Adaptive Gait Acquisition through Learning Dynamic Stimulus Instinct of Bipedal Robot.

Standard alternating leg motions serve as the foundation for simple bipedal gaits, and the effectiveness of the fixed stimulus signal has been proved in recent studies. However, in order to address perturbations and imbalances, robots require more dynamic gaits. In this paper, we introduce dynamic stimulus signals together with a bipedal locomotion policy into reinforcement learning (RL). Through the learned stimulus frequency policy, we induce the bipedal robot to obtain both three-dimensional (3D) locomotion and an adaptive gait under disturbance without relying on an explicit and model-based gait in both the training stage and deployment. In addition, a set of specialized reward functions focusing on reliable frequency reflections is used in our framework to ensure correspondence between locomotion features and the dynamic stimulus. Moreover, we demonstrate efficient sim-to-real transfer, making a bipedal robot called BITeno achieve robust locomotion and disturbance resistance, even in extreme situations of foot sliding in the real world. In detail, under a sudden change in torso velocity of -1.2 m/s in 0.65 s, the recovery time is within 1.5-2.0 s.

Learning Soft Millirobot Multimodal Locomotion with Sim-to-Real Transfer.

With wireless multimodal locomotion capabilities, magnetic soft millirobots have emerged as potential minimally invasive medical robotic platforms. Due to their diverse shape programming capability, they can generate various locomotion modes, and their locomotion can be adapted to different environments by controlling the external magnetic field signal. Existing adaptation methods, however, are based on hand-tuned signals. Here, a learning-based adaptive magnetic soft millirobot multimodal locomotion framework empowered by sim-to-real transfer is presented. Developing a data-driven magnetic soft millirobot simulation environment, the periodic magnetic actuation signal is learned for a given soft millirobot in simulation. Then, the learned locomotion strategy is deployed to the real world using Bayesian optimization and Gaussian processes. Finally, automated domain recognition and locomotion adaptation for unknown environments using a Kullback-Leibler divergence-based probabilistic method are illustrated. This method can enable soft millirobot locomotion to quickly and continuously adapt to environmental changes and explore the actuation space for unanticipated solutions with minimum experimental cost.

Approaching Process in Walking through an Aperture for Individuals with Stroke.

Muroi et al. show that individuals with stroke have improved collision avoidance behavior when passing through an aperture while entering from the paretic-side of the body. However, the underlying mechanism remains unknown. We reanalyzed Muroi et al.'s data to reveal how individuals with stroke walk through an aperture by examining changes in walking velocity and behavioral complexity (i.e., sample entropy, an index of (ir)regularity of time series, regarded lower entropy as more regular and less complex) by focusing on the approaching process. The results showed that individuals with stroke reduced their walking velocity and behavioral complexity before passing through the narrow aperture when approaching from the paretic side. We interpreted that the improved obstacle avoidance when penetrating from the paretic side may be due to careful body rotation and adjusting the walking velocity in advance.

Elongating, entwining, and dragging: mechanism for adaptive locomotion of tubificine worm blobs in a confined environment.

Worms often aggregate through physical connections and exhibit remarkable functions such as efficient migration, survival under environmental changes, and defense against predators. In particular, entangled blobs demonstrate versatile behaviors for their survival; they form spherical blobs and migrate collectively by flexibly changing their shape in response to the environment. In contrast to previous studies on the collective behavior of worm blobs that focused on locomotion in a flat environment, we investigated the mechanisms underlying their adaptive motion in confined environments, focusing on tubificine worm collectives. We first performed several behavioral experiments to observe the aggregation process, collective response to aversive stimuli, the motion of a few worms, and blob motion in confined spaces with and without pegs. We found the blob deformed and passed through a narrow passage using environmental heterogeneities. Based on these behavioral findings, we constructed a simple two-dimensional agent-based model wherein the flexible body of a worm was described as a cross-shaped agent that could deform, rotate, and translate. The simulations demonstrated that the behavioral findings were well-reproduced. Our findings aid in understanding how physical interactions contribute to generating adaptive collective behaviors in real-world environments as well as in designing novel swarm robotic systems consisting of soft agents.

Dynamic stability during level walking and obstacle crossing in children aged 2-5 years estimated by marker-less motion capture.

In the present study, dynamic stability during level walking and obstacle crossing in typically developing children aged 2-5 years (n = 13) and healthy young adults (n = 19) was investigated. The participants were asked to walk along unobstructed and obstructed walkways. The height of the obstacle was set at 10% of the leg length. Gait motion was captured by three RGB cameras. 2D body landmarks were estimated using OpenPose, a marker-less motion capture algorithm, and converted to 3D using direct linear transformation (DLT). Dynamic stability was evaluated using the margin of stability (MoS) in the forward and lateral directions. All the participants successfully crossed the obstacles. Younger children crossed the obstacle more carefully to avoid falls, as evidenced by obviously decreased gait speed just before the obstacle in 2-year-olds and the increased in maximum toe height with younger age. There was no significant difference in the MoS at the instant of heel contact between children and adults during level walking and obstacle crossing in the forward direction, although children increased the step length of the lead leg to a greater extent than the adults to ensure base of support (BoS)-center of mass (CoM) distance. In the lateral direction, children exhibited a greater MoS than adults during level walking [children: 9.5%, adults: 6.5%, median, W = 39.000, p < .001, rank-biserial correlation = -0.684]; however, some children exhibited a smaller MoS during obstacle crossing [lead leg: -5.9% to 3.6% (min-max) for 4 children, 4.7%-6.4% [95% confidence interval (CI)] for adults, p < 0.05; trail leg: 0.1%-4.4% (min-max) for 4 children, 4.7%-6.4% (95% CI) for adults, p < 0.05]]. These results indicate that in early childhood, locomotor adjustment needed to avoid contact with obstacles can be observed, whereas lateral dynamic stability is frangible.

The visual control of locomotion when stepping onto moving surfaces: A comparison of younger and older adults.

Stepping between static and moving surfaces presents a locomotor challenge associated with increased injury frequency and severity in older adults. The current study evaluates younger and older adults' behaviours when overcoming challenges sampling moving walkway and escalator environments. Twelve younger adults (18-40 years, Male = 8) and 15 older adults (60-81 years, Male = 5) were examined using an integration of optoelectronic motion capture and mobile eye-tracking. Participants were investigated approaching and stepping onto a flat conveyor belt (static or moving; with or without surface (demarcation) lines). Specifically, the four conditions were: (i) static surface without demarcation lines; (ii) static surface with demarcation lines; (iii) moving surface without demarcation lines; and (iv) moving surface with demarcation lines. A two (age group) x two (surface-condition) x two (demarcation-condition) linear mixed-model revealed no main or interaction effects (p > .05) for perturbation magnitude, indicating participants maintained successful locomotion. However, different adaptive behaviours were identified between conditions with moving and accuracy demands (e.g., moving surfaces increased step length, demarcations reduced step length). Between subject effects identified differences between age groups. Older adults utilised different behaviours, such as earlier gaze transfer from the final approach walkway step location. Overall, the current study suggests that adaptive behaviours emerge relative to the environment's specific demands and the individual's action capabilities.

Occlusion of the lower visual field when wearing a facial mask does not compromise gait control when stepping into a hole in older adults.

Visual exproprioception obtained from the lower visual field (LVF) is used to control locomotion on uneven terrain. Wearing a facial mask obstructs the LVF and can compromise gait control. Therefore, this study aimed to investigate the effect of occluding the LVF when wearing a facial mask on gait control while walking and stepping into a hole in older adults. Fifteen older adults walked along a wooden walkway under two different surface conditions (without and with a hole [60 cm wide and long, with a depth of 9.5 cm] and three visual conditions (control, mask, and basketball goggles with an occluded LVF). We found that occlusion of the LVF with masks or goggles did not affect the adaptations necessary to step into a hole. Neither behavioral (gait speed, margin of stability, foot landing position) nor neuromuscular (EMG activation and co-activation) parameters were affected by either visual manipulation. Older adults used a downward head pitch strategy to compensate for visual obstruction and plan the anticipatory adjustments to step into the hole. The absence of lower limb visual exproprioception due to wearing a mask did not affect locomotion control when stepping into a hole in older adults. Older adults compensated for the obstruction of the LVF through head downward tilt, which allowed them to obtain visual information about the hole two steps ahead to make anticipatory locomotor adjustments.

Effects of multi-obstacle contexts on obstacle negotiation strategies in healthy older adults under dual-task conditions.

BACKGROUND: Performance of obstacle crossing is an attentionally demanding task due to the need for motor planning and gait regulation, particularly among older adults. Despite extensive studies on age-associated changes in obstacle negotiation strategies, relatively little is known about adaptive mechanisms in the elderly regarding multiple obstacle crossings with different execution demands. RESEARCH QUESTION: For better understanding of avoidance strategies employed by the elderly, the current study investigated adaptive mechanisms related to planning and implementation of more complex multi-obstacle contexts. Do older adults use a more conservative strategy such as prolonged step duration or elevated foot height when crossing obstacles with increased task demands of obstacle negotiation? METHODS: Eleven healthy older and 11 young adults participated in the experiment. We examined how the presence and physical property of the second obstacle influenced the planning and adjustments for obstacle avoidance performance. Spatiotemporal characteristics of the stepping movement were analyzed using a 3D motion capture system. RESULTS: Older adults showed a longer stance time before crossing the first obstacle than young adults when the task complexity increased. These stepping characteristics were more evident in the dual-task condition. However, their foot clearance and crossing speed were not influenced by the level of task complexity. SIGNIFICANCE: These findings suggest that healthy elderly participants may have difficulty in developing the motor plan rather than implementing the stepping strategies under more complex obstacle constraints. A general cognitive decline with advancing age or adaptation of compensatory adjustment to enhance postural stability may underlie such altered obstacle negotiation behaviors in older adults.

Gait control to step into a lowered surface with one limb with different demands for accuracy in younger and older adults.

Walking in a daily life context requires constant adaptations to meet the environment's requirements for successful locomotion. We investigated the walking adaptations of younger and older adults when dealing with holes of different lengths in the pathway (60-cm long and 1.3 times foot length [critical point] conditions). We used the critical point condition to increase the demand for accuracy as it reduces the safety margin between the foot and the borders of the hole. Fifteen younger and fifteen older adults walked barefoot on a wooden walkway in three conditions: no-hole, 60-cm hole (length: 0.60 m | width: 0.80 m | depth: 0.095 m), and critical point hole (length: participant's foot length × 1.3 | width: 0.80 m | depth: 0.095 m). Participants stepped into the hole with only one foot. We assessed the impulses based on the ground reaction forces, trunk and lower limb joint angles, stride speed, and the margin of stability based on the concept of the extrapolated center of mass in the sagittal plane. Across walking conditions, older adults exhibited a larger margin of stability than younger adults. Before the hole, both age groups increased the braking impulse and adopted a more flexed posture of the lower limbs to help to lower the body in the subsequent step. Only older adults increased the vertical braking impulse and markedly reduced stride speed when stepping into both holes. Both age groups adopted a more vertically oriented trunk posture as a strategy to contribute to stability control when stepping into the hole. The two age groups showed a larger margin of stability and a more flexed trunk posture after the hole than the no-hole condition. Older adults were able to control body stability adequately and even better than younger adults. Younger and older adults used the same anticipatory and compensatory locomotor adjustments before and after the hole. These adjustments resulted in improved stability control. The differences between younger and older adults were confined to the moment of stepping into the hole. Older adults used a more cautious strategy that ensured task accuracy and gait progression.

Walking through an aperture while penetrating from the paretic side improves safety managing the paretic side for individuals with stroke who had previous falls.

BACKGROUND: Safety management of the paretic side of the body is critical for individuals with stroke. We previously reported that individuals with stroke who walk through an aperture while penetrating from the paretic side had fewer collisions with the frame of an aperture than did those penetrating from the non-paretic side. We observed spontaneous behavior of collision avoidance in our previous study; this study thus used penetration from the paretic and non-paretic sides as independent variables to confirm the usefulness of penetrating from the paretic side. OBJECTIVE: This study aimed to (1) reconfirm whether walking through a narrow space while penetrating from the paretic side leads to reduced frequency of collision only for individuals with stroke with previous falls by manipulating the direction of penetration as independent variables and to (2) determine whether the behavioral or cognitive characteristics of passing through the aperture are observed in individuals with stroke who had previous falls. METHODS: Individuals with stroke (12 with previous falls, 13 without) were required to walk through a narrow space while penetrating from the paretic and non-paretic sides. The collision rate and kinematic characteristics at the moment of crossing the aperture (body rotation angle, deviation of body's midpoint, and movement speed) were recorded as dependent variables. We also confirmed whether the participants expected collision after passing. RESULTS: Individuals with stroke with previous falls were less likely to have a collision when penetrating from the paretic side. The stroke fall group was likely to experience more collisions because of deleterious changes in body rotation angle and movement speed in narrow apertures. Moreover, individuals with stroke have many unexpected collisions, but the decline in anticipatory ability was not unique to the stroke fall group. CONCLUSIONS: Penetrating a narrow space from the paretic side improved safety management of the paretic side in patients with previous falls despite poor adjustment to narrow apertures. Penetrating a narrow space from the paretic side may make it easier to view and pay attention to the paretic side.

Collision avoidance strategies between two athlete walkers: Understanding impaired avoidance behaviours in athletes with a previous concussion.

BACKGROUND: Individuals who have sustained a concussion often display associated balance control deficits and visuomotor impairments despite being cleared by a physician to return to sport. Such visuomotor impairments can be highlighted in collision avoidance tasks that involves a mutual adaptation between two walkers. However, studies have yet to challenged athletes with a previous concussion during an everyday collision avoidance task, following return to sport. RESEARCH QUESTION: Do athletes with a previous concussion display associated behavioural changes during a 90°-collision avoidance task with an approaching pedestrian? METHODS: Thirteen athletes (ATH; 9 females, 23 ±â€¯4years) and 13 athletes with a previous concussion (CONC; 9 females, 22 ±â€¯3 years, concussion <6 months) walked at a comfortable walking speed along a 12.6 m pathway while avoiding another athlete on a 90º-collision course. Each participant randomly interacted with individuals from the same group 20 times and interacted with individuals from the opposite group 21 times. Minimum predicted distance (mpd) was used to examine collision avoidance behaviours between ATH and CONC groups. RESULTS: The overall progression of mpd(t) did not differ between groups (p > .05). During the collision avoidance task, previously concussed athletes contributed less when passing second compared to their peers(p < .001). When two previously concussed athletes were on a collision course, there was a greater amount of variability resulting in inappropriate adaptive behaviours. SIGNIFICANCE: Although successful at avoiding a collision with an approaching athlete, previously concussed athletes exhibit behavioural changes manifesting in riskier behaviours. The current findings suggest that previously concussed athletes possess behavioural changes even after being cleared to returned to sport, which may increase their risk of a subsequent injury when playing.

Collision avoidance behaviours between older adult and young adult walkers.

BACKGROUND: Collision avoidance between two walkers requires a mutual adaptation based on visual information in order to be successful. Age-related changes to visuomotor processing, kinesthetic input, and intersegmental dynamics increases the risk of collision and falls in older adults. However, few studies examine behavioural strategies in older adults during collision avoidance tasks with another pedestrian. RESEARCH QUESTION: Is there a difference between older adults' and young adults' collision avoidance behaviours with another pedestrian? METHODS: Seventeen older adults (x¯ = 68 ± 3 years) and seventeen young adults (x¯ = 23 ± 2 years) walked at a comfortable walking speed along a 12.6 m pathway while avoiding another walker. Trials were randomized equally to include 20 interactions with the same age group and 21 interactions with the opposite age group. Minimum predicted distance (mpd) was used to characterize collision avoidance behaviours between older adults and young adults. RESULTS: Older adults had riskier avoidance behaviours, passing closer to the other pedestrian (0.79 m ± 0.18 m) compared to when two young adults were on a collision course (0.93 m ± 0.17 m) (χ²(3) = 35.94, p < .0001). Whenever an older adult was on a collision course with a young adult, the young adult contributed more to the avoidance regardless of passing order. SIGNIFICANCE: The results from the current study highlight age-related effects during a collision avoidance task in older adults resulting in risky behaviour and a potential collision. Future studies should further investigate age-related visuomotor deficits during collision avoidance tasks in cluttered environments using virtual reality in order to tease out factors that contribute most to avoidance behaviours in older adults.

Task space adaptation via the learning of gait controllers of magnetic soft millirobots.

Untethered small-scale soft robots have promising applications in minimally invasive surgery, targeted drug delivery, and bioengineering applications as they can directly and non-invasively access confined and hard-to-reach spaces in the human body. For such potential biomedical applications, the adaptivity of the robot control is essential to ensure the continuity of the operations, as task environment conditions show dynamic variations that can alter the robot's motion and task performance. The applicability of the conventional modeling and control methods is further limited for soft robots at the small-scale owing to their kinematics with virtually infinite degrees of freedom, inherent stochastic variability during fabrication, and changing dynamics during real-world interactions. To address the controller adaptation challenge to dynamically changing task environments, we propose using a probabilistic learning approach for a millimeter-scale magnetic walking soft robot using Bayesian optimization (BO) and Gaussian processes (GPs). Our approach provides a data-efficient learning scheme by finding the gait controller parameters while optimizing the stride length of the walking soft millirobot using a small number of physical experiments. To demonstrate the controller adaptation, we test the walking gait of the robot in task environments with different surface adhesion and roughness, and medium viscosity, which aims to represent the possible conditions for future robotic tasks inside the human body. We further utilize the transfer of the learned GP parameters among different task spaces and robots and compare their efficacy on the improvement of data-efficient controller learning.

The effects of human following behaviours on decision making during aperture crossing scenarios.

BACKGROUND: Everyday locomotion often requires that we navigate crowded and cluttered environments. Individuals navigating through nonconfined space will require a deviation from the straight path in order to avoid apertures smaller than 1.4 times their shoulder width. When in a crowd, humans will follow the behaviours of those directly in front of them, making changes to their walking speed and direction heading based on the changes made by the people they are following. RESEARCH QUESTION: The current study aimed to discover whether the decisions made by young adults regarding the passability of an aperture would be influenced by the presence of a leader completing the same nonconfined aperture crossing task. METHODS: Participants (N = 24) walked in a virtual reality environment along a 6.5 m pathway towards a goal while avoiding two virtual poles which created an aperture (0.8-1.8 times the participants' shoulder widths). For some trials, a sex-matched avatar (shoulder width of 0.8, 1.0, or 1.2 times the participants' shoulder widths) completed the aperture crossing task, using its own body-scaled information, ahead of the participant. RESULTS: Participants walked through apertures smaller than 1.4 times their shoulder width (i.e. critical point) regardless of avatars' independent behaviours. Participants began to deviate 3.69 m from the aperture on all trials that required a deviation and approached their goal at a slower speed when the avatar was present. SIGNIFICANCE: This study demonstrates that during a nonconfined aperture crossing task, individuals are not influenced by human following behaviours and will continue to make decisions based on their own body-scaled information.

Stability control in older adults with asymmetrical load carrying when stepping down a curb.

We investigated the effect of asymmetric load carrying using different bag types with the dominant and non-dominant hands on upper limb coordination, walking adaptations, and stability control in a curb-descend task in older adults. Fourteen participants walked on a pathway with a 16-cm curb located in the middle. They walked without a load or asymmetrically carrying a load corresponding to 7% of their body mass. The weight was placed in two different bags (with and without strap) and carried by the dominant and non-dominant hands. The upper limb coordination analysis showed that the anti-phase pattern between right and left shoulder reduced considerably due to the almost motionless shoulder of the side carrying the load. The spatial-temporal walking parameters and curb negotiation variables were unaffected by load carriage. The margin of stability (MoS) was unchanged by load transportation in the AP direction. In the ML direction, taking the bag on the same side of the foot contacting the floor increased the MoS; however, when the load was incorporated into the COM model, the MoS did not differ anymore from the control condition. The changes in interlimb coordination reflected a strategy to prevent unexpected movements of the bag that could threaten body stability. Healthy older adults were able to predict the consequences of carrying a load and kept the MoS constant. They compensated for the disturbance caused by the transport of a relatively moderate load and performed the descending curb task successfully.

The Critical Point to Step into a Hole is Similar in Young and Older Adults.

The avoidance of a hole in the pathway while walking has been systematically investigated; however, depending on the dimensions of the hole, the option to avoid it is infeasible, and it is necessary to use the so-called accommodation strategy to step into the hole. We investigated the critical point between the avoidance and accommodation strategies when dealing with a hole in the ground during locomotion of young and older adults. Young and older adults performed two tasks: verbal estimation and walking. We used holes of different lengths and constant depth (12 cm). In the verbal estimation task, participants stood and looked at each hole and verbally respond if they would step into or avoid it. In the walking task, they walked and chose to either step or avoid the hole. Both age groups preferred to step into the hole when it was larger than 1.3 times their foot length in both tasks. The perception of affordances of young and older adults to step into a hole was similar, and it was unaffected by the investigated tasks. Thus, our participants preferred to have a safety margin that was large enough to guarantee that the whole foot would accommodate within the hole.

Asymmetrical load-carrying while stepping down a curb in young adults.

BACKGROUND: Asymmetrical load-carrying while walking requires modifications in joint forces to compensate the extra mass and ensure body stability, particularly when the environment is uneven, such as with a curb. Carrying a bag with one hand (dominant or non-dominant) may constrain the movement of the arm, altering the interlimb coordination of the upper limbs. Prior studies did not show changes in interlimb coordination when a light load was attached to the wrist, but the use of a bag to carry the load can be potentially disturbing since exaggerated movements of the bags may compromise balance. In this case, changes in interlimb coordination would be expected to minimize bag movements. However, it is not clear if these changes in interlimb coordination would be sufficient to affect the curb negotiation task. RESEARCH QUESTION: We investigated the effect of asymmetric load-carrying using different bag types with the dominant and non-dominant hands on upper limb coordination and walking adaptations in a curb negotiation task in young adults. METHODS: Seventeen young adults walked and stepped down a curb while carrying a bag with 7% of their body mass. The experimental conditions were to walk without the bag, carrying the bag (with and without strap) using the dominant and non-dominant hand. RESULTS: Carrying the bag reduced the anti-phase pattern and increased the right or left shoulder phases, depending on the side used to carry the bag. It means that the limb that carried the load almost did not move while stepping down the curb. Load transportation did not influence foot-curb negotiation variables. SIGNIFICANCE: Our study indicates that a mild load and the bag influenced the interlimb coordination of the upper limbs. Despite that, young adults compensated for the disturbance caused by the load carriage and did not compromise the curb negotiation task.

Effect of a cognitive task on online adjustments when avoiding stepping on an obstacle and stepping on a target during walking in young adults.

During locomotion, we respond to environmental and task changes by adjusting steps length and width. Different protocols involving stepping on targets and obstacle avoidance suggest the involvement of cortical and subcortical pathways in these online adjustments. The addition of a concomitant cognitive task (CT) can affect these online corrections depending on the neural pathway used. Thereby, we investigated the online adjustment using a target stepping task and a planar obstacle avoidance task in young adults and analyzed the effect of a CT on these adjustments. Twenty young adults executed two blocks of trials of walking performing the target task (TT) and obstacle avoidance task (OAT), with and without a concomitant CT. In the TT, participants stepped on a target projected on the ground, whereas in the OAT they avoided stepping on an obstacle projected on the ground. The target/obstacle could change its original position in four directions at contralateral foot contact on the ground. Overall, the CT did not affect the latency to start the adjustments due to target/obstacle change. The main changes were restricted to the frontal plane adjustments. The latency for the medial and lateral choices in the OAT was ~ 200 ms, whereas for the TT was ~ 150 ms. These results suggest the involvement of a slow cortical pathway in the OAT in the frontal plane modifications. In turn, the TT may be controlled by one of two fast adjustment neural pathways.

Failures in adaptive locomotion: trial-and-error exploration to determine adequate foot elevation over obstacles.

Lifting the limb sufficiently to clear an obstacle seems like a straightforward task, yet trips are a common cause of falls across all ages. Examination of obstacle contacts in the lab revealed a progressive decrease in foot elevation with repeated exposures, ultimately resulting in failure (Heijnen et al. Exp Brain Res 23:219-231, 2012). The purpose of this study was to determine if the progressive decrease in foot elevation continued when knowledge of obstacle contact was removed. Twenty-one young adults (mean 20.0 ± 1.0 years; 8 males) crossed a 20 cm obstacle in a 12 m walkway for 150 trials. The obstacle was covertly lowered between the lead and trail limb crossing of the obstacle, which eliminated obstacle contact with the trail limb if the limb was too low. The average failure rate was 8%, substantially higher than the 1-2% observed for stationary, visible obstacles. Therefore, tactile information from obstacle contact was instrumental for guiding the trail limb; visual information and joint angle information were insufficient for most participants. Foot elevation change over successive trials varied across participants, and was categorized as (1) asymptotic decrease (N = 11, 52%), with foot elevation converging to obstacle height, (2) linear decrease (N = 7, 33%), and (3) stable (N = 3, 14%). The asymptotic and stable groups appeared to have reasonable knowledge of obstacle height; the linear group did not. The asymptotic behavior is consistent with participants exploring the region above the obstacle through trial-and-error to determine appropriate foot elevation.

Modular organization of muscle activity patterns in the leading and trailing limbs during obstacle clearance in healthy adults.

Human locomotor patterns require precise adjustments to successfully navigate complex environments. Studies suggest that the central nervous system may control such adjustments through supraspinal signals modifying a basic locomotor pattern at the spinal level. To explore this proposed control mechanism in the leading and trailing limbs during obstructed walking, healthy young adults stepped over obstacles measuring 0.1 and 0.2 m in height. Unobstructed walking with no obstacle present was also performed as a baseline. Full body three-dimensional kinematic data were recorded and electromyography (EMG) was collected from 14 lower limb muscles on each side of the body. EMG data were analyzed using two techniques: by mapping the EMG data to the approximate location of the motor neuron pools on the lumbosacral enlargement of the spinal cord and by applying a nonnegative matrix factorization algorithm to unilateral and bilateral muscle activations separately. Results showed that obstacle clearance may be achieved not only with the addition of a new activation pattern in the leading limb, but with a temporal shift of a pattern present during unobstructed walking in both the leading and trailing limbs. An investigation of the inter-limb coordination of these patterns suggested a strong bilateral linkage between lower limbs. These results highlight the modular organization of muscle activation in the leading and trailing limbs, as well as provide a mechanism of control when implementing a locomotor adjustment when stepping over an obstacle.