Load Carriage During Walking Increases Dynamic Stiffness at Distal Lower Limb Joints.

The addition of a load during walking requires changes in the movement pattern. The investigation of the dynamic joint stiffness behavior may help to understand the lower limb joints' contribution to these changes. This study aimed to investigate the dynamic stiffness of lower limb joints in response to the increased load carried while walking. Thirteen participants walked in two conditions: unloaded (an empty backpack) and loaded (the same backpack plus added mass corresponding to 30% of body mass). Dynamic stiffness was calculated as the linear slope of the regression line on the moment-angle curve during the power absorption phases of the ankle, knee, and hip in the sagittal plane. The results showed that ankle (P = .002) and knee (P < .001) increased their dynamic stiffness during loaded walking compared with unloaded, but no difference was observed at the hip (P = .332). The dynamic stiffness changes were different among joints (P < .001): ankle and knee changes were not different (P < .992), but they had a greater change than hip (P < .001). The nonuniform increases in lower limb joint dynamic stiffness suggest that the ankle and knee are critical joints to deal with the extra loading.

Biomechanical mechanisms underlying exosuit-induced improvements in walking economy after stroke.

Stroke-induced hemiparetic gait is characteristically asymmetric and metabolically expensive. Weakness and impaired control of the paretic ankle contribute to reduced forward propulsion and ground clearance - walking subtasks critical for safe and efficient locomotion. Targeted gait interventions that improve paretic ankle function after stroke are therefore warranted. We have developed textile-based, soft wearable robots that transmit mechanical power generated by off-board or body-worn actuators to the paretic ankle using Bowden cables (soft exosuits) and have demonstrated the exosuits can overcome deficits in paretic limb forward propulsion and ground clearance, ultimately reducing the metabolic cost of hemiparetic walking. This study elucidates the biomechanical mechanisms underlying exosuit-induced reductions in metabolic power. We evaluated the relationships between exosuit-induced changes in the body center of mass (COM) power generated by each limb, individual joint power and metabolic power. Compared with walking with an exosuit unpowered, exosuit assistance produced more symmetrical COM power generation during the critical period of the step-to-step transition (22.4±6.4% more symmetric). Changes in individual limb COM power were related to changes in paretic (R2=0.83, P=0.004) and non-paretic (R2=0.73, P=0.014) ankle power. Interestingly, despite the exosuit providing direct assistance to only the paretic limb, changes in metabolic power were related to changes in non-paretic limb COM power (R2=0.80, P=0.007), not paretic limb COM power (P>0.05). These findings contribute to a fundamental understanding of how individuals post-stroke interact with an exosuit to reduce the metabolic cost of hemiparetic walking.

Varying negative work assistance at the ankle with a soft exosuit during loaded walking.

BACKGROUND: Only very recently, studies have shown that it is possible to reduce the metabolic rate of unloaded and loaded walking using robotic ankle exoskeletons. Some studies obtained this result by means of high positive work assistance while others combined negative and positive work assistance. There is no consensus about the isolated contribution of negative work assistance. Therefore, the aim of the present study is to examine the effect of varying negative work assistance at the ankle joint while maintaining a fixed level of positive work assistance with a multi-articular soft exosuit. METHODS: We tested eight participants during walking at 1.5 ms-1 with a 23-kg backpack. Participants wore a version of the exosuit that assisted plantarflexion via Bowden cables tethered to an off-board actuation platform. In four active conditions we provided different rates of exosuit bilateral ankle negative work assistance ranging from 0.015 to 0.037 W kg-1 and a fixed rate of positive work assistance of 0.19 W kg-1. RESULTS: All active conditions significantly reduced metabolic rate by 11 to 15% compared to a reference condition, where the participants wore the exosuit but no assistance was provided. We found no significant effect of negative work assistance. However, there was a trend (p = .08) toward greater reduction in metabolic rate with increasing negative work assistance, which could be explained by observed reductions in biological ankle and hip joint power and moment. CONCLUSIONS: The non-significant trend of increasing negative work assistance with increasing reductions in metabolic rate motivates the value in further studies on the relative effects of negative and positive work assistance. There may be benefit in varying negative work over a greater range or in isolation from positive work assistance.

A biologically-inspired multi-joint soft exosuit that can reduce the energy cost of loaded walking.

BACKGROUND: Carrying load alters normal walking, imposes additional stress to the musculoskeletal system, and results in an increase in energy consumption and a consequent earlier onset of fatigue. This phenomenon is largely due to increased work requirements in lower extremity joints, in turn requiring higher muscle activation. The aim of this work was to assess the biomechanical and physiological effects of a multi-joint soft exosuit that applies assistive torques to the biological hip and ankle joints during loaded walking. METHODS: The exosuit was evaluated under three conditions: powered (EXO_ON), unpowered (EXO_OFF) and unpowered removing the equivalent mass of the device (EXO_OFF_EMR). Seven participants walked on an instrumented split-belt treadmill and carried a load equivalent to 30 % their body mass. We assessed their metabolic cost of walking, kinetics, kinematics, and lower limb muscle activation using a portable gas analysis system, motion capture system, and surface electromyography. RESULTS: Our results showed that the exosuit could deliver controlled forces to a wearer. Net metabolic power in the EXO_ON condition (7.5 ± 0.6 W kg(-1)) was 7.3 ± 5.0 % and 14.2 ± 6.1 % lower than in the EXO_OFF_EMR condition (7.9 ± 0.8 W kg(-1); p = 0.027) and in the EXO_OFF condition (8.5 ± 0.9 W kg(-1); p = 0.005), respectively. The exosuit also reduced the total joint positive biological work (sum of hip, knee and ankle) when comparing the EXO_ON condition (1.06 ± 0.16 J kg(-1)) with respect to the EXO_OFF condition (1.28 ± 0.26 J kg(-1); p = 0.020) and to the EXO_OFF_EMR condition (1.22 ± 0.21 J kg(-1); p = 0.007). CONCLUSIONS: The results of the present work demonstrate for the first time that a soft wearable robot can improve walking economy. These findings pave the way for future assistive devices that may enhance or restore gait in other applications.

Effect of timing of hip extension assistance during loaded walking with a soft exosuit.

BACKGROUND: Recent advances in wearable robotic devices have demonstrated the ability to reduce the metabolic cost of walking by assisting the ankle joint. To achieve greater gains in the future it will be important to determine optimal actuation parameters and explore the effect of assisting other joints. The aim of the present work is to investigate how the timing of hip extension assistance affects the positive mechanical power delivered by an exosuit and its effect on biological joint power and metabolic cost during loaded walking. In this study, we evaluated 4 different hip assistive profiles with different actuation timings: early-start-early-peak (ESEP), early-start-late-peak (ESLP), late-start-early-peak (LSEP), late-start-late-peak (LSLP). METHODS: Eight healthy participants walked on a treadmill at a constant speed of 1.5 m · s-1 while carrying a 23 kg backpack load. We tested five different conditions: four with the assistive profiles described above and one unpowered condition where no assistance was provided. We evaluated participants' lower limb kinetics, kinematics, metabolic cost and muscle activation. RESULTS: The variation of timing in the hip extension assistance resulted in a different amount of mechanical power delivered to the wearer across conditions; with the ESLP condition providing a significantly higher amount of positive mechanical power (0.219 ± 0.006 W · kg-1) with respect to the other powered conditions. Biological joint power was significantly reduced at the hip (ESEP and ESLP) and at the knee (ESEP, ESLP and LSEP) with respect to the unpowered condition. Further, all assistive profiles significantly reduced the metabolic cost of walking compared to the unpowered condition by 5.7 ± 1.5 %, 8.5 ± 0.9 %, 6.3 ± 1.4 % and 7.1 ± 1.9 % (mean ± SE for ESEP, ESLP, LSEP, LSLP, respectively). CONCLUSIONS: The highest positive mechanical power delivered by the soft exosuit was reported in the ESLP condition, which showed also a significant reduction in both biological hip and knee joint power. Further, the ESLP condition had the highest average metabolic reduction among the powered conditions. Future work on autonomous hip exoskeletons may incorporate these considerations when designing effective control strategies.

Effects of sex and walking speed on the dynamic stiffness of lower limb joints.

Fast walking may require a non-uniform change of dynamic stiffness among lower limb joints to deal with this daily task's demands. The change of dynamic joint stiffness may be distinct between females and males. This study aimed to test for differences in dynamic stiffness among lower limb joints in response to increased walking speed in males and females. Thirty-five participants walked in two randomized conditions: self-selected speed and fast speed (25% greater than the self-selected speed). Dynamic stiffnesses of the ankle, knee, and hip were calculated as the linear slope of the moment-angle curve's regression line during their major power absorption phase of the walking cycle. The comparison between conditions showed that the knee (p < 0.001) and hip (p = 0.031) increased their stiffness at the fast compared to self-selected speed. Ankle stiffness was not different between conditions (p = 0.818). The comparison among joints across speeds showed that the knee had a greater increase than the ankle (p = 0.001) and hip (p < 0.001), with no difference between ankle and hip (p = 0.081). The sex of the participant influenced only the ankle stiffness, in which males had greater stiffness than females (p = 0.008). These findings demonstrated that the lower limb joints changed their dynamic stiffness differently, and only the ankle stiffness was influenced by sex. The non-uniform adjustments of stiffness may provide the necessary stability and allow the individual to deal with greater demand for walking fast.

Children with cerebral palsy: a systematic review and meta-analysis on gait and electrical stimulation.

OBJECTIVE: To conduct a systematic review and meta-analysis using the International Classification of Functioning to determine the summary effect of electrical stimulation on impairment and activity limitations relevant to gait problems of children with cerebral palsy. METHODS: We identified 40 cerebral palsy and electrical stimulation studies, and 17 gait studies qualified for inclusion. Applying enablement classification methods to walking abnormalities created two subgroups: impairment (N = 14) and activity limitations (N = 15). Overall, 238 participants experienced electrical stimulation treatments and 224 served as a no stimulation control group. Calculations followed conventional data extraction and meta-analysis techniques: (a) individual standardized mean differences, (b) summary effect size, (c) I² heterogeneity test, (d) fail-safe N analysis and (e) moderator variable analyses. RESULTS: Common outcome measures associated with impairment (n = 3) and activity limitations (n = 6) were submitted to separate random effects models meta-analyses, and revealed significant cumulative effect sizes: (a) impairment = 0.616 (SE = 0.10) and (b) activity limitations = 0.635 (SE = 0.14). I² indicated low and medium amounts of dispersion, whereas fail-safe analyses revealed high N-values for both disablement categories. Moderator variable analyses further confirmed the positive treatment effects from both functional and neuromuscular stimulation. CONCLUSIONS: The present systematic review and meta-analyses determined medium effect sizes for electrical stimulation on walking impairment and activity limitations of children with cerebral palsy.

The effects of small and large varus alignment of the foot-ankle complex on lower limb kinematics and kinetics during walking: A cross-sectional study.

BACKGROUND: The alignment of the foot-ankle complex may influence the kinematics and kinetics of the entire lower limb during walking. OBJECTIVES: This study investigated the effect of different magnitudes of varus alignment of the foot-ankle complex (small versus large) on the kinematics and kinetics of foot, ankle, knee, and hip in the frontal and transverse planes during walking. DESIGN: Cross-sectional study. METHOD: Foot-ankle complex alignment in the frontal plane was measured as the angle between the metatarsal heads and the inferior edge of the examination table, measured with the volunteer in prone maintaining the ankle at 0° in the sagittal plane. The participants (n = 28) were divided into two groups according to their alignment angles. The first group had values equal to or inferior to the 45 percentile, and the second group had values equal to or above the 55 percentile. The lower limb kinematics and kinetics were evaluated with the participant walking at self-select speed in an instrumented treadmill. RESULTS: The group of large varus alignment showed significantly higher (p < 0.03) forefoot inversion angle at initial contact, amplitude of rearfoot-shank eversion, and peak of inversion ankle moment. There were no differences (p > 0.05) between the groups for knee and hip amplitudes and moments in the frontal and transverse planes. The durations of rearfoot-shank eversion, knee abduction, knee medial rotation, hip adduction, and hip medial rotation were not different between groups (p > 0.05). CONCLUSION: Large varus alignment of the foot-ankle complex may increase the magnitude of foot pronation and ankle inversion moment during walking.

Effects of a foot orthosis inspired by the concept of a twisted osteoligamentous plate on the kinematics of foot-ankle complex during walking: A proof of concept.

It has been suggested that the foot acts as a twisted osteoligamentous plate to control pronation and facilitate supination during walking. The aim of this study was to investigate the effect of an orthosis inspired by the concept of a foot's twisted osteoligamentous plate on the kinematics of foot-ankle complex. Thirty-five subjects underwent a kinematic assessment of the foot-ankle complex during walking using three different orthoses: (1) Twisted Plate Spring (TPS) orthosis: inspired by the concept of a twisted osteoligamentous plate shape and made with a spring-like material (carbon fiber); (2) Flat orthosis: control orthosis made of a non-elastic material with a non-inclined surface; and (3) Rigid orthosis: control orthosis made of a non-elastic material, with the same shape of the TPS. Repeated measures analyses of variance demonstrated that the TPS reduced the duration and magnitude of rearfoot eversion (p ≤ 0.03), increased rearfoot inversion relative to shank (p < 0.01), increased forefoot eversion relative to rearfoot (p < 0.01), and increased peak of plantar flexion of forefoot relative to rearfoot during the propulsive phase (p = 0.01) compared to Flat orthosis. The effects of the TPS were different from the Rigid orthosis, demonstrating that, alongside shape, material properties were a determinant factor for the obtained results. The findings of this study help clarify the role of a mechanism similar to a twisted osteoligamentous plate on controlling foot pronation and facilitating supination during the stance phase of walking.

Scaling of dynamics in the earliest stages of walking.

BACKGROUND AND PURPOSE: Although the description of mature walking is fairly well established, less is known about what is being learned in the process. Such knowledge is critical to the physical therapist who wants to teach children with developmental delays. The purpose of this experiment was to test the notion that learning to walk efficiently involves fine-tuning the body's controllable stiffness (by co-contraction and isometric muscle contractions against gravity) to match (at a 1:1 scaling) the gravitational (pendular) stiffness of the swing leg. SUBJECTS: The study participants were 7 children with typical development and the newly emerged ability to walk 6 steps without falling (ages 11 months to 1 year 5 months at the onset of walking). METHODS: Pendular stiffness and spring stiffness were estimated from the equations of motion for a hybrid model with kinematic data as children walked over ground. Testing occurred once per month for the first 7 months of walking. RESULTS: After the first month of walking, children walked with greater spring stiffness than would be predicted by the model. The ratio began to approach the predicted value (1:1) as the months progressed. DISCUSSION AND CONCLUSION: The results of this and a previous study of the pendular dynamics of gait suggest that learning to walk is a 2-stage process. The first stage involves the child's discovery of how to conserve energy by inputting a particular muscular force at the correct moment in the cycle. The second stage involves the fine-tuning of the soft-tissue stiffness that takes advantage of the resonance characteristics of tissues. In order to address developmental delays, investigators must discover the dynamic resources used for the activity and attempt to foster their development. A number of interventions that probe this approach are discussed.

Effect of practice on a novel task--walking on a treadmill: preadolescents with and without Down syndrome.

BACKGROUND AND PURPOSE: The authors propose that preadolescents with Down syndrome (DS) initially adapt to contexts that challenge their stability by increasing stiffness and impulse but, with practice, they will continue to adapt, but in the opposite direction, by decreasing stiffness and impulse. The purpose of this study was to explore changes in stiffness and impulse values of participants with DS after sufficient, task-specific practice distributed over time in a motivating environment. SUBJECTS: Eight preadolescents with DS and 8 preadolescents with typical development (TD) participated. METHODS: At pretest and posttest visits, participants walked over ground at their preferred speed and on a treadmill at 40%, 75%, and 110% of their over-ground speed. Practice included 4 sessions of treadmill walking at 75% of over-ground speed for 12 minutes, with approximately 800 strides per leg per session. RESULTS: The preadolescents with DS had reduced stiffness and impulse values following walking practice while still producing kinematic patterns uniquely different from those of their peers with TD. DISCUSSION AND CONCLUSION: Preadolescents with DS can adjust their dynamic resources, both upward and downward. With practice, they can maintain stability while improving efficiency, producing stiffness and impulse values more like those of their peers with TD.

Reducing Circumduction and Hip Hiking During Hemiparetic Walking Through Targeted Assistance of the Paretic Limb Using a Soft Robotic Exosuit.

OBJECTIVE: The aim of the study was to evaluate the effects on common poststroke gait compensations of a soft wearable robot (exosuit) designed to assist the paretic limb during hemiparetic walking. DESIGN: A single-session study of eight individuals in the chronic phase of stroke recovery was conducted. Two testing conditions were compared: walking with the exosuit powered versus walking with the exosuit unpowered. Each condition was 8 minutes in duration. RESULTS: Compared with walking with the exosuit unpowered, walking with the exosuit powered resulted in reductions in hip hiking (27 [6%], P = 0.004) and circumduction (20 [5%], P = 0.004). A relationship between changes in knee flexion and changes in hip hiking was observed (Pearson r = -0.913, P < 0.001). Similarly, multivariate regression revealed that changes in knee flexion (ß = -0.912, P = 0.007), but not ankle dorsiflexion (ß = -0.194, P = 0.341), independently predicted changes in hip hiking (R = 0.87, F(2, 4) = 13.48, P = 0.017). CONCLUSIONS: Exosuit assistance of the paretic limb during walking produces immediate changes in the kinematic strategy used to advance the paretic limb. Future work is necessary to determine how exosuit-induced reductions in paretic hip hiking and circumduction during gait training could be leveraged to facilitate more normal walking behavior during unassisted walking.

Biomechanical and Physiological Evaluation of Multi-Joint Assistance With Soft Exosuits.

To understand the effects of soft exosuits on human loaded walking, we developed a reconfigurable multi-joint actuation platform that can provide synchronized forces to the ankle and hip joints. Two different assistive strategies were evaluated on eight subjects walking on a treadmill at a speed of 1.25 m/s with a 23.8 kg backpack: 1) hip extension assistance and 2) multi-joint assistance (hip extension, ankle plantarflexion and hip flexion). Results show that the exosuit introduces minimum changes to kinematics and reduces biological joint moments. A reduction trend in muscular activity was observed for both conditions. On average, the exosuit reduced the metabolic cost of walking by 0.21 ±0.04 and 0.67 ±0.09 W/kg for hip extension assistance and multi-joint assistance respectively, which is equivalent to an average metabolic reduction of 4.6% and 14.6%, demonstrating that soft exosuits can effectively improve human walking efficiency during load carriage without affecting natural walking gait. Moreover, it indicates that actuating multiple joints with soft exosuits provides a significant benefit to muscular activity and metabolic cost compared to actuating single joint.

A soft robotic exosuit improves walking in patients after stroke.

Stroke-induced hemiparetic gait is characteristically slow and metabolically expensive. Passive assistive devices such as ankle-foot orthoses are often prescribed to increase function and independence after stroke; however, walking remains highly impaired despite-and perhaps because of-their use. We sought to determine whether a soft wearable robot (exosuit) designed to supplement the paretic limb's residual ability to generate both forward propulsion and ground clearance could facilitate more normal walking after stroke. Exosuits transmit mechanical power generated by actuators to a wearer through the interaction of garment-like, functional textile anchors and cable-based transmissions. We evaluated the immediate effects of an exosuit actively assisting the paretic limb of individuals in the chronic phase of stroke recovery during treadmill and overground walking. Using controlled, treadmill-based biomechanical investigation, we demonstrate that exosuits can function in synchrony with a wearer's paretic limb to facilitate an immediate 5.33 ± 0.91° increase in the paretic ankle's swing phase dorsiflexion and 11 ± 3% increase in the paretic limb's generation of forward propulsion (P < 0.05). These improvements in paretic limb function contributed to a 20 ± 4% reduction in forward propulsion interlimb asymmetry and a 10 ± 3% reduction in the energy cost of walking, which is equivalent to a 32 ± 9% reduction in the metabolic burden associated with poststroke walking. Relatively low assistance (~12% of biological torques) delivered with a lightweight and nonrestrictive exosuit was sufficient to facilitate more normal walking in ambulatory individuals after stroke. Future work will focus on understanding how exosuit-induced improvements in walking performance may be leveraged to improve mobility after stroke.

Changes in axial stiffness of the trunk as a function of walking speed.

Research suggests that abnormal coordination patterns between the thorax and pelvis in the transverse plane observed in patients with Parkinson's disease and the elderly might be due to alteration in axial trunk stiffness. The purpose of this study was to develop a tool to estimate axial trunk stiffness during walking and to investigate its functional role. Fourteen healthy young subjects participated in this study. They were instructed to walk on the treadmill and kinematic data was collected by 3D motion analysis system. Axial trunk stiffness was estimated from the angular displacement between trunk segments and the amount of torque around vertical axis of rotation. The torque due to arm swing cancelled out the torque due to the axial trunk stiffness during walking and the thoracic rotation was of low amplitude independent of changes in walking speeds within the range used in this study (0.85-1.52 m/s). Estimated axial trunk stiffness increased with increasing walking speed. Functionally, the suppression of axial rotation of thorax may have a positive influence on head stability as well as allowing recoil between trunk segments. Furthermore, the increased stiffness at increased walking speed would facilitate the higher frequency rotation of the trunk in the transverse plane required at the higher walking speeds.

Gait characteristics of elderly people with a history of falls: a dynamic approach.

BACKGROUND AND PURPOSE: This study investigated changes in the kinematics of elderly people who experienced at least one fall 6 months prior to data collection. The authors hypothesized that, in order to decrease variability of walking, people with a history of falls would show different kinematic adaptations of their walking patterns compared with elderly people with no history of falls. SUBJECTS AND METHODS: Twenty-one elderly people who had fallen within the previous 6 months ("fallers"; mean age=72.1 years, SD=4.9) and 27 elderly people with no history of falls ("nonfallers"; mean age=73.8 years, SD=6.4) walked at their preferred stride frequency (STF) as treadmill speed was gradually increased (from 0.18 m/s to 1.52 m/s) and then decreased in steps of 0.2 m/s. Gait parameter measurements were recorded, and statistical analysis was applied using walking speed and STF as independent variables. RESULTS: Fifty-seven percent of the fallers were unable to walk at the fastest speed, whereas all nonfallers walked comfortably at all walking speeds. Although the fallers showed significantly greater STF, smaller stride lengths, smaller center-of-mass lateral sway, and smaller ankle plantar flexion and hip extension during push-off, they showed increased variability of kinematic measures in their coordination of walking compared with the nonfallers. DISCUSSION AND CONCLUSION: Although the fallers' adaptations were expected to reduce variability in the coordination of walking, they showed less stable gait patterns (ie, greater variability) compared with the nonfallers. Increased variability of walking patterns may be an important gait risk factor in elderly people with a history of falls.

Functional electrical stimulation changes dynamic resources in children with spastic cerebral palsy.

BACKGROUND AND PURPOSE: Children with cerebral palsy (CP) often are faced with difficulty in walking. The purpose of this experiment was to determine the effects of functional electrical stimulation (FES) applied to the gastrocnemius-soleus muscle complex on the ability to produce appropriately timed force and reduce stiffness (elastic property of the body) and on stride length and stride frequency during walking. SUBJECTS AND METHODS: Thirteen children with spastic CP (including 4 children who were dropped from the study due to their inability to cooperate) and 6 children who were developing typically participated in the study. A crossover study design was implemented. The children with spastic CP were randomly assigned to either a group that received FES for 15 trials followed by no FES for 15 trials or a group that received no FES for 15 trials followed by FES for 15 trials. The children who were having typical development walked without FES. Kinematic data were collected for the children with CP in each walking condition and for the children who were developing typically. Impulse (force-producing ability) and stiffness were estimated from an escapement-driven pendulum and spring system model of human walking. Stride length and stride frequency also were measured. To compare between walking conditions and between the children with CP and the children who were developing typically, dimensional analysis and speed normalization procedures were used. RESULTS: Nonparametric statistics showed that there was no significant difference between the children with CP in the no-FES condition and the children who were developing typically on speed-normalized dimensionless impulse. In contrast, the children with CP in the FES condition had a significantly higher median value than the children who were developing typically. The FES significantly increased speed-normalized dimensionless impulse from 10.02 to 16.32 when comparing walking conditions for the children with CP. No significant differences were found between walking conditions for stiffness, stride length, and stride frequency. DISCUSSION AND CONCLUSION: The results suggest that FES is effective in increasing impulse during walking but not in decreasing stiffness. The effect on increasing impulse does not result in more typical spatiotemporal gait parameters.

Discovery of the pendulum and spring dynamics in the early stages of walking.

The authors investigated the self-selected, overground walking patterns of 7 children (aged 11 months to 1 year, 5 months) at the initiation of walking (brand-new walkers [BNWs]) and for the next 6 months at 1-month intervals. Walking speed, stride length, and stride frequency increased significantly between the first 2 visits without significant changes in height and weight. The authors calculated sagittal plane angular accelerations of the center of mass over the foot for each step as an indicator of the escapement pulse. Results for the acceleration profiles changed after the 1st visit to positive, single-peaked accelerations that occurred < 0.20 s after initial foot contact. Increases in sagittal plane hip angular displacement and decreases in frontal plane pelvic angular displacement were observed. The pattern changes suggest that children quickly discover appropriately timed and directed escapements that initiate and support the conservative sagittal plane pendulum and spring dynamics observed in older children.

Modulation of force transmission to the head while carrying a backpack load at different walking speeds.

This study was designed to investigate the capability of the joints and segments to reduce transmission of forces during load carriage. Eleven subjects were required to carry a backpack loaded with 40% of their body weight and to walk at 6 speeds increasing from 0.6 to 1.6 ms(-1) in increments of 0.2 ms(-1), and then decreasing in the same manner. Subjects were filmed in 3-dimensions, but analysis of shock transmission ratio (TR) was limited to the sagittal plane. Shock transmission was measured as the ratio of peak vertical accelerations (ankle:head, ankle:knee, and knee:head) measured immediately following foot strike. TR for all ratios increased significantly as a function of increasing speed. TR from the ankle to the head showed no significant increase as a function of load carriage, but did increase as a function of load in transmission from knee to head. A significant interaction effect revealed that during load carriage at the higher speeds the acceleration of the ankle and knee decreased below that for the unloaded conditions. These findings suggest that the potentially injurious effects of previously observed increased ground reaction forces and increased joint stiffness while walking with loads are offset by adaptations in the gait pattern that maintain force transmission at acceptable levels. Increased variability in the acceleration of the head and in the transmission ratios suggest a potentially destabilizing effect of load carriage on the head trajectory.

Impact of railroad ballast type on frontal plane ankle kinematics during walking.

Five healthy male subjects walked on a control surface (level concrete), and two sloped rock surfaces (walking ballast-rock about 1.9 cm across; main line ballast-rock about 3.8 cm across) while their rearfoot motion (defined throughout as ankle inversion/eversion as seen from the frontal plane) was measured to determine if the different walking surfaces caused different ankle kinematics. The ballast was placed in 5m long trays that were tilted 7 degrees in the transverse plane. Rearfoot motion was measured while the subjects walked the length of the respective surfaces wearing work boots. A repeated measures ANOVA and a subsequent multiple comparison test revealed that the rearfoot range of motion was significantly greater walking on the main line ballast than walking on either the walking ballast or the level concrete. Meanwhile, the mean range of rearfoot motion for walking ballast was not significantly different from that resulting from walking on concrete. Variability was more than twice as great walking on main line ballast than walking on level concrete. Rearfoot angular velocities walking on level concrete and walking ballast were not significantly different, but both were significantly less than walking on main line ballast. Results suggested that rearfoot motion could be reduced if railroads placed walking ballast where trainmen have to walk as part of their jobs.