at maximum velocity and with successively increasing amplitude, covering a major part of the range of motion (range for all subjects: 13-97 degrees). Angular displacements of the trunk, hip, knee and ankle were measured together with the tilt of the pelvis and the flexion of the spine using a Selspot optoelectronic system. Trunk flexion was the result of a simultaneous forward pelvic tilt and flexion of the spine. For trunk movements up to 55 degrees, spine flexion dominated the movement, whereas for larger movements a major part of the amplitude was caused by pelvic tilt. During flexion of the trunk a simultaneous hip flexion and ankle extension was seen. At the knee there was an initial flexion and a subsequent extension. The net amplitude of the knee flexion showed a negative correlation with net trunk flexion amplitude for movements up to 50 degrees, whereas for larger amplitudes the correlation was positive. Time from onset of the trunk movement to peak knee flexion showed a weak correlation to net trunk flexion amplitude (r = 0.34) whereas the corresponding correlation was higher for pelvic tilt, spine flexion, hip flexion, ankle extension, and knee extension (r = 0.60-0.91). Each successive trial during a series of trunk movements was started from an increasing degree of knee flexion. This gradual adaptation was also present when successive trunk flexions were performed with constant movement amplitude.(ABSTRACT TRUNCATED AT 250 WORDS)     

Influence of leg muscle vibration on human walking

We studied the effect of vibratory stimulation of different leg muscles [bilateral quadriceps (Q), hamstring (HS) muscles, triceps surae (TS), and tibialis anterior (TA)] in seven normal subjects during 1) quiet standing, 2) stepping in place movements, and 3) walking on the treadmill. The experiments were performed in a dimly illuminated room, and the subjects were given the instruction not to resist the applied perturbation. In one condition the velocity of the treadmill was controlled by a feedback from the subject's current position. In normal standing, TA vibration elicited a prominent forward body tilt, whereas HS and TS vibration elicited backward trunk or whole body inclination, respectively. Q vibration had little effect. During stepping in place, continuous HS vibration produced an involuntary forward stepping at about 0.3 m s(-1) without modifying the stepping frequency. When the subjects (with eyes closed) kept a hand contact with an external still object, they did not move forward but perceived an illusory forward leg flexion relative to the trunk. Q, TS, and TA vibration did not cause any systematic body translation nor illusory changes in body configuration. In treadmill locomotion, HS vibration produced an involuntary steplike increase of walking speed (by 0.1-0.6 m.s(-1)). Continuous vibration elicited larger speed increments than phasic stimulation during swing or stance phase. For phasic stimulation, HS vibration tended to be more effective when applied during swing than during stance phase. Q, TA, and TS vibration had little if any effect. Vibration of thigh muscles altered the walking speed depending on the direction of progression. During backward locomotion, the walking speed tended to decrease after HS vibration, whereas it significantly increased after Q vibration. Thus the influence of leg muscle vibration on stepping in place and locomotion differed significantly from that on normal posture. We suggest that the proprioceptive input from thigh muscles may convey information about the velocity of the foot movement relative to the trunk.     

背包类型对大学生楼梯行走运动学和足底压力的影响

目的 分析不同背包类型和载荷对大学生上楼梯行走时运动学和足底压力的影响,为大学生选择合适的背包及携带方式提供参考。方法 采用Nokov红外光点运动捕捉系统和Podomed足底压力测试系统分析15名男大学生上楼梯支撑期内躯干和下肢关节活动范围、峰值时刻下肢运动学参数、足底各分区压力峰值、接触时间、全足最大压强、平均压强等参数的差异。结果 5%BW和10%BW背包载荷会减小躯干旋转活动范围(range of motion, ROM),增加踝关节屈伸和内外翻ROM,10%BW背包载荷下足底第1、3跖骨压力峰值和全足最大压强提升(P<0.05)。单肩包和手提包减小躯干侧倾和旋转ROM,增大了踝关节屈伸ROM、髋关节屈曲角、足弓和足跟内侧压力峰值(P<0.05)。双肩包负重增加足趾区的压力峰值(P<0.05)。结论 楼梯行走时,5%BW和10%BW背包载荷均会限制躯干旋转,增加踝关节ROM,10%BW载荷还会增加足跖区的负荷。单侧负重模式会使躯干向未负重侧倾斜以及向负重侧旋转。携带双肩包时足趾处的压力较高,而单肩包和手提包主要集中增加足弓和足跟内侧压力。建议大学生群体选择对称性...     

Recruitment of gastrocnemius muscles during the swing phase of stepping following partial denervation of knee flexor muscles in the cat

In walking cats, the biarticular medial and lateral gastrocnemius (MG–LG) muscles act to produce extension and flexion torques at the ankle and knee, respectively, and they usually display only one burst of activity beginning just before ground contact and ending near the end of the stance phase. Currently, the MG–LG muscles are considered to function primarily to control extension movements around the ankle joint during the stance phase. However, their flexion action at the knee means that they have the capacity to regulate rotations at the knee, but this role has not yet been clearly defined. Following partial denervation of the other muscles that normally act to flex the knee during swing, we observed that the MG–LG muscles, but not the Soleus muscle (a pure ankle extensor), often generated strong bursts of activity during early swing. These bursts were enhanced following mechanical stimulation of the paw, and they were especially prominent when the leg trailed over an object. They were absent when the leg led over an object. During treadmill walking the swing-related bursts in MG and LG had little influence on ankle flexion at the beginning of swing, but they were associated with slowing of ankle flexion when the leg trailed over an object. We hypothesized that the recruitment of these bursts functions to partially compensate for the reduction in knee torque resulting from the denervation of other knee flexors. Consistent with this hypothesis was our finding that the magnitude of the swing-related activity in the MG–LG muscles was linearly correlated to the extent of the knee flexion and to the peak angular velocity of knee flexion, and that the timing of the bursts was similar to that in the denervated muscles prior to denervation. Our findings suggest that an excitatory pathway exists from the flexor half-center of the central pattern-generating network to MG–LG motoneurons, and that this pathway is strongly regulated by central and/or peripheral signals.     

Motor patterns of a fast voluntary postural task in man: trunk extension in standing

The co-ordination between muscles controlling the primary movement and associated postural adjustments during fast trunk extension movements was studied in six male subjects. Myoelectrical activity (EMG) was recorded from antagonistic muscle pairs at the trunk, hip, knee and ankle. Horizontal displacements of the upper trunk, hip and knee were recorded with an opto-electronic system (Selspot). A backward displacement of the trunk was accompanied by a forward displacement of the hip and knee. In general, the trunk started to move 30 ms before the hip and knee. Muscle activity first appeared in the ankle extensors (soleus/gastrocnemius) up to 150 ms prior to onset of prime mover muscles (trunk extensor, erector spinae; and hip extensors/knee flexors, hamstrings). This pre-activation was seldom followed by any detectable ankle joint movement. Prime mover muscles were activated simultaneously followed by the hip extensor gluteus maximus. Time to activation of muscles braking the movement (rectus abdominis, rectus femoris and vastus lateralis) was correlated with the amplitude of the primary movement (r = 0.63 0.75, P less than 0.01). Onset of activity in vastus lateralis was highly correlated with the amplitude of the forward displacement of the knee (r = 0.93, P less than 0.01). An associated postural adjustment appeared as an ankle flexion accompanied by activity in the ankle flexor tibialis anterior, and often also in the ankle extensors. This co-activation of antagonistic ankle muscles can under certain conditions have interesting functional implications for the control of posture.     

Adaptation of the walking pattern to uphill walking in normal and spinal-cord injured subjects

 Lower-limb movements and muscle-activity patterns were assessed from seven normal and seven ambulatory subjects with incomplete spinal-cord injury (SCI) during level and uphill treadmill walking (5, 10 and 15°). Increasing the treadmill grade from 0° to 15° induced an increasingly flexed posture of the hip, knee and ankle during initial contact in all normal subjects, resulting in a larger excursion throughout stance. This adaptation process actually began in mid-swing with a graded increase in hip flexion and ankle dorsiflexion as well as a gradual decrease in knee extension. In SCI subjects, a similar trend was found at the hip joint for both swing and stance phases, whereas the knee angle showed very limited changes and the ankle angle showed large variations with grade throughout the walking cycle. A distinct coordination pattern between the hip and knee was observed in normal subjects, but not in SCI subjects during level walking. The same coordination pattern was preserved in all normal subjects and in five of seven SCI subjects during uphill walking. The duration of electromyographic (EMG) activity of thigh muscles was progressively increased during uphill walking, whereas no significant changes occurred in leg muscles. In SCI subjects, EMG durations of both thigh and leg muscles, which were already active throughout stance during level walking, were not significantly affected by uphill walking. The peak amplitude of EMG activity of the vastus lateralis, medial hamstrings, soleus, medial gastrocnemius and tibialis anterior was progressively increased during uphill walking in normal subjects. In SCI subjects, the peak amplitude of EMG activity of the medial hamstrings was adapted in a similar fashion, whereas the vastus lateralis, soleus and medial gastrocnemius showed very limited adaptation during uphill walking. We conclude that SCI subjects can adapt to uphill treadmill walking within certain limits, but they use different strategies to adapt to the changing locomotor demands. Received: 10 March 1998 / Accepted: 29 December 1998     

The hallucinogen 1-[2,5-dimethoxy-4-iodophenyl]-2-aminopropane (DOI) increases cortical extracellular glutamate levels in rats

We examined how young and older adults adapt their posture to static balance tasks of increasing difficulty. Participants stood barefoot on a force platform in normal quiet, Romberg-sharpened and one-legged stance. Center of pressure (CoP) variations, electromyographic (EMG) activity of ankle and hip muscles and kinematic data were recorded. Both groups increased postural sway as a result of narrowing the base of support. Greater CoP excursions, EMG activity and joint displacements were noted in old compared to younger adults. Older adults displayed increased hip movement accompanied by higher hip EMG activity, whereas no similar increase was noted in the younger group. It is concluded that older adults rely more on their hip muscles when responding to self induced perturbations introduced by increased task constraints during quiet standing.     

A role for hip position in initiating the swing-to-stance transition in walking cats

In this investigation, we obtained data that support the hypothesis that afferent signals associated with hip flexion play a role in initiating the swing-to-stance transition of the hind legs in walking cats. Direct evidence came from observations in walking decerebrate cats. Assisting the flexion of the hip joint during swing advanced the onset of activity in ankle extensor muscles, and this advance was strongly correlated with a reduction in the duration of hip flexor muscle activity. The hip angle at the time of onset of the flexion to extension transition was similar during assisted and unassisted steps. Additional evidence for the hypothesis that sensory signals related to hip flexion are important in regulating the swing-to-stance transition came from four normal animals trained to walk in a variety of situations designed to alter the coordination of movements at the hip, knee, and ankle joints during the swing phase. Although there were exceptions in some tasks and preparations, the angle of the hip joint at the time of onset of extensor activity was generally less variable than that of the knee and ankle joints. We also found no clear relationships between the angle of the limb and body axes, or the length of the limb axis, and the time of onset of extensor activity. Finally, there were no indications that the stretching of ankle extensor muscles during swing was a factor in regulating the transition from swing-to-stance.     

Foot trajectory approximation using the pendulum model of walking

Generating a natural foot trajectory is an important objective in robotic systems for rehabilitation of walking. Human walking has pendular properties, so the pendulum model of walking has been used in bipedal robots which produce rhythmic gait patterns. Whether natural foot trajectories can be produced by the pendulum model needs to be addressed as a first step towards applying the pendulum concept in gait orthosis design. This study investigated circle approximation of the foot trajectories, with focus on the geometry of the pendulum model of walking. Three able-bodied subjects walked overground at various speeds, and foot trajectories relative to the hip were analysed. Four circle approximation approaches were developed, and best-fit circle algorithms were derived to fit the trajectories of the ankle, heel and toe. The study confirmed that the ankle and heel trajectories during stance and the toe trajectory in both the stance and the swing phases during walking at various speeds could be well modelled by a rigid pendulum. All the pendulum models were centred around the hip with pendular lengths approximately equal to the segment distances from the hip. This observation provides a new approach for using the pendulum model of walking in gait orthosis design.     

老年人下楼梯下肢关节做功模式分析

目的 探究下楼梯行走过程中老龄化对老年人下肢关节做功模式的影响,丰富楼梯行走的防跌倒理论。 方法 采用 Vicon 红外运动捕捉系统和 Kistler 三维测力台同步采集青年人和老年人下楼梯行走的运动学和动力学数据,利用下肢关节角度、力矩、功率、做功贡献度指标对下肢关节做功模式进行量化评定。 结果 下楼梯过程中,青 年组和老年组下肢三关节角度、力矩、功率的变化趋势一致。 在优势腿的 1 个支撑相内,老年人的屈髋力矩峰值、伸膝力矩第 1 峰值、第 2 峰值、跖屈力矩第 1 峰值、膝负功率第 1 峰值、第 2 峰值、踝负功率峰值以及髋、膝、踝关节净功均显著降低(P<0. 05);伸髋力矩峰值、髋负功率峰值、踝关节做功贡献度显著增加(P<0. 05),髋、膝关节做功贡献度并未出现显著性差异(P>0. 05)。 结论 在下楼梯过程中,老年人下肢关节力学特征显著降低。 老年人采取不同于青年人的下肢关节做功模式。 老年人通过较大的伸髋姿势抵制躯干的过度前倾,同时采取踝关节做功的代偿模式,提高下楼梯行走的身体稳定性。 建议老年人在锻炼时应以增加膝、踝关节肌肉力量的项目为主,以维持下楼梯的姿势控制能力。     

How Crouch Gait Can Dynamically Induce Stiff-Knee Gait

Children with cerebral palsy frequently experience foot dragging and tripping during walking due to a lack of adequate knee flexion in swing (stiff-knee gait). Stiff-knee gait is often accompanied by an overly flexed knee during stance (crouch gait). Studies on stiff-knee gait have mostly focused on excessive knee muscle activity during (pre)swing, but the passive dynamics of the limbs may also have an important effect. To examine the effects of a crouched posture on swing knee flexion, we developed a forward-dynamic model of human walking with a passive swing knee, capable of stable cyclic walking for a range of stance knee crouch angles. As crouch angle during stance was increased, the knee naturally flexed much less during swing, resulting in a ‘stiff-knee’ gait pattern and reduced foot clearance. Reduced swing knee flexion was primarily due to altered gravitational moments around the joints during initial swing. We also considered the effects of increased push-off strength and swing hip flexion torque, which both increased swing knee flexion, but the effect of crouch angle was dominant. These findings demonstrate that decreased knee flexion during swing can occur purely as the dynamical result of crouch, rather than from altered muscle function or pathoneurological control alone.     

The age-related changes of trunk responses to Achilles tendon vibration

The contribution of different sensory modalities to balance control is modified by age. Postural responses to Achilles tendon vibration were investigated in order to understand the influence of age on proprioceptive input from lower legs in human stance. Postural responses to bilateral vibrations of Achilles tendon with 10 s duration were recorded at three frequencies (40, 60 and 80 Hz) in 9 healthy young (range, 24–27 years) and in 9 healthy older adults (59–70 years). Subjects were instructed to keep standing on firm surface with eyes closed. They performed three trials in each of three vibration frequencies. Postural responses were characterized by displacement of the centre of foot pressure (CoP) and by kinematics of body segments in the anterior–posterior direction. Bilateral vibrations of Achilles tendon induced backward body lean increasing with frequency of vibration and with age. The leg angle response to vibration was found similar in both groups of subjects. Slight trunk tilts from vertical position were induced by vibration in young subjects while in older subjects the trunk tilted backward together with the whole body. This observation was supported also by the minimal change of hip angle in older subjects contrary to increased hip activity in young subjects. The findings showed that the trunk and hip angle responses to proprioceptive stimulation might be a good indicator of age-related destabilization in balance control.     

Central programming of postural movements: adaptation to altered support-surface configurations

We studied the extent to which automatic postural actions in standing human subjects are organized by a limited repertoire of central motor programs. Subjects stood on support surfaces of various lengths, which forced them to adopt different postural movement strategies to compensate for the same external perturbations. We assessed whether a continuum or a limited set of muscle activation patterns was used to produce different movement patterns and the extent to which movement patterns were influenced by prior experience. Exposing subjects standing on a normal support surface to brief forward and backward horizontal surface perturbations elicited relatively stereotyped patterns of leg and trunk muscle activation with 73- to 110-ms latencies. Activity began in the ankle joint muscles and then radiated in sequence to thigh and then trunk muscles on the same dorsal or ventral aspect of the body. This activation pattern exerted compensatory torques about the ankle joints, which restored equilibrium by moving the body center of mass forward or backward. This pattern has been termed the ankle strategy because it restores equilibrium by moving the body primarily around the ankle joints. To successfully maintain balance while standing on a support surface short in relation to foot length, subjects activated leg and trunk muscles at similar latencies but organized the activity differently. The trunk and thigh muscles antagonistic to those used in the ankle strategy were activated in the opposite proximal-to-distal sequence, whereas the ankle muscles were generally unresponsive. This activation pattern produced a compensatory horizontal shear force against the support surface but little, if any, ankle torque. This pattern has been termed the hip strategy, because the resulting motion is focused primarily about the hip joints. Exposing subjects to horizontal surface perturbations while standing on support surfaces intermediate in length between the shortest and longest elicited more complex postural movements and associated muscle activation patterns that resembled ankle and hip strategies combined in different temporal relations. These complex postural movements were executed with combinations of torque and horizontal shear forces and motions of ankle and hip joints. During the first 5-20 practice trials immediately following changes from one support surface length to another, response latencies were unchanged. The activation patterns, however, were complex and resembled the patterns observed during well-practiced stance on surfaces of intermediate lengths.(ABSTRACT TRUNCATED AT 400 WORDS)     

Increased trunk flexion may underlie elevated knee flexor activity in people with knee osteoarthritis

BackgroundPrevious research has demonstrated elevated activation of the knee flexor muscles in people with knee osteoarthritis. People with this condition have also been observed to walk with increased trunk flexion; this may alter biomechanical loading patterns and change muscle activation profiles. Therefore, the aim of this study was to understand the biomechanical effect of increasing trunk flexion during walking.MethodsKinetic and EMG data were collected from a sample of 20 people with knee osteoarthritis and a sample of 20 healthy matched controls during normal walking. Using a biofeedback protocol, participants were subsequently instructed to walk with a 5° increase in trunk flexion. Sagittal moments, muscle activations and co-contractions were then compared across a window in early stance with a two-way ANOVA test.ResultsWhen trunk flexion was increased, there was a corresponding increase in activity of the medial and lateral hamstrings and gastrocnemius muscles as well as a rise in medial co-contraction. This effect was consistent across the two groups. The most pronounced effect was observed for semitendinosus, which showed a dramatic change in activation profile in the healthy group and a 127% increase in activation during early stance.ConclusionsThis is the first study to demonstrate that increased trunk flexion in people with knee osteoarthritis may explain, to some degree, the elevated knee flexor activity and medial co-contraction which is associated with this disease. These findings motivate further work to understand the therapeutic potential of interventions designed to improve postural alignment.     

女性穿着运动文胸与未着文胸状态下步态特征的差异性

目的比较女性穿着运动文胸和未着文胸行走时步态特征和步行稳定性的差异,为运动文胸的设计和评价提供依据。方法使用Qualisys红外光点运动捕捉系统采集12名C罩杯乳房大小女性分别穿着运动文胸及未着文胸状态下在跑步机上行走(6 km/h)的运动学参数。结果相比未着文胸状态,穿着运动文胸时上躯干角最大值及最小值显著减小,躯干屈曲角和躯干扭转角的幅度较小;10个步态周期的髋关节屈曲角幅度的标准差显著小于裸胸状态,乳房不同支撑状态对步频无显著影响。结论不同乳房支撑状态显著影响上躯干角度、躯干扭转角与躯干屈曲角。裸胸状态行走时躯干运动幅度增大,行走稳定性下降。不同乳房支撑状态下行走步频存在个体差异。