Adaptive multi-objective control explains how humans make lateral maneuvers while walking.

To successfully traverse their environment, humans often perform maneuvers to achieve desired task goals while simultaneously maintaining balance. Humans accomplish these tasks primarily by modulating their foot placements. As humans are more unstable laterally, we must better understand how humans modulate lateral foot placement. We previously developed a theoretical framework and corresponding computational models to describe how humans regulate lateral stepping during straight-ahead continuous walking. We identified goal functions for step width and lateral body position that define the walking task and determine the set of all possible task solutions as Goal Equivalent Manifolds (GEMs). Here, we used this framework to determine if humans can regulate lateral stepping during non-steady-state lateral maneuvers by minimizing errors consistent with these goal functions. Twenty young healthy adults each performed four lateral lane-change maneuvers in a virtual reality environment. Extending our general lateral stepping regulation framework, we first re-examined the requirements of such transient walking tasks. Doing so yielded new theoretical predictions regarding how steps during any such maneuver should be regulated to minimize error costs, consistent with the goals required at each step and with how these costs are adapted at each step during the maneuver. Humans performed the experimental lateral maneuvers in a manner consistent with our theoretical predictions. Furthermore, their stepping behavior was well modeled by allowing the parameters of our previous lateral stepping models to adapt from step to step. To our knowledge, our results are the first to demonstrate humans might use evolving cost landscapes in real time to perform such an adaptive motor task and, furthermore, that such adaptation can occur quickly-over only one step. Thus, the predictive capabilities of our general stepping regulation framework extend to a much greater range of walking tasks beyond just normal, straight-ahead walking.

How Healthy Older Adults Enact Lateral Maneuvers While Walking.

BACKGROUND: Walking requires frequent maneuvers to navigate changing environments with shifting goals. Humans accomplish maneuvers and simultaneously maintain balance primarily by modulating their foot placement, but a direct trade-off between these two objectives has been proposed. As older adults may rely more on foot placement to maintain lateral balance, they may be less able to adequately adapt stepping to perform lateral maneuvers. RESEARCH QUESTION: How do older adults adapt stepping to enact lateral lane-change maneuvers, and how do physical and perceived ability influence their task performance? METHODS: Twenty young (21.7 ± 2.6 yrs) and 18 older (71.6 ± 6.0 yrs) adults walked on a motorized treadmill in a virtual environment. Following an audible and visual cue, participants switched between two parallel paths, centered 0.6 m apart, to continue walking on their new path. We quantified when participants initiated the maneuver following the cue, as well as their step width, lateral position, and stepping variability ellipses at each maneuver step. RESULTS: Young and older adults did not differ in when they initiated the maneuver, but participants with lower perceived ability took longer to do so. Young and older adults also did not exhibit differences in step width or lateral positions at any maneuver step, but participants with greater physical ability reached their new path faster. While only older adults exhibited stepping adaptations prior to initiating the maneuver, both groups traded off stability for maneuverability to enact the lateral maneuver. SIGNIFICANCE: Physical and perceived balance ability, rather than age per se, differentially influenced maneuver task performance. Humans must make decisions related to the task of walking itself and do so based on both physical and perceived factors. Understanding and targeting these interactions may help improve walking performance among older adults.

Generalizing stepping concepts to non-straight walking.

People rarely walk in straight lines. Instead, we make frequent turns or other maneuvers. Spatiotemporal parameters fundamentally characterize gait. For straight walking, these parameters are well-defined for the task of walking on a straight path. Generalizing these concepts to non-straight walking, however, is not straightforward. People follow non-straight paths imposed by their environment (sidewalk, windy hiking trail, etc.) or choose readily-predictable, stereotypical paths of their own. People actively maintain lateral position to stay on their path and readily adapt their stepping when their path changes. We therefore propose a conceptually coherent convention that defines step lengths and widths relative to predefined walking paths. Our convention simply re-aligns lab-based coordinates to be tangent to a walker's path at the mid-point between the two footsteps that define each step. We hypothesized this would yield results both more correct and more consistent with notions from straight walking. We defined several common non-straight walking tasks: single turns, lateral lane changes, walking on circular paths, and walking on arbitrary curvilinear paths. For each, we simulated idealized step sequences denoting "perfect" performance with known constant step lengths and widths. We compared results to path-independent alternatives. For each, we directly quantified accuracy relative to known true values. Results strongly confirmed our hypothesis. Our convention returned vastly smaller errors and introduced no artificial stepping asymmetries across all tasks. All results for our convention rationally generalized concepts from straight walking. Taking walking paths explicitly into account as important task goals themselves thus resolves conceptual ambiguities of prior approaches.

How Healthy Older Adults Enact Lateral Maneuvers While Walking.

Background: Walking requires frequent maneuvers to navigate changing environments with shifting goals. Humans accomplish maneuvers and simultaneously maintain balance primarily by modulating their foot placement, but a direct trade-off between these two objectives has been proposed. As older adults rely more on foot placement to maintain lateral balance, they may be less able to adequately adapt stepping to perform lateral maneuvers. Research Question: How do older adults adapt stepping to enact lateral lane-change maneuvers, and how do physical and perceived ability influence their task performance? Methods: Twenty young (21.7 ± 2.6 yrs) and 18 older (71.6 ± 6.0 yrs) adults walked on a motorized treadmill in a virtual environment. Following an audible and visual cue, participants switched between two parallel paths, centered 0.6m apart, to continue walking on their new path. We quantified when participants initiated the maneuver following the cue, as well as their step width, lateral position, and stepping variability ellipses at each maneuver step. Results: Young and older adults did not differ in when they initiated the maneuver, but participants with lower perceived ability took longer to do so. Young and older adults also did not exhibit differences in step width or lateral positions at any maneuver step, but participants with greater physical ability reached their new path faster. While only older adults exhibited stepping adaptations prior to initiating the maneuver, both groups traded-off stability for maneuverability to enact the lateral maneuver. Significance: Physical and perceived balance ability, rather than age per se, differentially influenced maneuver task performance. Humans must make decisions related to the task of walking itself and do so based on both physical and perceived factors. Understanding and targeting these interactions may help improve walking performance among older adults.

Generalizing Stepping Concepts To Non-Straight Walking.

People rarely walk in straight lines. Instead, we make frequent turns or other maneuvers. Spatiotemporal parameters fundamentally characterize gait. For straight walking, these parameters are well-defined for that task of walking on a straight path. Generalizing these concepts to non-straight walking, however, is not straightforward. People also follow non-straight paths imposed by their environment (store aisle, sidewalk, etc.) or choose readily-predictable, stereotypical paths of their own. People actively maintain lateral position to stay on their path and readily adapt their stepping when their path changes. We therefore propose a conceptually coherent convention that defines step lengths and widths relative to known walking paths. Our convention simply re-aligns lab-based coordinates to be tangent to a walker's path at the mid-point between the two footsteps that define each step. We hypothesized this would yield results both more correct and more consistent with notions from straight walking. We defined several common non-straight walking tasks: single turns, lateral lane changes, walking on circular paths, and walking on arbitrary curvilinear paths. For each, we simulated idealized step sequences denoting "perfect" performance with known constant step lengths and widths. We compared results to path- independent alternatives. For each, we directly quantified accuracy relative to known true values. Results strongly confirmed our hypothesis. Our convention returned vastly smaller errors and introduced no artificial stepping asymmetries across all tasks. All results for our convention rationally generalized concepts from straight walking. Taking walking paths explicitly into account as important task goals themselves thus resolves conceptual ambiguities of prior approaches.

Treadmill-belt width, but not feedback from the lower visual field, influences the noise characteristics of step width time series.

Step kinematic variability, which has been associated with gait-related fall risk, is thought to be attributed to neuromotor noise. Altered neuromotor control of step kinematics would be expected to manifest as changes in the noise-related characteristics of the step kinematic time series. This study determined the effects of eliminating feedback from the lower visual field and reducing treadmill-belt width on the noise characteristics of step width time series and statistical measures of step width variability during treadmill walking. We hypothesized that eliminating feedback from the lower visual field and reducing treadmill-belt width would both alter the noise characteristics of step width time series, reflected by decreased fractal scaling, and increase statistical measures of step width variability. Eighteen young adults performed four randomly ordered walking trials during which we manipulated visual feedback from the lower visual field (normal and obstructed) and treadmill-belt width (wide and narrow). Reducing treadmill-belt width, but not eliminating feedback from the lower visual field, significantly reduced the fractal scaling of step width time series, indicating a shift towards white, uncorrelated noise. These results suggest that accounting for the influence of treadmill-belt width on step width time series may be an important consideration in both laboratory and clinical settings. Further work is needed to clarify the effects of vision on measures of step width, identify the mechanism(s) underlying the observed shift towards white, uncorrelated noise associated with reduced treadmill-belt width, and to assess the potential relationship between the noise characteristics of step width time series and fall risk.

Ensuring accurate estimates of step width variability during treadmill walking requires more than 400 consecutive steps.

Falls to the side are associated with significant morbidity, including increased risk of hip and radius fracture. Although step width variability, as measured by standard deviation, has been hypothesized to be associated with falls to the side, there is little supporting evidence. The extent to which such a relationship could be reliably established, however, is dependent on the accuracy with which step width, and thus step width variability, is measured. It has been reported that 400 consecutive steps are required to accurately estimate step width of young adults during treadmill walking. The degree to which this requirement generalizes to other populations has not been determined. Here, a secondary analysis of step width time series data from 19 middle-age women during treadmill walking revealed that 400 steps were insufficient to accurately estimate step width or step width variability for the majority of the women sampled. Patterns observed in the data suggest the potential influence of confounding factors including acclimatization to the task and fatigue during the protocol. The results suggest that the minimum number of steps previously reported as necessary to accurately assess step width and step width variability of young adults during treadmill walking is not valid for middle-age women. Furthermore, the results point to the potential value of reproducing and/or extending the original experiment that established 400 consecutive steps as necessary to accurately estimate step kinematics among young adults.

Identifying the mechanical and neural properties of the sternocleidomastoid muscles.

Neck muscles are preferentially activated in specific force directions, but the constraints that the central nervous system considers when programming these preferred directions of muscle activity are unknown. The current study used ultrasound shear wave elastography (SWE) to investigate whether the material properties of the sternocleidomastoid (SCM) muscles exhibit preferred directions similar to their preferred direction of muscle activity during an isometric task. Twenty-four healthy participants matched isometric forces in 16 axial directions. All force targets were scaled to 20% of a maximum voluntary contraction. Muscle activity was recorded with surface electromyography (EMG) from six muscles (the bilateral SCMs, upper trapezius, and splenius capitis muscles), and shear wave velocities (SWVs) were recorded with SWE from both SCM muscles. We observed statistically significant differences between the preferred directions of muscle activity and SWVs for both the left SCM ( P = 0.002) and the right SCM ( P < 0.001), with the SWE data exhibiting a more lateral preferred direction. Significant differences in the spatial focus ( P < 0.001) were also observed, with the dispersion of SWV data covering a greater angular range than the EMG data during isometric tasks. The preferred directions of muscle activity and material properties for the SCM muscles were closer than previous comparisons of muscle activity and moment arms, suggesting muscle mechanics could play a more important role than anatomy in how the central nervous system spatially tunes muscle activation. NEW & NOTEWORTHY Our study used a novel combination of surface electromyography and ultrasound shear wave elastography to investigate the neuromuscular control of the neck. Our work highlights differences in how the activation and material properties of the sternocleidomastoid muscles are modulated as the central nervous system stabilizes the neck during isometric force production. These findings provide normative data for future studies to investigate pathologic changes to both the activation and material properties of the sternocleidomastoid muscles.

Quantifying differences in the material properties of the fiber regions of the pectoralis major using ultrasound shear wave elastography.

The sternocostal and clavicular regions of the pectoralis major are independently harvested to provide shoulder stability, but surgical decision making does not consider the biomechanical consequences that disinsertion of one fiber region over the other has on shoulder function. Differences in material properties between the fiber regions could influence which tissue is more optimal for surgical harvesting. The current study utilized ultrasound shear wave elastography (SWE) to investigate whether the in vivo material properties differ between the fiber regions. Shear wave velocities (SWVs) were collected from the sternocostal and clavicular fiber regions of the pectoralis major from ten healthy young male participants. Participants produced isometric shoulder torques of varying magnitudes (passive, 15%, and 30% MVC) and directions (horizontal and vertical adduction). Four shoulder positions encompassing different vertical abduction and external rotation angles were examined. One-way ANOVAs tested the hypotheses that differences in SWVs during rest existed between the fiber regions asa function of shoulder position, and differences in SWVs during contraction existed asa function of shoulder position and torque direction. In all shoulder positions, the clavicular region exhibited greater SWVs during rest than the sternocostal region (P<0.001). In shoulder positions that did not include external rotation, the clavicular region exhibited greater SWVs during contraction when producing horizontal adduction torques (P<0.001), while the sternocostal region exhibited greater SWVs during contraction when producing vertical adduction torques at 30% MVC (P<0.01). Our results suggest that each fiber region of the pectoralis major provides unique contributions to passive and active shoulder function.