Control of Gait Initiation

The initiation of gait from a standing posture by 6 subjects, who took controlled-length steps, was analyzed. Using an inverted-pendulum model, we found that the duration of gait initiation was independent of gait velocity. This finding suggests that subjects' biomechanical constants are the determining factors for initiating movement. Both the instantaneous velocity of the center of gravity at the end of the first step (resulting in the propulsive forces measured on the ground) and the steady-state velocity (resulting in the step length and frequency) varied with step length, whereas step frequency did not. But step frequency and progression velocity were linked, for step frequency always increased in parallel with increased progression velocity. We interpret the correlation between velocity and frequency variations to be a peripheral expression of the posturodynamic control of the step parameters by the progression forces.     

A Note on Motor Learning Without Post-Response Knowledge of Results

The authors studied the adjustment of the 2 distinct known expressions of gait velocity, the velocity of the center of gravity (CG) and the velocity of the center of foot pressure (CP) at the end of the 1st step in 2 experimental situations: natural gait initiation (the control situation, CS) and heel-off gait initiation (the test situation, TS). Gait was initiated by 7 healthy participants, from an erect spontaneous posture in the CS and from a posture with heels raised in the TS, on a force platform at 3 self-selected speed conditions. Biomechanical data from the force platform were collected in both experimental situations, and the authors used a particular gait analysis based on the differential method of Y. Brenière (2003) in order to approach velocity modulation by means of step length and frequency. Results showed that CG and CP velocities were adjusted differently during heel-off gait initiation than during natural gait initiation. CP velocity, as compared with CG velocity, was overestimated in TS. Results also established the relevance of the expression of step velocity by means of step length and frequency: The central nervous system, taking into account the specific postural constraints of each experimental situation, uses a reference value and a regulating parameter to modulate step velocity. Moreover, the contributions of 1st step length and frequency to the expression of step velocity in TS and CS were different. Thus, a specific locomotor behavior corresponds to a given experimental situation that is characterized by its own initial biomechanical constraints.     

How does the heel-off posture modify gait initiation parameter programming?

The authors studied the adjustment of the 2 distinct known expressions of gait velocity, the velocity of the center of gravity (CG) and the velocity of the center of foot pressure (CP) at the end of the 1st step in 2 experimental situations: natural gait initiation (the control situation, CS) and heel-off gait initiation (the test situation, TS). Gait was initiated by 7 healthy participants, from an erect spontaneous posture in the CS and from a posture with heels raised in the TS, on a force platform at 3 self-selected speed conditions. Biomechanical data from the force platform were collected in both experimental situations, and the authors used a particular gait analysis based on the differential method of Y. Brenière (2003) in order to approach velocity modulation by means of step length and frequency. Results showed that CG and CP velocities were adjusted differently during heel-off gait initiation than during natural gait initiation. CP velocity, as compared with CG velocity, was overestimated in TS. Results also established the relevance of the expression of step velocity by means of step length and frequency: The central nervous system, taking into account the specific postural constraints of each experimental situation, uses a reference value and a regulating parameter to modulate step velocity. Moreover, the contributions of 1st step length and frequency to the expression of step velocity in TS and CS were different. Thus, a specific locomotor behavior corresponds to a given experimental situation that is characterized by its own initial biomechanical constraints.     

Emotional state affects the initiation of forward gait

The aim of the current study was to determine the extent to which pleasant and unpleasant emotional states impact the initiation of forward gait. Participants initiated gait and walked for several steps following the presentation of low arousing pleasant, high arousing pleasant, low arousing unpleasant, high arousing unpleasant, and neutral pictures. Reaction time, displacement, and velocity of the center of pressure (COP) trajectory, and length and velocity of the first and second steps were calculated. Exposure to the highly arousing unpleasant pictures reduced reaction times compared to all other affective conditions. Compared to the low arousing unpleasant pictures, exposure to the high and low arousing pleasant pictures increased the displacement of the COP movement during the anticipatory postural adjustment phase of gait initiation. Additionally, exposure to the low arousing pleasant pictures increased the velocity of the COP movement during the anticipatory postural adjustment phase, compared to the high and low arousing unpleasant pictures. Exposure to the high and low arousing pleasant pictures increased the velocity of the first step relative to the low arousing unpleasant pictures. These findings demonstrate that highly arousing unpleasant emotional states accelerate the initial motor response, but pleasant emotional states generally facilitate the initiation of forward gait due to the approach-oriented directional salience of the movement. These findings extend the scope of the motivational direction hypothesis by demonstrating the effects of emotional reactivity on the initiation of gait.     

Analysis of the transition from upright stance to steady state locomotion in children with under 200 days of autonomous walking

The aim of this paper was to study, from a developmental perspective, the transient phase of gait during the period between the standing posture and the achievement of steady state gait, using temporal and biochemical parameters. Eight children who had been walking autonomously for 90 to 200 days were observed. A total of 64 sequences of steps were analyzed. A sequence of steps began with the child standing still and was executed on a large force plate. From the determination of the instantaneous velocity of center of gravity results establish that, unlike adults, progression velocity in children end of the first step, but after two to four steps.The gait initiation process does not depend on the steady state velocity, but results from an initial fall. The duration of the movement up to the end of the first step is independent of the progression velocity but depends only upon the body mass and moment of inertia of the children.     

Postural requirements and progression velocity in young walkers

This article describes developmental changes in gait velocity and relates these changes to gait parameters that index postural stability (step width and lateral acceleration) and two components of velocity (cadence and step length). Five children were observed longitudinally over a 2-year period after onset of independent walking. Their range of speed increased threefold in the first 6 months of independent walking and then remained constant. In contrast, step width decreased approximately twofold. Whereas in adults, cadence and step length contribute approximately equally to speed, when infants first begin to walk independently, increase in velocity is due mostly to increased step length. After 5 months of independent walking, the pattern reverses, and increase in velocity is due primarily to increased cadence. The pattern remains constant over the next 18 months. From a developmental point of view, the data lead us to interpret early walking (the first 5 months) as a process of integration of postural constraints into the dynamic necessities of gait movement. A second phase, beginning after 4 to 5 months of independent walking, is considered to be a tuning phase characterized by a more precise adjustment of the gait parameters.     

Postural Requirements and Progression Velocity in Young Walkers

This article describes developmental changes in gait velocity and relates these changes to gait parameters that index postural stability (step width and lateral acceleration) and two components of velocity (cadence and step length).

Five children were observed longitudinally over a 2-year period after onset of independent walking. Their range of speed increased threefold in the first 6 months of independent walking and then remained constant. In contrast, step width decreased approximately twofold. Whereas in adults, cadence and step length contribute approximately equally to speed, when infants first begin to walk independently, increase in velocity is due mostly to increased step length. After 5 months of independent walking, the pattern reverses, and increase in velocity is due primarly to increased cadence. The pattern remains constant over the next 18 months. From a developmental point of view, the data lead us to interpret early walking (the first 5 months) as a process of integration of postural constraints into the dynamic necessities of gait movement. A second phase, beginning after 4 to 5 months of independent walking, is considered to be a tuning phase characterized by a more precise adjustment of the gait parameters.     

Emotional state affects gait initiation in individuals with Parkinson’s disease

The purpose of the present study was to determine the impact of manipulating emotional state on gait initiation in persons with Parkinson’s disease (PD) and healthy older adults. Following the presentation of pictures that are known to elicit specific emotional responses, participants initiated gait and continued to walk for several steps at their normal pace. Reaction time, the displacement and velocity of the center of pressure (COP) trajectory during the preparatory postural adjustments, and length and velocity of the first two steps were measured. Analysis of the gait initiation measures revealed that exposure to (1) threatening pictures, relative to all other pictures, speeded the initiation of gait for PD patients and healthy older adults; (2) approach-oriented emotional pictures (erotic and happy people), relative to withdrawal-oriented pictures, facilitated the anticipatory postural adjustments of gait initiation for PD patients and healthy older adults, as evidenced by greater displacement and velocity of the COP movement; and (3) emotional pictures modulated gait initiation parameters in PD patients to the same degree as in healthy older adults. Collectively, these findings hold significant implications for understanding the circuitry underlying the manner by which emotions modulate movement and for the development of emotion-based interventions designed to maximize improvements in gait initiation for individuals with PD.     

Differential method of characterizing gait strategies from step lengths and frequencies: strategy of velocity modulation

The differential method consists of the analysis of the variation of gait parameters length, frequency, and velocity with respect to their mean values, respectively, Delta L = L - L(m), Delta f = f - f(m), and Delta v = v - vm, where L(m), f(m), and v(m) represent the mean values of those parameters. Assuming that the strategy of modulation of velocity implies that L and f are functions of v and that statistical analyses of ratios Delta L/Delta v and Delta f/Delta v have established that there is a very significant linear correlation, close to 1, between those ratios, the mathematical procedure allows one to determine the equation of step length, L = a x f + b x v + K, where a and b are the slope and the intercept of the linear regression and K is close to L(m). The equation was experimentally tested on 140 gait sequences performed by 6 participants and for gait velocities ranging from 0.6 to 2.2 m/s and was found to be very representative of all individual values. The differential method provides another way of using the derivative of velocity, v = L x f, to characterize the strategy of velocity modulation, which then permits one to determine the linear equation of velocity, v = f x L + L x f(m) - L(m) x f(m), and to show that the respective parts played by each parameter in the progression velocity are approximately equal. The author establishes the uniqueness of the different linear adjustments and discusses the differential method's own modes of use, that is, interindividually or globally.     

Selection of gait parameters during constrained walking

It is commonly thought that at prescribed speeds humans choose gait parameters that minimize the cost of transportation. However, it is unclear whether and how the relationship between step length and step frequency is affected by the additional physiological factors caused by constraints. We performed a series of experiments to understand the selection of gait parameters under different constraints from a probabilistic perspective. First, we show that the effect of constraining step length on step frequency (i.e., monotonically decrease, Experiment I) is different from the effect of constraining step frequency on step length (i.e., inverted-U, Experiment II). Using the results from Experiment I and II, we summarized the marginal distribution of step length and step frequency and built their joint distribution in a probabilistic model. The probabilistic model predicts the selection of gait parameters by achieving the maximum probability of joint distribution of step length and step frequency. In Experiment III, the probabilistic model could well predict gait parameters at prescribed speeds, and it is similar to minimizing the cost of transportation. Finally, we show that the distribution of step length and step frequency were completely different between constrained and non-constrained walking. We argue that constraints in walking are major factors determining how humans choose gait parameters due to their involvement of mediators, i.e., attention or active control. Using the probabilistic model to account for gait parameters has an advantage compared with fixed-parameter models in that it can still include the effect of hidden mechanical, neurophysiological, or psychological variables by grouping them into distribution curves.     

Spatial and temporal variability of movement parameters in individuals with Down syndrome

This investigation compared spatial and temporal gait movement parameters of a sample of individuals with Down syndrome (n=12) and one of individuals without disabilities (n=12). All participants were evaluated on responses to a preferred pace and fast walk with the GAITRite Electronic Walkway. Spatial outcomes included step and stride length, step and stride width, toe-in/toe-out, and base of support. Temporal outcomes included step time, velocity, single and double leg support time, stance, and swing time. There were significant group differences for step length, step width, stride length, and velocity in the preferred walk condition. Significant group differences for step length, step width, and stride length were observed in the fast walk condition. Percentage differences also indicated lower scores for all spatial and temporal variables in relation to the control group. The ability to control gait movements appears to reflect earlier movement experiences, so it may be possible to use variable sensory feedback and specific training to modify and adjust movement responses and improve gait performance in Down syndrome.     

Gait control in children with attention-deficit/hyperactivity disorder

The current profile of gait control in children with ADHD is incomplete and predominately based on children walking forward at a self-selected pace. There are no studies of potential gait deficits in this clinical population when walking in different directions in combination with varying rates of stepping that are freely selected and entrained to an external stimulus. The purpose of the current study was to address this lack of information by assessing gait of children aged 7–17 years with (n = 17) and without (n = 26) ADHD. Participants walked forward and backward along an electronically instrumented carpet at a self-selected stepping rate and in synchrony to a metronome that dictated an increased and decreased stepping rate. Using repeated measures analysis of covariance (ANCOVA) to assess spatiotemporal gait parameters, results showed that children with ADHD exhibited a significantly exaggerated, toes ‘turned out,’ foot position for all walking conditions compared to typically developing children. When walking backward, children with ADHD produced an increased step width, higher stepping cadence, and increased velocity. Additionally, coefficient of variation ratios indicated that children with ADHD produced greater variability of velocity, cadence, and step time for all walking conditions, and greater variability for stride length when walking at an increased stepping rate. Results were interpreted in terms of clinical significance and practical ramifications that inform rehabilitation specialists in designing therapies that ameliorate the reported gait deficits.     

Investigating the efficacy of a tactile feedback system to increase the gait speed of older adults

The objective of this study was to determine (1) if a novel haptic feedback system could increase the walking speed of older adults while it is being employed during overground walking and (2) whether the frequency at which this feedback was presented would have a differential impact on the ability of users to change walking speed while it was present. Given that peak thigh extension has been found to be a biomechanical surrogate for stride length, and consequently gait speed, vibrotactile haptic feedback was provided to the participants' thighs as a cue to increase peak thigh extension while the effect on gait speed was monitored. Ten healthy community-dwelling older adults (68.4 ± 4.1 years) participated. Participants' peak thigh extension, cadence, normalized stride length and velocity, along with their coefficients of variation (COV) were compared across baseline normal and fast walking (with no feedback) and three different frequency of feedback conditions. The findings indicated that, compared to self-selected normal and fast walking speeds, peak thigh extension was significantly increased when feedback was present and after it was withdrawn in a post-test. An increase in thigh extension led to an increase in stride length and, consequently, an increase in stride velocity compared to normal speed. There were no significant differences in the gait parameters as a function of feedback frequency during its application. In conclusion, while present, the haptic feedback system increased thigh extension and walking speed in older adults regardless of the feedback frequency and when the feedback was withdrawn, participants could maintain an increase in those parameters.     

Effects of approach velocity and foot-target characteristics on the visual regulation of step length.

Two questions emerge from the literature concerning the perceptual-motor processes underlying the visual regulation of step length. The first concerns the effects of velocity on the onset of visual control (VCO), when visual regulation of step length begins during goal-directed locomotion. The second concerns the effects of different obstacles such as a target or raised surface on step length regulation. In two separate experiments, participants (Experiment 1 & 2: n=12, 6 female, 6 male) walked, jogged, or sprinted towards an obstacle along a 10 m walkway, consisting of two marker-strips with alternating black and white 0.50 m markings. Each experiment consisted of three targeting or obstacle tasks with the requirement to both negotiate and continue moving (run-through) through the target. Five trials were conducted for each task and approach speed, with trials block randomised between the six participants of each gender. One 50 Hz video camera panned and filmed each trial from an elevated position, adjacent to the walkway. Video footage was digitized to deduce the gait characteristics. Results for the targeting tasks indicate a linear relationship between approach velocity and accuracy of final foot placement (r=0.89). When foot placement was highly constrained by the obstacle step length shortened during the entire approach. VCO was found to occur at an earlier tau-margin for lower approach velocities for both experiments, indicating that the optical variable 'tau' is affected by approach velocity. A three-phase kinematic profile was found for all tasks, except for the take-off board condition when sprinting. Further research is needed to determine whether this velocity affect on VCO is due to 'whole-body' approach velocity or whether it is a function of the differences between gait modes.     

Information for step length adjustment in running

The purpose of this study was to directly test the hypothesis that the tau parameter, as introduced by Lee et al. [Lee, D. N., Lishman, J. R., & Thomson, J. A. (1982). Regulation of gait in long jumping. Journal of Experimental Psychology: Human Perception and Performance, 8, 448-459] and Warren et al. [Warren, W. H., Young, D. S., & Lee, D. N. (1986). Visual control of step length during running over irregular terrain. Journal of Experimental Psychology: Human Perception and Performance, 12, 259-266], is the primary information used to regulate step length in running toward a ground target. Visual information available to research participants performing a facsimile of a long jump approach run was manipulated, and the effects on task performance and running gait were observed. Task performance and running gait were unaffected or minimally affected by (a) a perturbation of the normal optical expansion of the target, (b) elimination of global optical flow - including the focus of expansion, and (c) elimination or severe degradation of visual information about distance from the target as well as running velocity. The findings are inconsistent with notions that time-to-arrival with a ground target while running is predominantly specified optically by (a) local tau, (b) global tau, or (c) a distance/velocity computational strategy. A multisensory tau hypothesis regarding informational support for step length adjustment in running is offered.     

Older adults exhibit variable responses in stepping behaviour following unexpected forward perturbations during gait initiation

With the socioeconomic burden associated with falls expected to rise as the average age of the Canadian population increases, research is needed to elucidate the nature of postural responses generated by older adults (OA) following a posture-destabilizing event. This knowledge is even more imperative for novel and difficult tasks, such as gait initiation (GI), a task known to pose a postural threat to stability for OA. A common technique to regain stability following an unexpected perturbation is reactive stepping. A deficiency in the execution of a reactive control strategy following a destabilizing event may be the cause of many unexpected falls in OA. The purpose of this study is to explore age related changes in the nature of these responses during a challenging GI task combined with an unexpected forward perturbation of the support surface. A total of 18 young adults (YA) and 16 OA performed 36 trials containing 20 unexpected perturbations. We calculated step width, length, time and COM velocity in the first unperturbed step and the second perturbed step. Results revealed that, during unperturbed GI, OA had a reduced forward velocity and took shorter, faster steps. Following forward perturbations, OA altered stepping patterns, perhaps to reduce single support duration, via reduced base of support and shorter step length compared to YA. Additionally, OA executed both forward and backwards directed steps however YA only generated forward steps. Regression analyses revealed that reduced forward velocity was predictive of step direction; which is possibly an unfavorable motor control strategy as OA who walk slower generated a posterior directed step immediately following the perturbation. This strategy is of concern as rapid responses by the trail limb are required to recover successfully, and these alterations may be associated with an elevated risk of falls.     

Using swing resistance and assistance to improve gait symmetry in individuals post-stroke

A major characteristic of hemiplegic gait observed in individuals post-stroke is spatial and temporal asymmetry, which may increase energy expenditure and the risk of falls. The purpose of this study was to examine the effects of swing resistance/assistance applied to the affected leg on gait symmetry in individuals post-stroke. We recruited 10 subjects with chronic stroke who demonstrated a shorter step length with their affected leg in comparison to the non-affected leg during walking. They participated in two test sessions for swing resistance and swing assistance, respectively. During the adaptation period, subjects counteracted the step length deviation caused by the applied swing resistance force, resulting in an aftereffect consisting of improved step length symmetry during the post-adaptation period. In contrast, subjects did not counteract step length deviation caused by swing assistance during adaptation period and produced no aftereffect during the post-adaptation period. Locomotor training with swing resistance applied to the affected leg may improve step length symmetry through error-based learning. Swing assistance reduces errors in step length during stepping; however, it is unclear whether this approach would improve step length symmetry. Results from this study may be used to develop training paradigms for improving gait symmetry of stroke survivors.     

Processes of anticipatory postural adjustment and step movement of gait initiation

The purpose of this study was to elucidate whether the anticipatory postural adjustment (APA) and focal step movement of gait initiation are produced as a single process or different processes and whether the APA receives an inhibitory drive from the ongoing stop process of gait initiation. Healthy humans initiated gait in response to a first visual cue that instructed the initial swing leg. In some trials, a switch or stop cue was also provided after the first cue. When the stop cue was provided, participants withheld gait initiation. When the switch cue was provided, participants immediately switched the initial swing leg. In both the stop and switch tasks, the APA in response to the first cue, represented by the S1 period of the displacement of the center of pressure, appeared in more than half of the trials in which the withholding of gait initiation or switching of the initial swing leg was successfully completed. These findings indicate that the APA and focal step movement of gait initiation are produced as a dual process. In trials in which the APA in response to the first cue appeared, the amplitude and duration of the APA were decreased when the participants switched the initial swing leg or withheld gait initiation. This finding indicates that the ongoing stop process of gait initiation produces an inhibitory drive over the APA. The decreases in the amplitude and duration of the APA during the switching of the initial swing leg were similar to those during the withholding of gait initiation; moreover, the decreases during the switching of the initial swing leg were positively correlated with the decreases during the withholding of gait initiation. Thus, the stop processes during switching the initial swing leg and withholding gait initiation likely share a common inhibitory mechanism over the APA.     

Dynamical implication of anatomical and mechanical parameters in gait initiation process in children

This study analyses the incidence of anatomical (mass, height, inertia) and mechanical (gravity) parameters on the duration of gait initiation, from a standing posture, in children. Twenty-one children, aged 4, 6 and 8 years, participated in the study. Experimental and theoretical values of the duration of gait initiation are compared. The experimental data are computed from children's gait executed on a force plate. The theoretical data are computed by using an inverted-pendulum model. The results show that (1) duration of gait initiation is independent of gait velocity, as it is in adults; (2) the experimental values are very close to the theoretical values. These findings suggest that children's biomechanical constants are determining factors for initiating movement. It is hypothesized that the capacity to combine and adapt properties of the body with dynamics of the context is acquired through practice of independent walking.     

Why We Walk the Way We Do

By using inverse dynamics and forceplate recordings, this study established the principle of oscillating systems and the influence of gravity and body parameters on the programming of the gait parameters, step frequency and length. Calculation of the ratio of the amplitude of the center of mass (CM) and the center of foot pressure (CP) oscillations yielded an equation and established a biomechanical constant, the natural body frequency (NBF). NBF appears to be an absolute invariant parameter, specific to human standing posture and gait in terrestrial gravity, which influences the relative positions of CM and CP and whose value separates the frequency bands of standing posture from those for gait. This equation was tested by using the experimental paradigm of stepping in place and then used in calculating the magnitude of CM oscillations during gait. The biomechanical analysis of the experimental observations allows one to establish the relationships between body parameters and gravity and the central programming of locomotor parameters.