Human locomotion over obstacles reveals real-time prediction of energy expenditure for optimized decision-making.

Despite decades of evidence revealing a multitude of ways in which animals are adapted to minimize the energy cost of locomotion, little is known about how energy expenditure shapes adaptive gait over complex terrain. Here, we show that the principle of energy optimality in human locomotion can be generalized to complex task-level locomotor behaviours requiring advance decision-making and anticipatory control. Participants completed a forced-choice locomotor task requiring them to choose between discrete multi-step obstacle negotiation strategies to cross a 'hole' in the ground. By modelling and analysing mechanical energy cost of transport for preferred and non-preferred manoeuvres over a wide range of obstacle dimensions, we showed that strategy selection was predicted by relative energy cost integrated across the complete multi-step task. Vision-based remote sensing was sufficient to select the strategy associated with the lowest prospective energy cost in advance of obstacle encounter, demonstrating the capacity for energetic optimization of locomotor behaviour in the absence of online proprioceptive or chemosensory feedback mechanisms. We highlight the integrative hierarchic optimizations that are required to facilitate energetically efficient locomotion over complex terrain and propose a new behavioural level linking mechanics, remote sensing and cognition that can be leveraged to explore locomotor control and decision-making.

A simple model predicts energetically optimised jumping in dogs.

It is generally accepted that animals move in a way that minimises energy use during regular gait and there is evidence that the principle might extend more generally to locomotor behaviour and manoeuvres. Jumping during locomotion is a useful manoeuvre that contributes to the versatility of legged locomotion and is within the repertoire of many terrestrial animals. We describe a simple ballistic model that can be used to identify a single unique trajectory of the body's centre of mass that minimises the mechanical work to initiate a jump, regardless of the approach velocity or take-off position. The model was used to show that domestic dogs (Canis lupus familiaris) demonstrate complex anticipatory control of locomotor behaviour by systematically using jump trajectories close to those that minimised the mechanical energy of jumps over raised obstacles. It is unclear how the dogs acquired the complex perception and control necessary to exhibit the observed behaviour. The model may be used to investigate whether animals adopt energetically optimised behaviour in any similarly constrained ballistic task.

The effect of image fractal properties and its interaction with visual discomfort on gait kinematics.

Exposure to images of urban environments affords higher cognitive processing demands than exposure to images of nature scenes; an effect potentially related to differences in low-level image statistics such as fractals. The aim of the current study was to investigate whether the fractal dimensions of an abstract scene affect cognitive processing demands, using gait kinematics as a measure of cognitive demand. Participants (n = 40) were asked to walk towards different types of synthetic images which were parametrically varied in their fractal dimensions. At the end of each walk, participants rated each image for its visual discomfort (n = 20) or for its likability (n = 20) as potential confounding factors. Fractal dimensions were predictors of walking speed. Moreover, the interaction between fractal dimensions and subjective visual discomfort but not liking predicted velocity. Overall, these data suggest that fractal dimensions indeed contribute to environmentally induced cognitive processing demands.

Visuomotor control of leaping over a raised obstacle is sensitive to small baseline displacements.

The limb kinematics used for stepping or leaping over an obstacle are determined primarily by visual sensing of obstacle position and geometry. In this study, we demonstrate that changes are induced in limb kinematics even when obstacle geometry is manipulated in a way that does not introduce a mechanical requirement for a change of limb trajectory nor increase risk of collision. Human participants performed a running leap over a single raised obstacle bar. Kinematic changes were measured when an identical second bar was introduced at a ground level underneath the obstacle and displaced by a functionally insignificant distance along the axis of travel. The presence or absence of a baseline directly beneath the highest extremity had no significant effect on limb kinematics. However, displacing the baseline horizontally induced a horizontal translation of limb trajectory in the direction of the displacement. These results show that systematic changes to limb trajectories can occur in the absence of a change in sensed mechanical constraints or optimization. The nature of visuomotor control of human leaping may involve a continuous mapping of sensory input to kinematic output rather than one responsive only to information perceived to be mechanically relevant.

The nature effect in motion: visual exposure to environmental scenes impacts cognitive load and human gait kinematics.

Prolonged exposure to urban environments requires higher cognitive processing resources than exposure to nature environments, even if only visual cues are available. Here, we explored the moment-to-moment impact of environment type on visual cognitive processing load, measuring gait kinematics and reaction times. In Experiment 1, participants (n = 20) walked toward nature and urban images projected in front of them, one image per walk, and rated each image for visual discomfort. Gait speed and step length decreased for exposure to urban as compared with nature scenes in line with gait changes observed during verbal cognitive load tasks. We teased apart factors that might contribute to cognitive load: image statistics and visual discomfort. Gait changes correlated with subjective ratings of visual discomfort and their interaction with the environment but not with low-level image statistics. In Experiment 2, participants (n = 45) performed a classic shape discrimination task with the same environmental scenes serving as task-irrelevant distractors. Shape discrimination was slower when urban scenes were presented, suggesting that it is harder to disengage attention from urban than from nature scenes. This provides converging evidence that increased cognitive demands posed by exposure to urban scenes can be measured with gait kinematics and reaction times even for short exposure times.

Time domain characteristics of hoof-ground interaction at the onset of stance phase.

REASONS FOR PERFORMING STUDY: Little is known about the interaction of the hoof with the ground at the onset of stance phase although is it widely believed that high power collisions are involved in the aetiopathology of several conditions causing lameness. OBJECTIVES: To answer 3 questions regarding the fundamental nature of hoof-ground collision: (1) is the collision process deterministic for ground surfaces that present a consistent mechanical interface (2) do collision forces act on the hoof in a small or large range of directions and (3) Is the hoof decelerated to near-zero velocity by the initial deceleration peak following ground contact? METHODS: Hoof acceleration during the onset of stance phase was recorded using biaxial accelerometry for horses trotting on a tarmac surface and on a sand surface. Characteristics of the collision process were identified both from vector plots and time series representations of hoof acceleration, velocity and displacement. RESULTS: The response of the hoof to collision with smooth tarmac was predominantly deterministic and consistent with the response of a spring-damper system following shock excitation. The response to collision with sand was predominantly random. The deceleration peak following ground contact did not decelerate the hoof to near-zero velocity on tarmac but appeared to on sand. On both surfaces, collision forces acted on the hoof in a wide range of directions. CONCLUSIONS: The study suggests the presence of stiff, viscoelastic structures within the foot that may act as shock absorbers isolating the limb from large collision forces. POTENTIAL RELEVANCE: The study indicates objectives for future in vivo and in vitro research into the shock absorbing mechanism within the equine foot; and the effects of shoe type and track surface properties on the collision forces experienced during locomotion. Studies of this nature should help to establish a link between musculoskeletal injury, hoof function and hoof-ground interaction if, indeed, one exists.

Measurement of abnormal respiratory sounds during over-ground exercise.

REASONS FOR PERFORMING STUDY: The presence of abnormal respiratory sounds is commonly associated with obstructions of the upper respiratory tract. In order to establish their clinical significance measurements are required of both normal and abnormal respiratory sounds produced by horses exercising over-ground. OBJECTIVES: To determine whether high quality recordings of respiratory sound can be made during over-ground exercise, and to develop a convenient measurement system that can be used to obtain respiratory sounds from horses exercising in field conditions. METHODS: A range of prototypes was evaluated against the requirements that the system must be easy to use under field conditions and produce high-quality recordings of respiratory sound. The chosen design incorporated a miniature microphone and an air-flow direction sensor mounted on a lightweight plastic face mask. The mask was attached to the horse's head using nylon straps secured by velcro fastenings. Sound and flow signals were recorded on a portable minidisc player carried by the jockey. RESULTS: The system fulfilled the design criteria. High quality recordings of respiratory sounds were obtained from Thoroughbred horse exercising on a training gallop under a variety of weather conditions. Intermittently occurring abnormal sounds were readily identified from the data. CONCLUSIONS: High quality measurements of respiratory sounds during over-ground exercise can be made relatively easily. POTENTIAL RELEVANCE: The system enables measurement of respiratory sounds outside a laboratory environment creating new opportunities for scientific research and clinical assessment. The study demonstrated that diagnostic systems based on respiratory sound analysis could potentially be manufactured at relatively low cost and be convenient and simple to use.

The displaced equine soft palate as a source of abnormal respiratory noise during expiration.

REASONS FOR PERFORMING STUDY: To develop the technique of respiratory sound analysis for the diagnosis of dorsal displacement of the equine soft palate. OBJECTIVES: To show that 1) the displaced soft palate can spontaneously vibrate in the presence of expiratory airflow; 2) the observed frequency of vibration can be detected in respiratory sound recordings; and 3) the frequency of vibrations measured in cadaveric specimens are similar to those obtained from audio spectra in exercising horses with DDSP. METHODS: Palatal movements and respiratory sounds were recorded from artificially ventilated cadaveric heads. The fundamental mode of palate vibrations calculated from high-speed videoendoscopic recordings was compared with frequencies detected in the audio spectra and with data collected from exercising horses with DDSP. RESULTS: Palate vibrations occurred when air was blown through the trachea. The fundamental mode of vibrations was present in the audio spectra and was not significantly different from those recorded in vivo. CONCLUSIONS: Vibrations of the soft palate are the probable source of expiratory sounds recorded in horses with DDSP. POTENTIAL RELEVANCE: This study strengthens the case for the application of respiratory sound analysis in the diagnosis of DDSP in exercising horses.

Spectral analysis of respiratory noise in horses with upper airway disorders.

REASONS FOR PERFORMING STUDY: It has long been recognised that the production of abnormal respiratory sounds by horses during exercise is frequently associated with upper airway obstructions. Respiratory acoustic measurements have shown promise in investigation of upper airway disorders in man and, more recently, in horses with experimentally-induced obstructions. OBJECTIVES: To evaluate sounds from exercising horses with naturally occurring dynamic obstructions of the upper respiratory tract and to compare these with those from normal horses in order to determine whether different obstructions produce characteristic spectral patterns. METHODS: The audio signal, airflow and videoendoscopic images were recorded simultaneously during an incremental exercise test on a high-speed treadmill. RESULTS: Spectral analysis of the audio signal showed marked differences between control and clinically afflicted horses. Dorsal displacement of the soft palate was characterised by a narrow low frequency (20-80 Hz) peak during expiration. Horses with dynamic laryngeal collapse produced inspiratory sounds characterised by a broad band high frequency spectral component in the range 1.1-2.7 kHz. CONCLUSIONS AND POTENTIAL RELEVANCE: Spectral analysis of respiratory sounds in horses has potential as a diagnostic technique for field use especially when facilities for high-speed treadmill assessment are not practicable.

Randomised, double-blind, placebo-controlled parallel group study of P54FP for the treatment of dogs with osteoarthritis.

P54FP is an extract of Indian and Javanese turmeric, Curcuma domestica and Curcuma xanthorrhiza respectively, which contains a mixture of active ingredients including curcuminoids and essential oils. A randomised, double-blind, placebo-controlled, parallel group clinical trial of P54FP as a treatment for osteoarthritis of the canine elbow or hip was conducted to assess its efficacy and safety. Sixty-one client-owned dogs with osteoarthritis were recruited through first-opinion practices and examined at a single centre. After a two-week wash-out period, they were randomly allocated to receive P54FP or a placebo orally twice daily for eight weeks, and were re-examined after four, six and eight weeks of treatment. The effectiveness of the treatment was assessed in terms of the peak vertical force (PVz) and vertical impulse of the affected limbs, as measured with a force platform, by clinical assessments of lameness and joint pain by the investigators, and overall assessments of the response to treatment by the investigators and the owners. The results from 25 P54FP-treated dogs and 29 placebo-treated dogs showed that there was no statistically significant difference between the groups in terms of the PVz of the affected limb. The investigators' overall assessment showed a statistically significant treatment effect in favour of P54FP (P=0.012), but the owners' assessment just failed to reach statistical significance (P=0.063). No serious adverse effects were recorded, but two P54FP-treated dogs and four placebo-treated dogs were withdrawn from the study because their condition deteriorated.

Quantification of hoof deformation using optical motion capture.

Deformation of the hoof capsule occurs during stance phase as a result of loading by the distal phalanx. The objective of this study was to evaluate optical motion capture as a technique for measuring hoof deformation during locomotion, and to quantify the deformation of the dorsal wall during stance phase. The front left feet of 3 clinically sound horses were used for this study. The hoof wall was cleaned and 9 retroreflective markers were glued to the lateral and dorsal hoof wall, and shoe. Each horse was trotted in a straight line at constant speed while marker positions during stance phase were recorded at 240 frames/s using a 3-dimensional (3-D) motion capture system. Similar patterns of hoof deformation were seen in all horses; the dorsal wall moved inwards towards the axis of the limb with displacement increasing proximally. Mean peak deformation varied between 0.17 and 0.92 mm in the dorsal hoof wall, and 0.18 and 0.76 mm in the lateral hoof wall. In all horses, movement of the shoe relative to the ground was < 0.7 mm throughout stance phase and movement of the hoof relative to the shoe was < 0.3 mm. Calibration using a micrometer indicated the motion capture system was accurate to < 0.1 mm in the configuration used for the study. This study showed that optical motion capture can be used to measure hoof deformation and successfully addresses some of the limitations of existing methods.

Impact during equine locomotion: techniques for measurement and analysis.

Impact is implicated in the development of several types of musculoskeletal injury in the horse. Characterisation of impact experienced during strenuous exercise is an important first step towards understanding the mechanism for injury. Measurement and analysis of large, short duration impacts is difficult. The measurement system must be able to record transient peaks and high frequencies accurately. The analysis technique must be able to characterise the impact signal in time and frequency. This paper presents a measurement system and analysis technique for the characterisation of large impacts. A piezo-electric accelerometer was securely mounted on the dorsal surface of the horses hoof. Saddle mounted charge amplifiers and a 20 m coaxial cable transferred these data to a PC based logging system. Data were down-loaded onto a UNIX workstation and analysed using a proprietary statistics package. The values of parameters calculated from the time series data were comparable to those of other authors. A wavelet decomposition showed that the frequency profile of the signal changed with time. While most spectral energy was seen at impact, a significant amount of energy was contained in the signal immediately following impact. Over 99% of this energy was contained in frequencies less than 1250 Hz. The sampling rate and the frequency response of a measurement system for recording impact should be chosen carefully to prevent loss or corruption of data. Time scale analysis using a wavelet decomposition is a powerful technique which can be used to characterise impact data. The use of contour plots provides a highly visual representation of the time and frequency localisation of power during impact.