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During walking, the elevation angles of the thigh, shank and foot (i.e. the angle between the segment and the vertical) co-vary along a characteristic loop constrained on a plane. Here we investigate how the shape of the loop and the orientation of the plane, which reflects the intersegmental coordination, change with the slope of the terrain and the speed of progression. Ten subjects walked on an inclined treadmill at different slopes (between -9° and +9°) and speeds (from 0.56 to 2.22 m s-127 ). A principal component analysis was performed on the covariance matrix of the thigh, shank and foot elevation angles. At each slope and speed, the variance accounted for by the two principal components was >99% indicating that the planar covariation is maintained. The two principal components can be associated to the limb orientation (PC1*) and the limb length (PC2*). At low walking speeds, changes in the intersegmental coordination across slopes are characterized mainly by a change in the orientation of the covariation plane and in PC2*; and to a lesser extent by a change in PC1*. As speed increases, changes in the intersegmental coordination across slopes are more related to a change in PC1*, with limited changes in the orientation of the plane and in PC2*. Our results show that the kinematic patterns highly depend on both slope and speed.

Neuroprosthetic technology and robotic exoskeletons are being developed to facilitate stepping, reduce muscle efforts, and promote motor recovery. Nevertheless, the guidance forces of an exoskeleton may influence the sensory inputs, sensorimotor interactions and resulting muscle activity patterns during stepping. The aim of this study was to report the muscle activation patterns in a sample of intact and injured subjects while walking with a robotic exoskeleton and, in particular, to quantify the level of muscle activity during assisted gait. We recorded electromyographic (EMG) activity of different leg and arm muscles during overground walking in an exoskeleton in six healthy individuals and four spinal cord injury (SCI) participants. In SCI patients, EMG activity of the upper limb muscles was augmented while activation of leg muscles was typically small. Contrary to our expectations, however, in neurologically intact subjects, EMG activity of leg muscles was similar or even larger during exoskeleton-assisted walking compared to normal overground walking. In addition, significant variations in the EMG waveforms were found across different walking conditions. The most variable pattern was observed in the hamstring muscles. Overall, the results are consistent with a non-linear reorganization of the locomotor output when using the robotic stepping devices. The findings may contribute to our understanding of human-machine interactions and adaptation of locomotor activity patterns., Biomechanical Engineering, Mechanical, Maritime and Materials Engineering

The principle of dynamic similarity states that the optimal walking speeds of geometrically similar animals are independent of size when speed is normalized to the dimensionless Froude number (Fr). Furthermore, various studies have shown similar dimensionless optimal speed (Fr ∼0.25) for animals with quite different limb geometries. Here, we wondered whether the optimal walking speed of humans depends solely on total limb length or whether limb segment proportions play an essential role. If optimal walking speed solely depends on the limb length then, when subjects walk on stilts, they should consume less metabolic energy at a faster optimal speed than when they walk without stilts. To test this prediction, we compared kinematics, electromyographic activity and oxygen consumption in adults walking on a treadmill at different speeds with and without articulated stilts that artificially elongated the shank segment by 40 cm. Walking on stilts involved a non-linear reorganization of kinematic and electromyography patterns. In particular, we found a significant increase in the alternating activity of proximal flexors-extensors during the swing phase, despite significantly shorter normalized stride lengths. The minimal metabolic cost per unit distance walked with stilts occurred at roughly the same absolute speed, corresponding to a lower Fr number (Fr ∼0.17) than in normal walking (Fr ∼0.25). These findings are consistent with an important role of limb geometry optimization and kinematic coordination strategies in minimizing the energy expenditure of human walking., Journal Article, Research Support, Non-U.S. Gov't, SCOPUS: ar.j, info:eu-repo/semantics/published

The inverted pendulum model in which the centre of mass of the body vaults over the stance leg in an arc represents a basic mechanism of bipedal walking. Is the pendulum mechanism innate, or is it learnt through walking experience? We studied eight toddlers (about 1 year old) at their first unsupported steps, 18 older children (1.3-13 years old), and ten adults. Two infants were also tested repeatedly over a period of 4 months before the onset of independent walking. Pendulum mechanism was quantified from the kinematics of the greater trochanter, correlation between kinetic and gravitational potential energy of the centre of body mass obtained from the force plate recordings, and percentage of recovery of mechanical energy. In toddlers, these parameters deviated significantly (P<10(-5)) from those of older children and adults, indicating that the pendulum mechanism is not implemented at the onset of unsupported locomotion. Normalising the speed with the Froude number showed that the percentage of recovery of mechanical energy in children older than 2 years was roughly similar to that of the adults (less than 5% difference), in agreement with previous results. By contrast, the percentage of recovery in toddlers was much lower (by about 50%). Pendulum-like behaviour and fixed coupling of the angular motion of the lower limb segments rapidly co-evolved toward mature values within a few months of independent walking experience. Independent walking experience acts as a functional trigger of the developmental changes, as shown by the observation that gait parameters remained unchanged until the age of the first unsupported steps, and then rapidly matured after that age. The findings suggest that the pendulum mechanism is not an inevitable mechanical consequence of a system of linked segments, but requires active neural control and an appropriate pattern of inter-segmental coordination., Comparative Study, Journal Article, Research Support, Non-U.S. Gov't, info:eu-repo/semantics/published

We analysed the co-ordination of the elevation angles of the thigh (alpha(t)), shank (alpha(s)) and foot (alpha(f)) during walking in 19 adults and 21 children (aged 11--144 months), including the very first unsupported steps in four. Cross-correlation functions (CCF) maturation of pairs of elevation angles was quantified by a global error parameter (Et((CCF))) reflecting the difference between particular CCF value of toddlers and mean adult value (Ea((CCF))). During the very first step, Et((CCF)) could be five times higher than Ea((CCF)). With walking experience, Et((CCF)) for both alpha(t)-alpha(s) and alpha(s)-alpha(f) pairs evolved following a biexponential profile, with a fast time constant below 6 months. Adult-like CCF parameters were reached earlier for alpha(s)-alpha(f) than alpha(t)-alpha(s), indicating disto-proximal maturation of the temporal co-ordination of the lower limb segments in human locomotion., Journal Article, Research Support, Non-U.S. Gov't, info:eu-repo/semantics/published

info:eu-repo/semantics/published

info:eu-repo/semantics/published

Positron emission tomography (PET) was used to identify cortical and subcortical regions involved in the control of reaching to visual targets. Regional cerebral blood flow (rCBF) was measured in eight healthy subjects using H2(15)O PET during the performance of three different tasks. All tasks required central fixation while a 400-ms target was flashed every 5 s at a random location around a virtual circle centered on the fixation target. Additional instructions differed according to the task: (i) visual detection of the target without overt responses; (ii) immediate pointing to the most recent target in the sequence, and (iii) pointing to the previous target in the sequence. By design, the two motor tasks differed in the cognitive processing required. In each trial of immediate pointing, the spatial location of only the most recent target needed to be processed. In each trial of pointing to the previous, instead, while the most recent target was stored in memory for the movement of the next trial, the previous target had to be retrieved from memory to direct the current movement. Limb trajectories were comparable between the two motor tasks in terms of most spatiotemporal parameters examined. Significant rCBF increases were identified using analysis of covariance and t statistics. Compared with visual detection there was activation of primary sensorimotor cortex, ventrolateral precentral gyrus, inferior frontal gyrus in the opercular region, supramarginal gyrus, and middle occipital gyrus, all these sites in the hemisphere (left) contralateral to the moving limb, and cerebellar vermis, during both immediate pointing and pointing to the previous. During immediate pointing there was additional activation of left inferior parietal lobule close to the intraparietal sulcus, and when compared with pointing to the previous, dorsolateral prefrontal cortex bilaterally. During pointing to the previous, instead, there was additional activation of supplementary motor cortex