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Sample records for bipedal walking mechanism

  1. Center of mass mechanics of chimpanzee bipedal walking.

    PubMed

    Demes, Brigitte; Thompson, Nathan E; O'Neill, Matthew C; Umberger, Brian R

    2015-03-01

    Center of mass (CoM) oscillations were documented for 81 bipedal walking strides of three chimpanzees. Full-stride ground reaction forces were recorded as well as kinematic data to synchronize force to gait events and to determine speed. Despite being a bent-hip, bent-knee (BHBK) gait, chimpanzee walking uses pendulum-like motion with vertical oscillations of the CoM that are similar in pattern and relative magnitude to those of humans. Maximum height is achieved during single support and minimum height during double support. The mediolateral oscillations of the CoM are more pronounced relative to stature than in human walking when compared at the same Froude speed. Despite the pendular nature of chimpanzee bipedalism, energy recoveries from exchanges of kinetic and potential energies are low on average and highly variable. This variability is probably related to the poor phasic coordination of energy fluctuations in these facultatively bipedal animals. The work on the CoM per unit mass and distance (mechanical cost of transport) is higher than that in humans, but lower than that in bipedally walking monkeys and gibbons. The pronounced side sway is not passive, but constitutes 10% of the total work of lifting and accelerating the CoM. CoM oscillations of bipedally walking chimpanzees are distinctly different from those of BHBK gait of humans with a flat trajectory, but this is often described as "chimpanzee-like" walking. Human BHBK gait is a poor model for chimpanzee bipedal walking and offers limited insights for reconstructing early hominin gait evolution. PMID:25407636

  2. On the Mechanics of Functional Asymmetry in Bipedal Walking

    PubMed Central

    Dhaher, Yasin Y.; Degani, Amir; Lynch, Kevin M.

    2014-01-01

    This paper uses two symmetrical models, the passive compass-gait biped and a five-link 3D biped, to computationally investigate the cause and function of gait asymmetry. We show that for a range of slope angles during passive 2D walking and mass distributions during controlled 3D walking, these models have asymmetric walking patterns between the left and right legs due to the phenomenon of spontaneous symmetry-breaking. In both cases a stable asymmetric family of gaits emerges from a symmetric family of gaits as the total energy increases (e.g., fast speeds). The ground reaction forces of each leg reflect different roles, roughly corresponding to support, propulsion, and motion control as proposed by the hypothesis of functional asymmetry in able-bodied human walking. These results suggest that body mechanics, independent of neurophysiological mechanisms such as leg dominance, may contribute to able-bodied gait asymmetry. PMID:22328168

  3. Bipedal spring-damper-mass model reproduces external mechanical power of human walking.

    PubMed

    Etenzi, Ettore; Monaco, Vito

    2015-01-01

    Previous authors have long investigated the behavior of different models of passive walkers with stiff or compliant limbs. We investigated a model of bipedal mechanism whose limba are provided with damping and elastic elements. This model is designed for walking along an inclined plane, in order to make up the energy lost due to the damping element with that gained thanks to the lowering the CoM. The proposed model is hence able to steadily walk. In particular we investigated the stability of this model by using the Poincaré return map for different dynamical configurations. Then we compared the estimated external mechanical power with experimental data from literature in order to validate the model. Results show that the model is able to reproduce the main features of the time course of the external mechanical power during the gait cycle. Accordingly, dissipative elements coupled with limbs' compliant behavior represent a suitable paradigm, to mimic human locomotion.

  4. Bipedal spring-damper-mass model reproduces external mechanical power of human walking.

    PubMed

    Etenzi, Ettore; Monaco, Vito

    2015-08-01

    Previous authors have long investigated the behavior of different models of passive walkers with stiff or compliant limbs. We investigated a model of bipedal mechanism whose limba are provided with damping and elastic elements. This model is designed for walking along an inclined plane, in order to make up the energy lost due to the damping element with that gained thanks to the lowering the CoM. The proposed model is hence able to steadily walk. In particular we investigated the stability of this model by using the Poincaré return map for different dynamical configurations. Then we compared the estimated external mechanical power with experimental data from literature in order to validate the model. Results show that the model is able to reproduce the main features of the time course of the external mechanical power during the gait cycle. Accordingly, dissipative elements coupled with limbs' compliant behavior represent a suitable paradigm, to mimic human locomotion. PMID:26736788

  5. Theories of bipedal walking: an odyssey.

    PubMed

    Vaughan, Christopher L

    2003-04-01

    In this paper six theories of bipedal walking, and the evidence in support of the theories, are reviewed. They include: evolution, minimising energy consumption, maturation in children, central pattern generators, linking control and effect, and robots on two legs. Specifically, the six theories posit that: (1) bipedalism is the fundamental evolutionary adaptation that sets hominids--and therefore humans--apart from other primates; (2) locomotion is the translation of the centre of gravity along a pathway requiring the least expenditure of energy; (3) when a young child takes its first few halting steps, his or her biomechanical strategy is to minimise the risk of falling; (4) a dedicated network of interneurons in the spinal cord generates the rhythm and cyclic pattern of electromyographic signals that give rise to bipedal gait; (5) bipedal locomotion is generated through global entrainment of the neural system on the one hand, and the musculoskeletal system plus environment on the other; and (6) powered dynamic gait in a bipedal robot can be realised only through a strategy which is based on stability and real-time feedback control. The published record suggests that each of the theories has some measure of support. However, it is important to note that there are other important theories of locomotion which have not been covered in this review. Despite such omissions, this odyssey has explored the wide spectrum of bipedal walking, from its origins through to the integration of the nervous, muscular and skeletal systems.

  6. Forward dynamic simulation of bipedal walking in the Japanese macaque: investigation of causal relationships among limb kinematics, speed, and energetics of bipedal locomotion in a nonhuman primate.

    PubMed

    Ogihara, Naomichi; Aoi, Shinya; Sugimoto, Yasuhiro; Tsuchiya, Kazuo; Nakatsukasa, Masato

    2011-08-01

    Japanese macaques that have been trained for monkey performances exhibit a remarkable ability to walk bipedally. In this study, we dynamically reconstructed bipedal walking of the Japanese macaque to investigate causal relationships among limb kinematics, speed, and energetics, with a view to understanding the mechanisms underlying the evolution of human bipedalism. We constructed a two-dimensional macaque musculoskeletal model consisting of nine rigid links and eight principal muscles. To generate locomotion, we used a trajectory-tracking control law, the reference trajectories of which were obtained experimentally. Using this framework, we evaluated the effects of changes in cycle duration and gait kinematics on locomotor efficiency. The energetic cost of locomotion was estimated based on the calculation of mechanical energy generated by muscles. Our results demonstrated that the mass-specific metabolic cost of transport decreased as speed increased in bipedal walking of the Japanese macaque. Furthermore, the cost of transport in bipedal walking was reduced when vertical displacement of the hip joint was virtually modified in the simulation to be more humanlike. Human vertical fluctuations in the body's center of mass actually contributed to energy savings via an inverted pendulum mechanism.

  7. Segment and joint angles of hind limb during bipedal and quadrupedal walking of the bonobo (Pan paniscus).

    PubMed

    D'Août, Kristiaan; Aerts, Peter; De Clercq, Dirk; De Meester, Koen; Van Elsacker, Linda

    2002-09-01

    We describe segment angles (trunk, thigh, shank, and foot) and joint angles (hip, knee, and ankle) for the hind limbs of bonobos walking bipedally ("bent-hip bent-knee walking," 17 sequences) and quadrupedally (33 sequences). Data were based on video recordings (50 Hz) of nine subjects in a lateral view, walking at voluntary speed. The major differences between bipedal and quadrupedal walking are found in the trunk, thigh, and hip angles. During bipedal walking, the trunk is approximately 33-41 degrees more erect than during quadrupedal locomotion, although it is considerably more bent forward than in normal human locomotion. Moreover, during bipedal walking, the hip has a smaller range of motion (by 12 degrees ) and is more extended (by 20-35 degrees ) than during quadrupedal walking. In general, angle profiles in bonobos are much more variable than in humans. Intralimb phase relationships of subsequent joint angles show that hip-knee coordination is similar for bipedal and quadrupedal walking, and resembles the human pattern. The coordination between knee and ankle differs much more from the human pattern. Based on joint angles observed throughout stance phase and on the estimation of functional leg length, an efficient inverted pendulum mechanism is not expected in bonobos.

  8. Planar covariation of limb elevation angles during bipedal walking in the Japanese macaque.

    PubMed

    Ogihara, Naomichi; Kikuchi, Takeo; Ishiguro, Yutaro; Makishima, Haruyuki; Nakatsukasa, Masato

    2012-09-01

    We investigated the planar covariation of lower limb segment elevation angles during bipedal walking in macaques to elucidate the mechanisms underlying the origin and evolution of the planar law in human walking. Two Japanese macaques and four adult humans walking on a treadmill were recorded, and the time course of the elevation angles at the thigh, shank and foot segments relative to the vertical axis were calculated. Our analyses indicated that the planar law also applies to macaque bipedal walking. However, planarity was much lower in macaques, and orientations of the plane differed between the two species because of differences in the foot elevation angle. The human foot is rigidly structured to form a longitudinal arch, whereas the macaque's foot is more flexible and bends at the midtarsal region in the stance phase. This difference in midfoot flexibility between the two species studied was the main source of the difference in the planar law. Thus, the evolution of a stable midfoot in early hominins may have preceded the acquisition of the strong planar intersegmental coordination and possibly facilitated the subsequent emergence of habitual bipedal walking in the human lineage.

  9. Exploring Toe Walking in a Bipedal Robot

    NASA Astrophysics Data System (ADS)

    Smith, James Andrew; Seyfarth, Andre

    The design and development of locomotory subsystems such as legs is a key issue in the broader topic of autonomous mobile systems. Simplification of substructures, sensing, actuation and control can aid to better understand the dynamics of legged locomotion and will make the implementation of legs in engineered systems more effective. This paper examines recent results in the development of toe walking on the JenaWalker II robot. The robot is shown, while supported on a treadmill, to be capable of accelerating from 0 to over 0.6 m/s without adjustment of control parameters such as hip actuator sweep frequency or amplitude. The resulting stable motion is due to the adaptability of the passive structures incorporated into the legs. The roles of the individual muscletendon groups are examined and a potential configuration for future heel-toe trials is suggested.

  10. Collision-based mechanics of bipedal hopping.

    PubMed

    Gutmann, Anne K; Lee, David V; McGowan, Craig P

    2013-08-23

    The muscle work required to sustain steady-speed locomotion depends largely upon the mechanical energy needed to redirect the centre of mass and the degree to which this energy can be stored and returned elastically. Previous studies have found that large bipedal hoppers can elastically store and return a large fraction of the energy required to hop, whereas small bipedal hoppers can only elastically store and return a relatively small fraction. Here, we consider the extent to which large and small bipedal hoppers (tammar wallabies, approx. 7 kg, and desert kangaroo rats, approx. 0.1 kg) reduce the mechanical energy needed to redirect the centre of mass by reducing collisions. We hypothesize that kangaroo rats will reduce collisions to a greater extent than wallabies since kangaroo rats cannot elastically store and return as high a fraction of the mechanical energy of hopping as wallabies. We find that kangaroo rats use a significantly smaller collision angle than wallabies by employing ground reaction force vectors that are more vertical and center of mass velocity vectors that are more horizontal and thereby reduce their mechanical cost of transport. A collision-based approach paired with tendon morphometry may reveal this effect more generally among bipedal runners and quadrupedal trotters.

  11. Surprising trunk rotational capabilities in chimpanzees and implications for bipedal walking proficiency in early hominins.

    PubMed

    Thompson, Nathan E; Demes, Brigitte; O'Neill, Matthew C; Holowka, Nicholas B; Larson, Susan G

    2015-01-01

    Human walking entails coordinated out-of-phase axial rotations of the thorax and pelvis. A long-held assumption is that this ability relies on adaptations for trunk flexibility present in humans, but not in chimpanzees, other great apes, or australopithecines. Here we use three-dimensional kinematic analyses to show that, contrary to current thinking, chimpanzees walking bipedally rotate their lumbar and thoracic regions in a manner similar to humans. This occurs despite differences in the magnitude of trunk motion, and despite morphological differences in truncal 'rigidity' between species. These results suggest that, like humans and chimpanzees, early hominins walked with upper body rotations that countered pelvic rotation. We demonstrate that even if early hominins walked with pelvic rotations 50% larger than humans, they may have accrued the energetic and mechanical benefits of out-of-phase thoracic rotations. This would have allowed early hominins to reduce work and locomotor cost, improving walking efficiency early in hominin evolution. PMID:26441046

  12. Surprising trunk rotational capabilities in chimpanzees and implications for bipedal walking proficiency in early hominins.

    PubMed

    Thompson, Nathan E; Demes, Brigitte; O'Neill, Matthew C; Holowka, Nicholas B; Larson, Susan G

    2015-10-06

    Human walking entails coordinated out-of-phase axial rotations of the thorax and pelvis. A long-held assumption is that this ability relies on adaptations for trunk flexibility present in humans, but not in chimpanzees, other great apes, or australopithecines. Here we use three-dimensional kinematic analyses to show that, contrary to current thinking, chimpanzees walking bipedally rotate their lumbar and thoracic regions in a manner similar to humans. This occurs despite differences in the magnitude of trunk motion, and despite morphological differences in truncal 'rigidity' between species. These results suggest that, like humans and chimpanzees, early hominins walked with upper body rotations that countered pelvic rotation. We demonstrate that even if early hominins walked with pelvic rotations 50% larger than humans, they may have accrued the energetic and mechanical benefits of out-of-phase thoracic rotations. This would have allowed early hominins to reduce work and locomotor cost, improving walking efficiency early in hominin evolution.

  13. The role of series ankle elasticity in bipedal walking

    PubMed Central

    Zelik, Karl E.; Huang, Tzu-Wei P.; Adamczyk, Peter G.; Kuo, Arthur D.

    2014-01-01

    The elastic stretch-shortening cycle of the Achilles tendon during walking can reduce the active work demands on the plantarflexor muscles in series. However, this does not explain why or when this ankle work, whether by muscle or tendon, needs to be performed during gait. We therefore employ a simple bipedal walking model to investigate how ankle work and series elasticity impact economical locomotion. Our model shows that ankle elasticity can use passive dynamics to aid push-off late in single support, redirecting the body's center-of-mass (COM) motion upward. An appropriately timed, elastic push-off helps to reduce dissipative collision losses at contralateral heelstrike, and therefore the positive work needed to offset those losses and power steady walking. Thus, the model demonstrates how elastic ankle work can reduce the total energetic demands of walking, including work required from more proximal knee and hip muscles. We found that the key requirement for using ankle elasticity to achieve economical gait is the proper ratio of ankle stiffness to foot length. Optimal combination of these parameters ensures proper timing of elastic energy release prior to contralateral heelstrike, and sufficient energy storage to redirect the COM velocity. In fact, there exist parameter combinations that theoretically yield collision-free walking, thus requiring zero active work, albeit with relatively high ankle torques. Ankle elasticity also allows the hip to power economical walking by contributing indirectly to push-off. Whether walking is powered by the ankle or hip, ankle elasticity may aid walking economy by reducing collision losses. PMID:24365635

  14. Three-dimensional kinematics of the pelvis and hind limbs in chimpanzee (Pan troglodytes) and human bipedal walking.

    PubMed

    O'Neill, Matthew C; Lee, Leng-Feng; Demes, Brigitte; Thompson, Nathan E; Larson, Susan G; Stern, Jack T; Umberger, Brian R

    2015-09-01

    The common chimpanzee (Pan troglodytes) is a facultative biped and our closest living relative. As such, the musculoskeletal anatomies of their pelvis and hind limbs have long provided a comparative context for studies of human and fossil hominin locomotion. Yet, how the chimpanzee pelvis and hind limb actually move during bipedal walking is still not well defined. Here, we describe the three-dimensional (3-D) kinematics of the pelvis, hip, knee and ankle during bipedal walking and compare those values to humans walking at the same dimensionless and dimensional velocities. The stride-to-stride and intraspecific variations in 3-D kinematics were calculated using the adjusted coefficient of multiple correlation. Our results indicate that humans walk with a more stable pelvis than chimpanzees, especially in tilt and rotation. Both species exhibit similar magnitudes of pelvis list, but with segment motion that is opposite in phasing. In the hind limb, chimpanzees walk with a more flexed and abducted limb posture, and substantially exceed humans in the magnitude of hip rotation during a stride. The average stride-to-stride variation in joint and segment motion was greater in chimpanzees than humans, while the intraspecific variation was similar on average. These results demonstrate substantial differences between human and chimpanzee bipedal walking, in both the sagittal and non-sagittal planes. These new 3-D kinematic data are fundamental to a comprehensive understanding of the mechanics, energetics and control of chimpanzee bipedalism.

  15. Synergic mechanism and fabrication target for bipedal nanomotors

    PubMed Central

    Wang, Zhisong

    2007-01-01

    Inspired by the discovery of dimeric motor proteins capable of undergoing transportation in living cells, significant efforts have been expended recently to the fabrication of track-walking nanomotors possessing two foot-like components that each can bind or detach from an array of anchorage groups on the track in response to local events of reagent consumption. The central problem in fabricating bipedal nanomotors is how the motor as a whole can gain the synergic capacity of directional track-walking, given the fact that each pedal component alone often is incapable of any directional drift. Implemented bipedal motors to date solve this thermodynamically intricate problem by an intuitive strategy that requires a hetero-pedal motor, multiple anchorage species for the track, and multiple reagent species for motor operation. Here we performed realistic molecular mechanics calculations on molecule-scale models to identify a detailed molecular mechanism by which motor-level directionality arises from a homo-pedal motor along a minimally heterogeneous track. Optimally, the operation may be reduced to a random supply of a single species of reagents to allow the motor's autonomous functioning. The mechanism suggests a distinct class of fabrication targets of drastically reduced system requirements. Intriguingly, a defective form of the mechanism falls into the realm of the well known Brownian motor mechanism, yet distinct features emerge from the normal working of the mechanism. PMID:17986619

  16. Modeling and analysis of passive dynamic bipedal walking with segmented feet and compliant joints

    NASA Astrophysics Data System (ADS)

    Huang, Yan; Wang, Qi-Ning; Gao, Yue; Xie, Guang-Ming

    2012-10-01

    Passive dynamic walking has been developed as a possible explanation for the efficiency of the human gait. This paper presents a passive dynamic walking model with segmented feet, which makes the bipedal walking gait more close to natural human-like gait. The proposed model extends the simplest walking model with the addition of flat feet and torsional spring based compliance on ankle joints and toe joints, to achieve stable walking on a slope driven by gravity. The push-off phase includes foot rotations around the toe joint and around the toe tip, which shows a great resemblance to human normal walking. This paper investigates the effects of the segmented foot structure on bipedal walking in simulations. The model achieves satisfactory walking results on even or uneven slopes.

  17. Bipedal nanowalker by pure physical mechanisms.

    PubMed

    Cheng, Juan; Sreelatha, Sarangapani; Hou, Ruizheng; Efremov, Artem; Liu, Ruchuan; van der Maarel, Johan R C; Wang, Zhisong

    2012-12-01

    Artificial nanowalkers are inspired by biomolecular counterparts from living cells, but remain far from comparable to the latter in design principles. The walkers reported to date mostly rely on chemical mechanisms to gain a direction; they all produce chemical wastes. Here we report a light-powered DNA bipedal walker based on a design principle derived from cellular walkers. The walker has two identical feet and the track has equal binding sites; yet the walker gains a direction by pure physical mechanisms that autonomously amplify an intrasite asymmetry into a ratchet effect. The nanowalker is free of any chemical waste. It has a distinct thermodynamic feature that it possesses the same equilibrium before and after operation, but generates a truly nonequilibrium distribution during operation. The demonstrated design principle exploits mechanical effects and is adaptable for use in other nanomachines.

  18. Surprising trunk rotational capabilities in chimpanzees and implications for bipedal walking proficiency in early hominins

    PubMed Central

    Thompson, Nathan E.; Demes, Brigitte; O'Neill, Matthew C.; Holowka, Nicholas B.; Larson, Susan G.

    2015-01-01

    Human walking entails coordinated out-of-phase axial rotations of the thorax and pelvis. A long-held assumption is that this ability relies on adaptations for trunk flexibility present in humans, but not in chimpanzees, other great apes, or australopithecines. Here we use three-dimensional kinematic analyses to show that, contrary to current thinking, chimpanzees walking bipedally rotate their lumbar and thoracic regions in a manner similar to humans. This occurs despite differences in the magnitude of trunk motion, and despite morphological differences in truncal ‘rigidity' between species. These results suggest that, like humans and chimpanzees, early hominins walked with upper body rotations that countered pelvic rotation. We demonstrate that even if early hominins walked with pelvic rotations 50% larger than humans, they may have accrued the energetic and mechanical benefits of out-of-phase thoracic rotations. This would have allowed early hominins to reduce work and locomotor cost, improving walking efficiency early in hominin evolution. PMID:26441046

  19. Effects of electrical noise to a knee joint on quiet bipedal stance and treadmill walking.

    PubMed

    Kimura, T; Taki, C; Shiozawa, N; Kouzaki, M

    2013-01-01

    The present study assessed whether an unperceivable, noise-like electrical stimulation of a knee joint enhances the stability of quiet bipedal stance and treadmill walking in young subjects. The results showed that the slow postural sway measures in quiet bipedal stance were significantly reduced by the electrical noise (P<0.05). In the treadmill walking, low frequency component (below 1 Hz) of mediolateral acceleration, measured at the third lumbar vertebra, significantly decreased with the electrical noise (P<0.05), while there were no changes in the anteroposterior and vertical directions. These results indicate that the electrical noise to a knee joint can be applied to enhance postural control in quiet bipedal stance and treadmill walking. PMID:24110917

  20. Hypothetical neural control of human bipedal walking with voluntary modulation.

    PubMed

    Jo, Sungho

    2008-02-01

    A hypothetical neuromusculoskeletal model is developed to simulate human normal walking and its modulated behaviors. A small set of neural periodic patterns drive spinal muscle synergies which in turn lead to specific pattern of muscle activation and supraspinal feedback systems maintain postural balance during walking. Then, the model demonstrates modulated behaviors by superimposing voluntary perturbations on the underlying walking pattern. Motions of kicking a ball and obstacle avoidance during walking are simulated as examples. The superposition of the new pulse command to a set of invariant pulses representing spino-locomotor is sufficient to achieve the coordinated behaviors. Also, forward bent walking motion is demonstrated by applying similar superposition. The composition of activations avoids a complicated computation of motor program for a specific task and presents a simple control scheme for different walking patterns.

  1. Simulation Studies of Bipedal Walking on the Moon and Mars

    NASA Astrophysics Data System (ADS)

    Yamada, Shin; Ohshima, Hiroshi; Yamaguchi, Tomofumi; Narukawa, Terumasa; Takahashi, Masaki; Hase, Kimitaka; Liu, Meigen; Mukai, Chiaki

    In order to walk upright on the Moon or Mars without falling, a specific walking strategy to account for altered gravitational conditions must be verified. We have therefore been studying changes in the kinematics of walking at different gravitational loads using a body weight suspension system. Our simulation consisted of three gravitational conditions: 1 g (Earth); 1/3 g (Mars); and 1/6 g (the Moon). Surface EMG recordings were taken from the leg muscles of subjects walking on a treadmill. Cadence, stance phase duration, and step length were calculated from the walking velocity and steps. Subsequent experiments revealed that muscle activity and the duration of the double support phase decreased as simulated gravity was reduced. These changes are apparently caused not only by the direct effects of unloading but also by kinematic adaptations to the same. It can be said that humans walk slowly with a shortened stride and elongated stance phase in order to adjust to low gravitational conditions. One major limitation of our study that may have affected walking stability was the fact that the suspension system was fixed to an immovable frame. We have begun further studies using a newer movable body weight suspension system to achieve more realistic simulations.

  2. Adding adaptable toe stiffness affects energetic efficiency and dynamic behaviors of bipedal walking.

    PubMed

    Sun, Shiqi; Huang, Yan; Wang, Qining

    2016-01-01

    In human walking, toes play an important role in supporting the body and controlling the forward motion. These functions are achieved by muscles and tendons around toe joints. To further understand the importance of toe and how toe muscle functions affect the locomotion, we employ a simple bipedal walking model with compliant joints. The ankle joints and toe joints are modeled as torsional springs and the actuation patterns are similar to that of normal human walking. Experimental results show that adding adaptable compliant toe joints could benefit the stability and energy efficiency. By generating plantar flexion moment after heel-off, the toes contribute to stabilize the body and control the forward motion. In addition, multi-joint foot structure could improve the energy efficiency by reducing the energy consumption of ankle joints. A proper toe actuation pattern could result in a proper toe dorsiflexion and reduce the maximal ankle plantar flexion, leading to a smoother and more efficient locomotion.

  3. Mechanisms for the acquisition of habitual bipedality: are there biomechanical reasons for the acquisition of upright bipedal posture?

    PubMed

    Preuschoft, Holger

    2004-05-01

    Morphology and biomechanics are linked by causal morphogenesis ('Wolff's law') and the interplay of mutations and selection (Darwin's 'survival of the fittest'). Thus shape-based selective pressures can be determined. In both cases we need to know which biomechanical factors lead to skeletal adaptation, and which ones exert selective pressures on body shape. Each bone must be able to sustain the greatest regularly occurring loads. Smaller loads are unlikely to lead to adaptation of morphology. The highest loads occur primarily in posture and locomotion, simply because of the effect of body weight (or its multiple). In the skull, however, it is biting and chewing that result in the greatest loads. Body shape adapted for an arboreal lifestyle also smooths the way towards bipedality. Hindlimb dominance, length of the limbs in relation to the axial skeleton, grasping hands and feet, mass distribution (especially of the limb segments), thoracic shape, rib curvatures, and the position of the centre of gravity are the adaptations to arboreality that also pre-adapt for bipedality. Five divergent locomotor/morphological types have evolved from this base: arm-swinging in gibbons, forelimb-dominated slow climbing in orangutans, quadrupedalism/climbing in the African apes, an unknown mix of climbing and bipedal walking in australopithecines, and the remarkably endurant bipedal walking of humans. All other apes are also facultative bipeds, but it is the biomechanical characteristics of bipedalism in orangutans, the most arboreal great ape, which is closest to that in humans. If not evolutionary accident, what selective factor can explain why two forms adopted bipedality? Most authors tend to connect bipedal locomotion with some aspect of progressively increasing distance between trees because of climatic changes. More precise factors, in accordance with biomechanical requirements, include stone-throwing, thermoregulation or wading in shallow water. Once bipedality has been

  4. Mechanisms for the acquisition of habitual bipedality: are there biomechanical reasons for the acquisition of upright bipedal posture?

    PubMed

    Preuschoft, Holger

    2004-05-01

    Morphology and biomechanics are linked by causal morphogenesis ('Wolff's law') and the interplay of mutations and selection (Darwin's 'survival of the fittest'). Thus shape-based selective pressures can be determined. In both cases we need to know which biomechanical factors lead to skeletal adaptation, and which ones exert selective pressures on body shape. Each bone must be able to sustain the greatest regularly occurring loads. Smaller loads are unlikely to lead to adaptation of morphology. The highest loads occur primarily in posture and locomotion, simply because of the effect of body weight (or its multiple). In the skull, however, it is biting and chewing that result in the greatest loads. Body shape adapted for an arboreal lifestyle also smooths the way towards bipedality. Hindlimb dominance, length of the limbs in relation to the axial skeleton, grasping hands and feet, mass distribution (especially of the limb segments), thoracic shape, rib curvatures, and the position of the centre of gravity are the adaptations to arboreality that also pre-adapt for bipedality. Five divergent locomotor/morphological types have evolved from this base: arm-swinging in gibbons, forelimb-dominated slow climbing in orangutans, quadrupedalism/climbing in the African apes, an unknown mix of climbing and bipedal walking in australopithecines, and the remarkably endurant bipedal walking of humans. All other apes are also facultative bipeds, but it is the biomechanical characteristics of bipedalism in orangutans, the most arboreal great ape, which is closest to that in humans. If not evolutionary accident, what selective factor can explain why two forms adopted bipedality? Most authors tend to connect bipedal locomotion with some aspect of progressively increasing distance between trees because of climatic changes. More precise factors, in accordance with biomechanical requirements, include stone-throwing, thermoregulation or wading in shallow water. Once bipedality has been

  5. Energetics of bipedal running. II. Limb design and running mechanics.

    PubMed

    Roberts, T J; Chen, M S; Taylor, C R

    1998-10-01

    Compared with quadrupeds, bipedal runners of the same weight have longer legs, take longer steps and can presumably use slower, more economical muscle fibers. One might predict that bipedal running is less expensive, but it is not. We hypothesized that bipeds recruit a larger volume of muscle to support their weight, eliminating the potential economy of longer legs and slower steps. To test our hypothesis, we calculated the relative volume of muscle needed to support body weight over a stride in small dogs (Canis familiaris) and wild turkeys (Meleagris gallopavo) of the same weight. First, we confirmed that turkeys and dogs use approximately the same amount of energy to run at the same speed, and found that turkeys take 1. 8-fold longer steps. Higher muscle forces and/or longer muscle fibers would require a greater volume of active muscle, since muscle volume is proportional to the product of force and fascicle length. We measured both mean fascicle length and mean mechanical advantage for limb extensor muscles. Turkeys generated approximately the same total muscle force to support their weight during running and used muscle fascicles that are on average 2.1 times as long as in dogs, thus requiring a 2.5-fold greater active muscle volume. The greater volume appears to offset the economy of slower rates of force generation, supporting our hypothesis and providing a simple explanation for why it costs the same to run on two and four legs.

  6. Energy transformation during erect and 'bent-hip, bent-knee' walking by humans with implications for the evolution of bipedalism.

    PubMed

    Wang, W J; Crompton, R H; Li, Y; Gunther, M M

    2003-05-01

    We have previously reported that predictive dynamic modeling suggests that the 'bent-hip, bent-knee' gait, which some attribute to Australopithecus afarensis AL-288-1, would have been much more expensive in mechanical terms for this hominid than an upright gait. Normal walking by modern adult humans owes much of its efficiency to conservation of energy by transformation between its potential and kinetic states. These findings suggest the question if, and to what extent, energy transformation exists in 'bent-hip, bent-knee' gait. This study calculates energy transformation in humans walking upright, at three different speeds, and walking 'bent-hip, bent-knee'. Kinematic data were gathered from video sequences and kinetic (ground reaction force) data from synchronous forceplate measurement. Applying Newtonian mechanics to our experimental data, the fluctuations of kinetic and potential energy in the body centre of mass were obtained and the effects of energy transformation evaluated and compared. In erect walking the fluctuations of two forms of energy are indeed largely out-of-phase, so that energy transformation occurs and total energy is conserved. In 'bent-hip, bent-knee' walking, however, the fluctuations of the kinetic and potential energy are much more in-phase, so that energy transformation occurs to a much lesser extent. Among all modes of walking the highest energy recovery is obtained in subjectively 'comfortable' walking, the next highest in subjectively 'fast' or 'slow' walking, and the least lowest in 'bent-hip, bent-knee' walking. The results imply that if 'bent-hip, bent-knee' gait was indeed habitually practiced by early bipedal hominids, a very substantial (and in our view as yet unidentified) selective advantage would have had to accrue, to offset the selective disadvantages of 'bent-hip, bent-knee' gait in terms of energy transformation.

  7. Sensor Data Fusion for Body State Estimation in a Bipedal Robot and Its Feedback Control Application for Stable Walking

    PubMed Central

    Chen, Ching-Pei; Chen, Jing-Yi; Huang, Chun-Kai; Lu, Jau-Ching; Lin, Pei-Chun

    2015-01-01

    We report on a sensor data fusion algorithm via an extended Kalman filter for estimating the spatial motion of a bipedal robot. Through fusing the sensory information from joint encoders, a 6-axis inertial measurement unit and a 2-axis inclinometer, the robot’s body state at a specific fixed position can be yielded. This position is also equal to the CoM when the robot is in the standing posture suggested by the detailed CAD model of the robot. In addition, this body state is further utilized to provide sensory information for feedback control on a bipedal robot with walking gait. The overall control strategy includes the proposed body state estimator as well as the damping controller, which regulates the body position state of the robot in real-time based on instant and historical position tracking errors. Moreover, a posture corrector for reducing unwanted torque during motion is addressed. The body state estimator and the feedback control structure are implemented in a child-size bipedal robot and the performance is experimentally evaluated. PMID:25734644

  8. Analysis of joint force and torque for the human and non-human ape foot during bipedal walking with implications for the evolution of the foot

    PubMed Central

    Wang, Weijie; Abboud, Rami J; Günther, Michael M; Crompton, Robin H

    2014-01-01

    The feet of apes have a different morphology from those of humans. Until now, it has merely been assumed that the morphology seen in humans must be adaptive for habitual bipedal walking, as the habitual use of bipedal walking is generally regarded as one of the most clear-cut differences between humans and apes. This study asks simply whether human skeletal proportions do actually enhance foot performance during human-like bipedalism, by examining the influence of foot proportions on force, torque and work in the foot joints during simulated bipedal walking. Skeletons of the common chimpanzee, orangutan, gorilla and human were represented by multi-rigid-body models, where the components of the foot make external contact via finite element surfaces. The models were driven by identical joint motion functions collected from experiments on human walking. Simulated contact forces between the ground and the foot were found to be reasonably comparable with measurements made during human walking using pressure- and force-platforms. Joint force, torque and work in the foot were then predicted. Within the limitations of our model, the results show that during simulated human-like bipedal walking, (1) the human and non-human ape (NHA) feet carry similar joint forces, although the distributions of the forces differ; (2) the NHA foot incurs larger joint torques than does the human foot, although the human foot has higher values in the first tarso-metatarsal and metatarso-phalangeal joints, whereas the NHA foot incurs higher values in the lateral digits; and (3) total work in the metatarso-phalangeal joints is lower in the human foot than in the NHA foot. The results indicate that human foot proportions are indeed well suited to performance in normal human walking. PMID:24925580

  9. Mechanics of competition walking.

    PubMed

    Cavagna, G A; Franzetti, P

    1981-06-01

    1. The work done at each step to lift and accelerate the centre of mass of the body has been measured in competition walkers during locomotion from 2 to 20 km/hr. 2. Three distinct phases characterize the mechanics of walking. From 2 to 6 km/hr the vertical displacement during each step, Sv, increases to a maximum (3.5 vs. 6 cm in normal walking) due to an increase in the amplitude of the rotation over the supporting leg. 3. The transfer, R, between potential energy of vertical displacement and kinetic energy of forward motion during this rotation, reaches a maximum at 4-5 km/hr (R = 65%). From 6 to 10 km/hr R decreases more steeply than in normal walking, indicating a smaller utilization of the pendulum-like mechanism characteristic of walking. 4. Above 10 km/hr potential and kinetic energies vary during each step because both are simultaneously taken up and released by the muscles with almost no transfer between them (R = 2-10%). Above 13-14 km/hr an aerial phase (25-60 msec) takes place during the step. 5. Speeds considerably greater than in normal walking are attained thanks to a greater efficiency of doing positive work. This is made possible by a mechanism of locomotion allowing an important storage and recovery of mechanical energy by the muscles.

  10. Humans exploit the biomechanics of bipedal gait during visually guided walking over complex terrain.

    PubMed

    Matthis, Jonathan Samir; Fajen, Brett R

    2013-07-01

    How do humans achieve such remarkable energetic efficiency when walking over complex terrain such as a rocky trail? Recent research in biomechanics suggests that the efficiency of human walking over flat, obstacle-free terrain derives from the ability to exploit the physical dynamics of our bodies. In this study, we investigated whether this principle also applies to visually guided walking over complex terrain. We found that when humans can see the immediate foreground as little as two step lengths ahead, they are able to choose footholds that allow them to exploit their biomechanical structure as efficiently as they can with unlimited visual information. We conclude that when humans walk over complex terrain, they use visual information from two step lengths ahead to choose footholds that allow them to approximate the energetic efficiency of walking in flat, obstacle-free environments.

  11. Locomotor energetics and leg length in hominid bipedality.

    PubMed

    Kramer, P A; Eck, G G

    2000-05-01

    Because bipedality is the quintessential characteristic of Hominidae, researchers have compared ancient forms of bipedality with modern human gait since the first clear evidence of bipedal australopithecines was unearthed over 70 years ago. Several researchers have suggested that the australopithecine form of bipedality was transitional between the quadrupedality of the African apes and modern human bipedality and, consequently, inefficient. Other researchers have maintained that australopithecine bipedality was identical to that of Homo. But is it reasonable to require that all forms of hominid bipedality must be the same in order to be optimized? Most attempts to evaluate the locomotor effectiveness of the australopithecines have, unfortunately, assumed that the locomotor anatomy of modern humans is the exemplar of consummate bipedality. Modern human anatomy is, however, the product of selective pressures present in the particular milieu in which Homo arose and it is not necessarily the only, or even the most efficient, bipedal solution possible. In this report, we investigate the locomotion of Australopithecus afarensis, as represented by AL 288-1, using standard mechanical analyses. The osteological anatomy of AL 288-1 and movement profiles derived from modern humans are applied to a dynamic model of a biped, which predicts the mechanical power required by AL 288-1 to walk at various velocities. This same procedure is used with the anatomy of a composite modern woman and a comparison made. We find that AL 288-1 expends less energy than the composite woman when locomoting at walking speeds. This energetic advantage comes, however, at a price: the preferred transition speed (from a walk to a run) of AL 288-1 was lower than that of the composite woman. Consequently, the maximum daily range of AL 288-1 may well have been substantially smaller than that of modern people. The locomotor anatomy of A. afarensis may have been optimized for a particular ecological niche

  12. Locomotor energetics and leg length in hominid bipedality.

    PubMed

    Kramer, P A; Eck, G G

    2000-05-01

    Because bipedality is the quintessential characteristic of Hominidae, researchers have compared ancient forms of bipedality with modern human gait since the first clear evidence of bipedal australopithecines was unearthed over 70 years ago. Several researchers have suggested that the australopithecine form of bipedality was transitional between the quadrupedality of the African apes and modern human bipedality and, consequently, inefficient. Other researchers have maintained that australopithecine bipedality was identical to that of Homo. But is it reasonable to require that all forms of hominid bipedality must be the same in order to be optimized? Most attempts to evaluate the locomotor effectiveness of the australopithecines have, unfortunately, assumed that the locomotor anatomy of modern humans is the exemplar of consummate bipedality. Modern human anatomy is, however, the product of selective pressures present in the particular milieu in which Homo arose and it is not necessarily the only, or even the most efficient, bipedal solution possible. In this report, we investigate the locomotion of Australopithecus afarensis, as represented by AL 288-1, using standard mechanical analyses. The osteological anatomy of AL 288-1 and movement profiles derived from modern humans are applied to a dynamic model of a biped, which predicts the mechanical power required by AL 288-1 to walk at various velocities. This same procedure is used with the anatomy of a composite modern woman and a comparison made. We find that AL 288-1 expends less energy than the composite woman when locomoting at walking speeds. This energetic advantage comes, however, at a price: the preferred transition speed (from a walk to a run) of AL 288-1 was lower than that of the composite woman. Consequently, the maximum daily range of AL 288-1 may well have been substantially smaller than that of modern people. The locomotor anatomy of A. afarensis may have been optimized for a particular ecological niche

  13. Controlled Reduction with Unactuated Cyclic Variables: Application to 3D Bipedal Walking with Passive Yaw Rotation

    PubMed Central

    Righetti, Ludovic

    2014-01-01

    This paper shows that viscous damping can shape momentum conservation laws in a manner that stabilizes yaw rotation and enables steering for underactuated 3D walking. We first show that unactuated cyclic variables can be controlled by passively shaped conservation laws given a stabilizing controller in the actuated coordinates. We then exploit this result to realize controlled geometric reduction with multiple unactuated cyclic variables. We apply this underactuated control strategy to a five-link 3D biped to produce exponentially stable straight-ahead walking and steering in the presence of passive yawing. PMID:25554709

  14. Mechatronic Wearable Exoskeletons for Bionic Bipedal Standing and Walking: A New Synthetic Approach

    PubMed Central

    Onose, Gelu; Cârdei, Vladimir; Crăciunoiu, Ştefan T.; Avramescu, Valeriu; Opriş, Ioan; Lebedev, Mikhail A.; Constantinescu, Marian Vladimir

    2016-01-01

    During the last few years, interest has been growing to mechatronic and robotic technologies utilized in wearable powered exoskeletons that assist standing and walking. The available literature includes single-case reports, clinical studies conducted in small groups of subjects, and several recent systematic reviews. These publications have fulfilled promotional and marketing objectives but have not yet resulted in a fully optimized, practical wearable exoskeleton. Here we evaluate the progress and future directions in this field from a joint perspective of health professionals, manufacturers, and consumers. We describe the taxonomy of existing technologies and highlight the main improvements needed for the development and functional optimization of the practical exoskeletons. PMID:27746711

  15. Formation mechanism of a basin of attraction for passive dynamic walking induced by intrinsic hyperbolicity

    NASA Astrophysics Data System (ADS)

    Obayashi, Ippei; Aoi, Shinya; Tsuchiya, Kazuo; Kokubu, Hiroshi

    2016-06-01

    Passive dynamic walking is a useful model for investigating the mechanical functions of the body that produce energy-efficient walking. The basin of attraction is very small and thin, and it has a fractal-like shape; this explains the difficulty in producing stable passive dynamic walking. The underlying mechanism that produces these geometric characteristics was not known. In this paper, we consider this from the viewpoint of dynamical systems theory, and we use the simplest walking model to clarify the mechanism that forms the basin of attraction for passive dynamic walking. We show that the intrinsic saddle-type hyperbolicity of the upright equilibrium point in the governing dynamics plays an important role in the geometrical characteristics of the basin of attraction; this contributes to our understanding of the stability mechanism of bipedal walking.

  16. Development of independent walking in toddlers.

    PubMed

    Ivanenko, Yuri P; Dominici, Nadia; Lacquaniti, Francesco

    2007-04-01

    Surprisingly, despite millions of years of bipedal walking evolution, the gravity-related pendulum mechanism of walking does not seem to be implemented at the onset of independent walking, requiring each toddler to develop it. We discuss the precursor of the mature locomotor pattern in infants as an optimal starting point strategy for gait maturation. PMID:17417053

  17. Compass gait mechanics account for top walking speeds in ducks and humans.

    PubMed

    Usherwood, James R; Szymanek, Katie L; Daley, Monica A

    2008-12-01

    The constraints to maximum walking speed and the underlying cause of the walk-run transition remains controversial. However, the motions of the body and legs can be reduced to a few mechanical principles, which, if valid, impose simple physics-based limits to walking speed. Bipedal walking may be viewed as a vaulting gait, with the centre of mass (CoM) passing over a stiff stance leg (an 'inverted pendulum'), while the swing leg swings forward (as a pendulum). At its simplest, this forms a 'compass gait' walker, which has a maximum walking speed constrained by simple mechanics: walk too fast, or with too high a step length, and gravity fails to keep the stance foot attached to the floor. But how useful is such an extremely reductionist model? In the present study, we report measurements on a range of duck breeds as example unspecialized, non-planar, crouch-limbed walkers and contrast these findings with previous measurements on humans, using the theoretical framework of compass gait walking. Ducks walked as inverted pendulums with near-passive swing legs up to relative velocities around 0.5, remarkably consistent with the theoretical model. By contrast, top walking speeds in humans cannot be achieved with passive swing legs: humans, while still constrained by compass gait mechanics, extend their envelope of walking speeds by using relatively high step frequencies. Therefore, the capacity to drive the swing leg forward by walking humans may be a specialization for walking, allowing near-passive vaulting of the CoM at walking speeds 4/3 that possible with a passive (duck-like) swing leg.

  18. Bipedal locomotion in granular media

    NASA Astrophysics Data System (ADS)

    Kingsbury, Mark; Zhang, Tingnan; Goldman, Daniel

    Bipedal walking, locomotion characterized by alternating swing and double support phase, is well studied on ground where feet do not penetrate the substrate. On granular media like sand however, intrusion and extrusion phases also occur. In these phases, relative motion of the two feet requires that one or both feet slip through the material, degrading performance. To study walking in these phases, we designed and studied a planarized bipedal robot (1.6 kg, 42 cm) that walked in a fluidized bed of poppy seeds. We also simulated the robot in a multibody software environment (Chrono) using granular resistive force theory (RFT) to calculate foot forces. In experiment and simulation, the robot experienced slip during the intrusion phase, with the experiment presenting additional slip due to motor control error during the double support phase. This exaggerated slip gave insight (through analysis of ground reaction forces in simulation) into how slip occurs when relative motion exists between the two feet in the granular media, where the foot with higher relative drag forces (from its instantaneous orientation, rotation, relative direction of motion, and depth) remains stationary. With this relationship, we generated walking gaits for the robot to walk with minimal slip.

  19. A bipedal DNA Brownian motor with coordinated legs.

    PubMed

    Omabegho, Tosan; Sha, Ruojie; Seeman, Nadrian C

    2009-04-01

    A substantial challenge in engineering molecular motors is designing mechanisms to coordinate the motion between multiple domains of the motor so as to bias random thermal motion. For bipedal motors, this challenge takes the form of coordinating the movement of the biped's legs so that they can move in a synchronized fashion. To address this problem, we have constructed an autonomous DNA bipedal walker that coordinates the action of its two legs by cyclically catalyzing the hybridization of metastable DNA fuel strands. This process leads to a chemically ratcheted walk along a directionally polar DNA track. By covalently cross-linking aliquots of the walker to its track in successive walking states, we demonstrate that this Brownian motor can complete a full walking cycle on a track whose length could be extended for longer walks. We believe that this study helps to uncover principles behind the design of unidirectional devices that can function without intervention. This device should be able to fulfill roles that entail the performance of useful mechanical work on the nanometer scale.

  20. Bipedality in chimpanzee (Pan troglodytes) and bonobo (Pan paniscus): testing hypotheses on the evolution of bipedalism.

    PubMed

    Videan, Elaine N; McGrew, W C

    2002-06-01

    A host of ecological, anatomical, and physiological selective pressures are hypothesized to have played a role in the evolution of hominid bipedalism. A referential model, based on the chimpanzee (Pan troglodytes) and bonobo (Pan paniscus), was used to test through experimental manipulation four hypotheses on the evolution of hominid bipedalism. The introduction of food piles (Carry hypothesis) increased locomotor bipedality in both species. Neither the introduction of branches (Display hypothesis) nor the construction of visual barriers (Vigilance hypothesis) altered bipedality in either species. Introduction of raised foraging structures (Forage hypothesis) increased postural bipedality in chimpanzees. These experimental manipulations provided support for carrying of portable objects and foraging on elevated food-items as plausible mechanisms that shaped bipedalism in hominids.

  1. Underwater bipedal locomotion by octopuses in disguise.

    PubMed

    Huffard, Christine L; Boneka, Farnis; Full, Robert J

    2005-03-25

    Here we report bipedal movement with a hydrostatic skeleton. Two species of octopus walk on two alternating arms using a rolling gait and appear to use the remaining six arms for camouflage. Octopus marginatus resembles a coconut, and Octopus (Abdopus) aculeatus, a clump of floating algae. Using underwater video, we analyzed the kinematics of their strides. Each arm was on the sand for more than half of the stride, qualifying this behavior as a form of walking.

  2. Form and function of the human and chimpanzee forefoot: implications for early hominin bipedalism.

    PubMed

    Fernández, Peter J; Holowka, Nicholas B; Demes, Brigitte; Jungers, William L

    2016-01-01

    During bipedal walking, modern humans dorsiflex their forefoot at the metatarsophalangeal joints (MTPJs) prior to push off, which tightens the plantar soft tissues to convert the foot into a stiff propulsive lever. Particular features of metatarsal head morphology such as "dorsal doming" are thought to facilitate this stiffening mechanism. In contrast, chimpanzees are believed to possess MTPJ morphology that precludes high dorsiflexion excursions during terrestrial locomotion. The morphological affinity of the metatarsal heads has been used to reconstruct locomotor behavior in fossil hominins, but few studies have provided detailed empirical data to validate the assumed link between morphology and function at the MTPJs. Using three-dimensional kinematic and morphometric analyses, we show that humans push off with greater peak dorsiflexion angles at all MTPJs than do chimpanzees during bipedal and quadrupedal walking, with the greatest disparity occurring at MTPJ 1. Among MTPJs 2-5, both species exhibit decreasing peak angles from medial to lateral. This kinematic pattern is mirrored in the morphometric analyses of metatarsal head shape. Analyses of Australopithecus afarensis metatarsals reveal morphology intermediate between humans and chimpanzees, suggesting that this species used different bipedal push-off kinematics than modern humans, perhaps resulting in a less efficient form of bipedalism. PMID:27464580

  3. Form and function of the human and chimpanzee forefoot: implications for early hominin bipedalism

    PubMed Central

    Fernández, Peter J.; Holowka, Nicholas B.; Demes, Brigitte; Jungers, William L.

    2016-01-01

    During bipedal walking, modern humans dorsiflex their forefoot at the metatarsophalangeal joints (MTPJs) prior to push off, which tightens the plantar soft tissues to convert the foot into a stiff propulsive lever. Particular features of metatarsal head morphology such as “dorsal doming” are thought to facilitate this stiffening mechanism. In contrast, chimpanzees are believed to possess MTPJ morphology that precludes high dorsiflexion excursions during terrestrial locomotion. The morphological affinity of the metatarsal heads has been used to reconstruct locomotor behavior in fossil hominins, but few studies have provided detailed empirical data to validate the assumed link between morphology and function at the MTPJs. Using three-dimensional kinematic and morphometric analyses, we show that humans push off with greater peak dorsiflexion angles at all MTPJs than do chimpanzees during bipedal and quadrupedal walking, with the greatest disparity occurring at MTPJ 1. Among MTPJs 2–5, both species exhibit decreasing peak angles from medial to lateral. This kinematic pattern is mirrored in the morphometric analyses of metatarsal head shape. Analyses of Australopithecus afarensis metatarsals reveal morphology intermediate between humans and chimpanzees, suggesting that this species used different bipedal push-off kinematics than modern humans, perhaps resulting in a less efficient form of bipedalism. PMID:27464580

  4. Three-dimensional kinematics of capuchin monkey bipedalism.

    PubMed

    Demes, Brigitte

    2011-05-01

    Capuchin monkeys are known to use bipedalism when transporting food items and tools. The bipedal gait of two capuchin monkeys in the laboratory was studied with three-dimensional kinematics. Capuchins progress bipedally with a bent-hip, bent-knee gait. The knee collapses into flexion during stance and the hip drops in height. The knee is also highly flexed during swing to allow the foot which is plantarflexed to clear the ground. The forefoot makes first contact at touchdown. Stride frequency is high, and stride length and limb excursion low. Hind limb retraction is limited, presumably to reduce the pitch moment of the forward-leaning trunk. Unlike human bipedalism, the bipedal gait of capuchins is not a vaulting gait, and energy recovery from pendulum-like exchanges is unlikely. It extends into speeds at which humans and other animals run, but without a human-like gait transition. In this respect it resembles avian bipedal gaits. It remains to be tested whether energy is recovered through cyclic elastic storage and release as in bipedal birds at higher speeds. Capuchin bipedalism has many features in common with the facultative bipedalism of other primates which is further evidence for restrictions on a fully upright striding gait in primates that transition to bipedalism. It differs from the facultative bipedalism of other primates in the lack of an extended double-support phase and short aerial phases at higher speeds that make it a run by kinematic definition. This demonstrates that facultative bipedalism of quadrupedal primates need not necessarily be a walking gait. PMID:21365612

  5. Laetoli Footprints Preserve Earliest Direct Evidence of Human-Like Bipedal Biomechanics

    PubMed Central

    Raichlen, David A.; Gordon, Adam D.; Harcourt-Smith, William E. H.; Foster, Adam D.; Haas, Wm. Randall

    2010-01-01

    Background Debates over the evolution of hominin bipedalism, a defining human characteristic, revolve around whether early bipeds walked more like humans, with energetically efficient extended hind limbs, or more like apes with flexed hind limbs. The 3.6 million year old hominin footprints at Laetoli, Tanzania represent the earliest direct evidence of hominin bipedalism. Determining the kinematics of Laetoli hominins will allow us to understand whether selection acted to decrease energy costs of bipedalism by 3.6 Ma. Methodology/Principal Findings Using an experimental design, we show that the Laetoli hominins walked with weight transfer most similar to the economical extended limb bipedalism of humans. Humans walked through a sand trackway using both extended limb bipedalism, and more flexed limb bipedalism. Footprint morphology from extended limb trials matches weight distribution patterns found in the Laetoli footprints. Conclusions These results provide us with the earliest direct evidence of kinematically human-like bipedalism currently known, and show that extended limb bipedalism evolved long before the appearance of the genus Homo. Since extended-limb bipedalism is more energetically economical than ape-like bipedalism, energy expenditure was likely an important selection pressure on hominin bipeds by 3.6 Ma. PMID:20339543

  6. Adaptations for economical bipedal running: the effect of limb structure on three-dimensional joint mechanics.

    PubMed

    Rubenson, Jonas; Lloyd, David G; Heliams, Denham B; Besier, Thor F; Fournier, Paul A

    2011-05-01

    The purpose of this study was to examine the mechanical adaptations linked to economical locomotion in cursorial bipeds. We addressed this question by comparing mass-matched humans and avian bipeds (ostriches), which exhibit marked differences in limb structure and running economy. We hypothesized that the nearly 50 per cent lower energy cost of running in ostriches is a result of: (i) lower limb-swing mechanical power, (ii) greater stance-phase storage and release of elastic energy, and (iii) lower total muscle power output. To test these hypotheses, we used three-dimensional joint mechanical measurements and a simple model to estimate the elastic and muscle contributions to joint work and power. Contradictory to our first hypothesis, we found that ostriches and humans generate the same amounts of mechanical power to swing the limbs at a similar self-selected running speed, indicating that limb swing probably does not contribute to the difference in energy cost of running between these species. In contrast, we estimated that ostriches generate 120 per cent more stance-phase mechanical joint power via release of elastic energy compared with humans. This elastic mechanical power occurs nearly exclusively at the tarsometatarso-phalangeal joint, demonstrating a shift of mechanical power generation to distal joints compared with humans. We also estimated that positive muscle fibre power is 35 per cent lower in ostriches compared with humans, and is accounted for primarily by higher capacity for storage and release of elastic energy. Furthermore, our analysis revealed much larger frontal and internal/external rotation joint loads during ostrich running than in humans. Together, these findings support the hypothesis that a primary limb structure specialization linked to economical running in cursorial species is an elevated storage and release of elastic energy in tendon. In the ostrich, energy-saving specializations may also include passive frontal and internal

  7. Walk-Startup of a Two-Legged Walking Mechanism

    NASA Astrophysics Data System (ADS)

    Babković, Kalman; Nagy, László; Krklješ, Damir; Borovac, Branislav

    There is a growing interest towards humanoid robots. One of their most important characteristic is the two-legged motion - walk. Starting and stopping of humanoid robots introduce substantial delays. In this paper, the goal is to explore the possibility of using a short unbalanced state of the biped robot to quickly gain speed and achieve the steady state velocity during a period shorter than half of the single support phase. The proposed method is verified by simulation. Maintainig a steady state, balanced gait is not considered in this paper.

  8. A non-human primate model of bipedal locomotion under restrained condition allowing gait studies and single unit brain recordings.

    PubMed

    Goetz, L; Piallat, B; Thibaudier, Y; Montigon, O; David, O; Chabardès, S

    2012-03-15

    For decades, several animal models of locomotion have allowed a better understanding of the basic physiological mechanisms of gait. However, unlike most of the mammals, the Order Primates is characterized by fundamental changes in locomotor behaviour. In particular, some primates use a specific pattern of locomotion and are able to naturally walk bipedally due possibly to a specific supra-spinal control of locomotion. These features must be taken into account when one considers to study the intrinsic properties of human gait. Thus, an experimental model of bipedal locomotion allowing precise and reproducible analysis of gait in non-human primate is still lacking. This study describes a non-human primate model of bipedal locomotion under restrained condition. We undertook a kinematic and biomechanic study in three Macaca fascicularis trained to walk bipedally on a treadmill. One of the primate was evaluated in complete head fixation. Gait visual analysis and electromyographic recordings provided pertinent description of the gait pattern. Step frequencies, step lengths, cycle and stance phase durations were correlated with Froude number (dimensionless velocity), whereas swing phase durations remained non-correlated. Gait patterns observed in our model were similar to those obtained in freely bipedal Macaca fuscata and to a lesser extend to Humans. Gait pattern was not modified by head fixation thereby allowing us to perform precise and repetitive micro electrode recordings of deep cerebral structures. Thus, the present model could provide a pertinent pre-clinical tool to study gait parameters and their neuronal control but also could be helpful to validate new therapeutics interventions. PMID:22155386

  9. The strategic role of the tail in maintaining balance while carrying a load bipedally in wild capuchins (Sapajus libidinosus): a pilot study.

    PubMed

    Massaro, Luciana; Massa, Fabrizio; Simpson, Kathy; Fragaszy, Dorothy; Visalberghi, Elisabetta

    2016-04-01

    The ability to carry objects has been considered an important selective pressure favoring the evolution of bipedal locomotion in early hominins. Comparable behaviors by extant primates have been studied very little, as few primates habitually carry objects bipedally. However, wild bearded capuchins living at Fazenda Boa Vista spontaneously and habitually transport stone tools by walking bipedally, allowing us to examine the characteristics of bipedal locomotion during object transport by a generalized primate. In this pilot study, we investigated the mechanical aspects of position and velocity of the center of mass, trunk inclination, and forelimb postures, and the torque of the forces applied on each anatomical segment in wild bearded capuchin monkeys during the transport of objects, with particular attention to the tail and its role in balancing the body. Our results indicate that body mass strongly affects the posture of transport and that capuchins are able to carry heavy loads bipedally with a bent-hip-bent-knee posture, thanks to the "strategic" use of their extendable tail; in fact, without this anatomical structure, constituting only 5 % of their body mass, they would be unable to transport the loads that they habitually carry.

  10. The strategic role of the tail in maintaining balance while carrying a load bipedally in wild capuchins (Sapajus libidinosus): a pilot study.

    PubMed

    Massaro, Luciana; Massa, Fabrizio; Simpson, Kathy; Fragaszy, Dorothy; Visalberghi, Elisabetta

    2016-04-01

    The ability to carry objects has been considered an important selective pressure favoring the evolution of bipedal locomotion in early hominins. Comparable behaviors by extant primates have been studied very little, as few primates habitually carry objects bipedally. However, wild bearded capuchins living at Fazenda Boa Vista spontaneously and habitually transport stone tools by walking bipedally, allowing us to examine the characteristics of bipedal locomotion during object transport by a generalized primate. In this pilot study, we investigated the mechanical aspects of position and velocity of the center of mass, trunk inclination, and forelimb postures, and the torque of the forces applied on each anatomical segment in wild bearded capuchin monkeys during the transport of objects, with particular attention to the tail and its role in balancing the body. Our results indicate that body mass strongly affects the posture of transport and that capuchins are able to carry heavy loads bipedally with a bent-hip-bent-knee posture, thanks to the "strategic" use of their extendable tail; in fact, without this anatomical structure, constituting only 5 % of their body mass, they would be unable to transport the loads that they habitually carry. PMID:26733456

  11. 4. Band Wheel and Walking Beam Mechanism, Including Remains of ...

    Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

    4. Band Wheel and Walking Beam Mechanism, Including Remains of Frame Belt House, Looking Southeast - David Renfrew Oil Rig, East side of Connoquenessing Creek, 0.4 mile North of confluence with Thorn Creek, Renfrew, Butler County, PA

  12. Disparity and convergence in bipedal archosaur locomotion

    PubMed Central

    Bates, K. T.; Schachner, E. R.

    2012-01-01

    This study aims to investigate functional disparity in the locomotor apparatus of bipedal archosaurs. We use reconstructions of hindlimb myology of extant and extinct archosaurs to generate musculoskeletal biomechanical models to test hypothesized convergence between bipedal crocodile-line archosaurs and dinosaurs. Quantitative comparison of muscle leverage supports the inference that bipedal crocodile-line archosaurs and non-avian theropods had highly convergent hindlimb myology, suggesting similar muscular mechanics and neuromuscular control of locomotion. While these groups independently evolved similar musculoskeletal solutions to the challenges of parasagittally erect bipedalism, differences also clearly exist, particularly the distinct hip and crurotarsal ankle morphology characteristic of many pseudosuchian archosaurs. Furthermore, comparative analyses of muscle design in extant archosaurs reveal that muscular parameters such as size and architecture are more highly adapted or optimized for habitual locomotion than moment arms. The importance of these aspects of muscle design, which are not directly retrievable from fossils, warns against over-extrapolating the functional significance of anatomical convergences. Nevertheless, links identified between posture, muscle moments and neural control in archosaur locomotion suggest that functional interpretations of osteological changes in limb anatomy traditionally linked to postural evolution in Late Triassic archosaurs could be constrained through musculoskeletal modelling. PMID:22112652

  13. A mechanical protocol to replicate impact in walking footwear.

    PubMed

    Price, Carina; Cooper, Glen; Graham-Smith, Philip; Jones, Richard

    2014-01-01

    Impact testing is undertaken to quantify the shock absorption characteristics of footwear. The current widely reported mechanical testing method mimics the heel impact in running and therefore applies excessive energy to walking footwear. The purpose of this study was to modify the ASTM protocol F1614 (Procedure A) to better represent walking gait. This was achieved by collecting kinematic and kinetic data while participants walked in four different styles of walking footwear (trainer, oxford shoe, flip-flop and triple-density sandal). The quantified heel-velocity and effective mass at ground-impact were then replicated in a mechanical protocol. The kinematic data identified different impact characteristics in the footwear styles. Significantly faster heel velocity towards the floor was recorded walking in the toe-post sandals (flip-flop and triple-density sandal) compared with other conditions (e.g. flip-flop: 0.36±0.05 ms(-1) versus trainer: 0.18±0.06 ms(-1)). The mechanical protocol was adapted by altering the mass and drop height specific to the data captured for each shoe (e.g. flip-flop: drop height 7 mm, mass 16.2 kg). As expected, the adapted mechanical protocol produced significantly lower peak force and accelerometer values than the ASTM protocol (p<.001). The mean difference between the human and adapted protocol was 12.7±17.5% (p<.001) for peak acceleration and 25.2±17.7% (p=.786) for peak force. This paper demonstrates that altered mechanical test protocols can more closely replicate loading on the lower limb in walking. This therefore suggests that testing of material properties of footbeds not only needs to be gait style specific (e.g. running versus walking), but also footwear style specific.

  14. Discrete mechanics and special relativistic random walks.

    PubMed

    Wall, F T

    1988-05-01

    Random walks with step lengths equal to the shortest possible physically meaningful distances are considered from the point of view of special relativity involving two observers moving uniformly with respect to each other. A requirement of statistical equivalence of the probability distributions seen by those observers leads to the Lorentz transformations, provided a randomly moving particle shifts from one submicroscopic cell of uncertainty to a neighbor with a speed equivalent to that of light. Ordinary smooth motion would appear to involve a tremendous amount of submicroscopic back and forth randomness subject to a statistical bias favoring a particular direction. The diffusive nature of the motion naturally leads to a spreading of the probability distribution.

  15. Mechanics and energetics of level walking with powered ankle exoskeletons.

    PubMed

    Sawicki, Gregory S; Ferris, Daniel P

    2008-05-01

    Robotic lower limb exoskeletons that can alter joint mechanical power output are novel tools for studying the relationship between the mechanics and energetics of human locomotion. We built pneumatically powered ankle exoskeletons controlled by the user's own soleus electromyography (i.e. proportional myoelectric control) to determine whether mechanical assistance at the ankle joint could reduce the metabolic cost of level, steady-speed human walking. We hypothesized that subjects would reduce their net metabolic power in proportion to the average positive mechanical power delivered by the bilateral ankle exoskeletons. Nine healthy individuals completed three 30 min sessions walking at 1.25 m s(-1) while wearing the exoskeletons. Over the three sessions, subjects' net metabolic energy expenditure during powered walking progressed from +7% to -10% of that during unpowered walking. With practice, subjects significantly reduced soleus muscle activity (by approximately 28% root mean square EMG, P<0.0001) and negative exoskeleton mechanical power (-0.09 W kg(-1) at the beginning of session 1 and -0.03 W kg(-1) at the end of session 3; P=0.005). Ankle joint kinematics returned to similar patterns to those observed during unpowered walking. At the end of the third session, the powered exoskeletons delivered approximately 63% of the average ankle joint positive mechanical power and approximately 22% of the total positive mechanical power generated by all of the joints summed (ankle, knee and hip) during unpowered walking. Decreases in total joint positive mechanical power due to powered ankle assistance ( approximately 22%) were not proportional to reductions in net metabolic power ( approximately 10%). The ;apparent efficiency' of the ankle joint muscle-tendon system during human walking ( approximately 0.61) was much greater than reported values of the ;muscular efficiency' of positive mechanical work for human muscle ( approximately 0.10-0.34). High ankle joint

  16. Summary of Human Ankle Mechanical Impedance During Walking

    PubMed Central

    Rouse, Elliott J.; Krebs, Hermano Igo

    2016-01-01

    The human ankle joint plays a critical role during walking and understanding the biomechanical factors that govern ankle behavior and provides fundamental insight into normal and pathologically altered gait. Previous researchers have comprehensively studied ankle joint kinetics and kinematics during many biomechanical tasks, including locomotion; however, only recently have researchers been able to quantify how the mechanical impedance of the ankle varies during walking. The mechanical impedance describes the dynamic relationship between the joint position and the joint torque during perturbation, and is often represented in terms of stiffness, damping, and inertia. The purpose of this short communication is to unify the results of the first two studies measuring ankle mechanical impedance in the sagittal plane during walking, where each study investigated differing regions of the gait cycle. Rouse et al. measured ankle impedance from late loading response to terminal stance, where Lee et al. quantified ankle impedance from pre-swing to early loading response. While stiffness component of impedance increases significantly as the stance phase of walking progressed, the change in damping during the gait cycle is much less than the changes observed in stiffness. In addition, both stiffness and damping remained low during the swing phase of walking. Future work will focus on quantifying impedance during the “push off” region of stance phase, as well as measurement of these properties in the coronal plane. PMID:27766187

  17. Planning energy-efficient bipedal locomotion on patterned terrain

    NASA Astrophysics Data System (ADS)

    Zamani, Ali; Bhounsule, Pranav A.; Taha, Ahmad

    2016-05-01

    Energy-efficient bipedal walking is essential in realizing practical bipedal systems. However, current energy-efficient bipedal robots (e.g., passive-dynamics-inspired robots) are limited to walking at a single speed and step length. The objective of this work is to address this gap by developing a method of synthesizing energy-efficient bipedal locomotion on patterned terrain consisting of stepping stones using energy-efficient primitives. A model of Cornell Ranger (a passive-dynamics inspired robot) is utilized to illustrate our technique. First, an energy-optimal trajectory control problem for a single step is formulated and solved. The solution minimizes the Total Cost Of Transport (TCOT is defined as the energy used per unit weight per unit distance travelled) subject to various constraints such as actuator limits, foot scuffing, joint kinematic limits, ground reaction forces. The outcome of the optimization scheme is a table of TCOT values as a function of step length and step velocity. Next, we parameterize the terrain to identify the location of the stepping stones. Finally, the TCOT table is used in conjunction with the parameterized terrain to plan an energy-efficient stepping strategy.

  18. Walking Is Not Like Reaching: Evidence from Periodic Mechanical Perturbations

    PubMed Central

    Ahn, Jooeun; Hogan, Neville

    2012-01-01

    The control architecture underlying human reaching has been established, at least in broad outline. However, despite extensive research, the control architecture underlying human locomotion remains unclear. Some studies show evidence of high-level control focused on lower-limb trajectories; others suggest that nonlinear oscillators such as lower-level rhythmic central pattern generators (CPGs) play a significant role. To resolve this ambiguity, we reasoned that if a nonlinear oscillator contributes to locomotor control, human walking should exhibit dynamic entrainment to periodic mechanical perturbation; entrainment is a distinctive behavior of nonlinear oscillators. Here we present the first behavioral evidence that nonlinear neuro-mechanical oscillators contribute to the production of human walking, albeit weakly. As unimpaired human subjects walked at constant speed, we applied periodic torque pulses to the ankle at periods different from their preferred cadence. The gait period of 18 out of 19 subjects entrained to this mechanical perturbation, converging to match that of the perturbation. Significantly, entrainment occurred only if the perturbation period was close to subjects' preferred walking cadence: it exhibited a narrow basin of entrainment. Further, regardless of the phase within the walking cycle at which perturbation was initiated, subjects' gait synchronized or phase-locked with the mechanical perturbation at a phase of gait where it assisted propulsion. These results were affected neither by auditory feedback nor by a distractor task. However, the convergence to phase-locking was slow. These characteristics indicate that nonlinear neuro-mechanical oscillators make at most a modest contribution to human walking. Our results suggest that human locomotor control is not organized as in reaching to meet a predominantly kinematic specification, but is hierarchically organized with a semi-autonomous peripheral oscillator operating under episodic

  19. Arboreality, terrestriality and bipedalism.

    PubMed

    Crompton, Robin Huw; Sellers, William I; Thorpe, Susannah K S

    2010-10-27

    The full publication of Ardipithecus ramidus has particular importance for the origins of hominin bipedality, and strengthens the growing case for an arboreal origin. Palaeontological techniques however inevitably concentrate on details of fragmentary postcranial bones and can benefit from a whole-animal perspective. This can be provided by field studies of locomotor behaviour, which provide a real-world perspective of adaptive context, against which conclusions drawn from palaeontology and comparative osteology may be assessed and honed. Increasingly sophisticated dynamic modelling techniques, validated against experimental data for living animals, offer a different perspective where evolutionary and virtual ablation experiments, impossible for living mammals, may be run in silico, and these can analyse not only the interactions and behaviour of rigid segments but increasingly the effects of compliance, which are of crucial importance in guiding the evolution of an arboreally derived lineage.

  20. Arboreality, terrestriality and bipedalism

    PubMed Central

    Crompton, Robin Huw; Sellers, William I.; Thorpe, Susannah K. S.

    2010-01-01

    The full publication of Ardipithecus ramidus has particular importance for the origins of hominin bipedality, and strengthens the growing case for an arboreal origin. Palaeontological techniques however inevitably concentrate on details of fragmentary postcranial bones and can benefit from a whole-animal perspective. This can be provided by field studies of locomotor behaviour, which provide a real-world perspective of adaptive context, against which conclusions drawn from palaeontology and comparative osteology may be assessed and honed. Increasingly sophisticated dynamic modelling techniques, validated against experimental data for living animals, offer a different perspective where evolutionary and virtual ablation experiments, impossible for living mammals, may be run in silico, and these can analyse not only the interactions and behaviour of rigid segments but increasingly the effects of compliance, which are of crucial importance in guiding the evolution of an arboreally derived lineage. PMID:20855304

  1. Mechanics and energetics of incline walking with robotic ankle exoskeletons.

    PubMed

    Sawicki, Gregory S; Ferris, Daniel P

    2009-01-01

    We examined healthy human subjects wearing robotic ankle exoskeletons to study the metabolic cost of ankle muscle-tendon work during uphill walking. The exoskeletons were powered by artificial pneumatic muscles and controlled by the user's soleus electromyography. We hypothesized that as the demand for net positive external mechanical work increased with surface gradient, the positive work delivered by ankle exoskeletons would produce greater reductions in users' metabolic cost. Nine human subjects walked at 1.25 m s(-1) on gradients of 0%, 5%, 10% and 15%. We compared rates of O(2) consumption and CO(2) production, exoskeleton mechanics, joint kinematics, and surface electromyography between unpowered and powered exoskeleton conditions. On steeper inclines, ankle exoskeletons delivered more average positive mechanical power (P<0.0001; +0.37+/-0.03 W kg(-1) at 15% grade and +0.23+/-0.02 W kg(-1) at 0% grade) and reduced subjects' net metabolic power by more (P<0.0001; -0.98+/-0.12 W kg(-1) at 15% grade and -0.45+/-0.07 W kg(-1) at 0% grade). Soleus muscle activity was reduced by 16-25% when wearing powered exoskeletons on all surface gradients (P<0.0008). The ;apparent efficiency' of ankle muscle-tendon mechanical work decreased from 0.53 on level ground to 0.38 on 15% grade. This suggests a decreased contribution from previously stored Achilles' tendon elastic energy and an increased contribution from actively shortening ankle plantar flexor muscle fibers to ankle muscle-tendon positive work during walking on steep uphill inclines. Although exoskeletons delivered 61% more mechanical work at the ankle up a 15% grade compared with level walking, relative reductions in net metabolic power were similar across surface gradients (10-13%). These results suggest a shift in the relative distribution of mechanical power output to more proximal (knee and hip) joints during inclined walking. PMID:19088208

  2. Walking in simulated reduced gravity: mechanical energy fluctuations and exchange.

    PubMed

    Griffin, T M; Tolani, N A; Kram, R

    1999-01-01

    Walking humans conserve mechanical and, presumably, metabolic energy with an inverted pendulum-like exchange of gravitational potential energy and horizontal kinetic energy. Walking in simulated reduced gravity involves a relatively high metabolic cost, suggesting that the inverted-pendulum mechanism is disrupted because of a mismatch of potential and kinetic energy. We tested this hypothesis by measuring the fluctuations and exchange of mechanical energy of the center of mass at different combinations of velocity and simulated reduced gravity. Subjects walked with smaller fluctuations in horizontal velocity in lower gravity, such that the ratio of horizontal kinetic to gravitational potential energy fluctuations remained constant over a fourfold change in gravity. The amount of exchange, or percent recovery, at 1.00 m/s was not significantly different at 1.00, 0.75, and 0.50 G (average 64.4%), although it decreased to 48% at 0.25 G. As a result, the amount of work performed on the center of mass does not explain the relatively high metabolic cost of walking in simulated reduced gravity.

  3. Kinetics of bipedal locomotion during load carrying in capuchin monkeys.

    PubMed

    Hanna, Jandy B; Schmitt, Daniel; Wright, Kristin; Eshchar, Yonat; Visalberghi, Elisabetta; Fragaszy, Dorothy

    2015-08-01

    Facultative bipedalism during load transport in nonhuman primates has been argued to be an important behavior potentially leading to the evolution of obligate, extended limb bipedalism. Understanding the biomechanics of such behavior may lead to insights about associated morphology, which may translate to interpretation of features in the fossil record. Some populations of bearded capuchin monkeys (Sapajus libidinosus) spontaneously carry heavy loads bipedally during foraging activities. This study provides the first data on all three components of ground reaction force for spontaneous bipedalism during load carriage in a nonhuman primate. Five individual S. libidinosus (mean body mass = 2.4 kg ± 0.96) were videorecorded during bipedalism while carrying a stone (0.93 kg) under natural conditions. A force plate was embedded in the path of the monkeys. Spatiotemporal and force data for all three components of the ground reaction force were recorded for 28 steps. Capuchins exhibited a mean vertical peak force per total weight (Vpk) for the hindlimb of 1.19 (sd = 0.13), consistent with those of unloaded capuchins in the laboratory and for other bipedal primates, including humans. Vertical force records suggest that capuchins, along with most nonhuman primates, maintain a relatively compliant leg during both unloaded and loaded locomotion. Like all other primates, loaded capuchins maintained laterally (outward) directed medio-lateral forces, presumably to stabilize side-to-side movements of the center of mass. Medio-lateral forces suggest that at near-running speeds dynamic stability diminishes the need to generate high lateral forces. Vertical force traces exhibited a measurable impact spike at foot contact in 85% of the steps recorded. An impact spike is common in human walking and running but has not been reported in other bipedal primates. This spike in humans is thought to lead to bone and cartilage damage. The earliest biped may have experienced similar

  4. Walking, running and the evolution of short toes in humans.

    PubMed

    Rolian, Campbell; Lieberman, Daniel E; Hamill, Joseph; Scott, John W; Werbel, William

    2009-03-01

    The phalangeal portion of the forefoot is extremely short relative to body mass in humans. This derived pedal proportion is thought to have evolved in the context of committed bipedalism, but the benefits of shorter toes for walking and/or running have not been tested previously. Here, we propose a biomechanical model of toe function in bipedal locomotion that suggests that shorter pedal phalanges improve locomotor performance by decreasing digital flexor force production and mechanical work, which might ultimately reduce the metabolic cost of flexor force production during bipedal locomotion. We tested this model using kinematic, force and plantar pressure data collected from a human sample representing normal variation in toe length (N=25). The effect of toe length on peak digital flexor forces, impulses and work outputs was evaluated during barefoot walking and running using partial correlations and multiple regression analysis, controlling for the effects of body mass, whole-foot and phalangeal contact times and toe-out angle. Our results suggest that there is no significant increase in digital flexor output associated with longer toes in walking. In running, however, multiple regression analyses based on the sample suggest that increasing average relative toe length by as little as 20% doubles peak digital flexor impulses and mechanical work, probably also increasing the metabolic cost of generating these forces. The increased mechanical cost associated with long toes in running suggests that modern human forefoot proportions might have been selected for in the context of the evolution of endurance running.

  5. From Walking to Running

    NASA Astrophysics Data System (ADS)

    Rummel, Juergen; Blum, Yvonne; Seyfarth, Andre

    The implementation of bipedal gaits in legged robots is still a challenge in state-of-the-art engineering. Human gaits could be realized by imitating human leg dynamics where a spring-like leg behavior is found as represented in the bipedal spring-mass model. In this study we explore the gap between walking and running by investigating periodic gait patterns. We found an almost continuous morphing of gait patterns between walking and running. The technical feasibility of this transition is, however, restricted by the duration of swing phase. In practice, this requires an abrupt gait transition between both gaits, while a change of speed is not necessary.

  6. Stable walking with asymmetric legs.

    PubMed

    Merker, Andreas; Rummel, Juergen; Seyfarth, Andre

    2011-12-01

    Asymmetric leg function is often an undesired side-effect in artificial legged systems and may reflect functional deficits or variations in the mechanical construction. It can also be found in legged locomotion in humans and animals such as after an accident or in specific gait patterns. So far, it is not clear to what extent differences in the leg function of contralateral limbs can be tolerated during walking or running. Here, we address this issue using a bipedal spring-mass model for simulating walking with compliant legs. With the help of the model, we show that considerable differences between contralateral legs can be tolerated and may even provide advantages to the robustness of the system dynamics. A better understanding of the mechanisms and potential benefits of asymmetric leg operation may help to guide the development of artificial limbs or the design novel therapeutic concepts and rehabilitation strategies.

  7. Simultaneous positive and negative external mechanical work in human walking.

    PubMed

    Donelan, J Maxwell; Kram, Rodger; Kuo, Arthur D

    2002-01-01

    In human walking, the center of mass motion is similar to an inverted pendulum. Viewing double support as a transition from one inverted pendulum to the next, we hypothesized that the leading leg performs negative work to redirect the center of mass velocity, while simultaneously, the trailing leg performs positive work to replace the lost energy. To test this hypothesis, we developed a method to quantify the external mechanical work performed by each limb (individual limbs method). Traditional measures of external mechanical work use the sum of the ground reaction forces acting on the limbs (combined limbs method) allowing for the mathematical cancellation of simultaneous positive and negative work during multiple support periods. We expected to find that the traditional combined limbs method underestimates external mechanical work by a substantial amount. We used both methods to measure the external mechanical work performed by humans walking over a range of speeds. We found that during double support, the legs perform a substantial amount of positive and negative external work simultaneously. The combined limbs measures of positive and negative external work were approximately 33% less than those calculated using the individual limbs method. At all speeds, the trailing leg performs greater than 97% of the double support positive work while the leading leg performs greater than 94% of the double support negative work. PMID:11747890

  8. First steps of bipedality in hominids: evidence from the atelid and proconsulid pelvis.

    PubMed

    Machnicki, Allison L; Spurlock, Linda B; Strier, Karen B; Reno, Philip L; Lovejoy, C Owen

    2016-01-01

    Upright walking absent a bent-hip-bent-knee gait requires lumbar lordosis, a ubiquitous feature in all hominids for which it can be observed. Its first appearance is therefore a central problem in human evolution. Atelids, which use the tail during suspension, exhibit demonstrable lordosis and can achieve full extension of their hind limbs during terrestrial upright stance. Although obviously homoplastic with hominids, the pelvic mechanisms facilitating lordosis appear largely similar in both taxa with respect to abbreviation of upper iliac height coupled with broad sacral alae. Both provide spatial separation of the most caudal lumbar(s) from the iliac blades. A broad sacrum is therefore a likely facet of earliest hominid bipedality. All tailed monkeys have broad alae. By contrast all extant apes have very narrow sacra, which promote "trapping" of their most caudal lumbars to achieve lower trunk rigidity during suspension. The alae in the tailless proconsul Ekembo nyanzae appear to have been quite broad, a character state that may have been primitive in Miocene hominoids not yet adapted to suspension and, by extension, exaptive for earliest bipedality in the hominid/panid last common ancestor. This hypothesis receives strong support from other anatomical systems preserved in Ardipithecus ramidus.

  9. First steps of bipedality in hominids: evidence from the atelid and proconsulid pelvis

    PubMed Central

    Machnicki, Allison L.; Spurlock, Linda B.; Strier, Karen B.

    2016-01-01

    Upright walking absent a bent-hip-bent-knee gait requires lumbar lordosis, a ubiquitous feature in all hominids for which it can be observed. Its first appearance is therefore a central problem in human evolution. Atelids, which use the tail during suspension, exhibit demonstrable lordosis and can achieve full extension of their hind limbs during terrestrial upright stance. Although obviously homoplastic with hominids, the pelvic mechanisms facilitating lordosis appear largely similar in both taxa with respect to abbreviation of upper iliac height coupled with broad sacral alae. Both provide spatial separation of the most caudal lumbar(s) from the iliac blades. A broad sacrum is therefore a likely facet of earliest hominid bipedality. All tailed monkeys have broad alae. By contrast all extant apes have very narrow sacra, which promote “trapping” of their most caudal lumbars to achieve lower trunk rigidity during suspension. The alae in the tailless proconsul Ekembo nyanzae appear to have been quite broad, a character state that may have been primitive in Miocene hominoids not yet adapted to suspension and, by extension, exaptive for earliest bipedality in the hominid/panid last common ancestor. This hypothesis receives strong support from other anatomical systems preserved in Ardipithecus ramidus. PMID:26793418

  10. Energy cost, mechanical work, and efficiency of hemiparetic walking.

    PubMed

    Detrembleur, C; Dierick, F; Stoquart, G; Chantraine, F; Lejeune, T

    2003-10-01

    The energy cost of walking (C) in nine chronic hemiparetic patients was calculated by measuring the total mechanical work (Wtot) done by the muscles and the efficiency of this work production (eta). The energy cost was twice normal in slow walkers and 1.3 times greater in fast walkers. The increase in C was proportional to the increase in Wtot and eta was normal at around 20%, despite an increase in muscle tone and muscle co-contractions. This type of approach gives a greater understanding into how segmental impairments increase Wtot and C and contribute to a patient's disability.

  11. Instability-induced hierarchy in bipedal locomotion

    NASA Astrophysics Data System (ADS)

    Ohgane, Kunishige; Ueda, Kei-Ichi

    2008-05-01

    One of the important features of human locomotion is its instant adaptability to various unpredictable changes of physical and environmental conditions. This property is known as flexibility. Modeling the bipedal locomotion system, we show that initial-state coordination by a global variable which encodes the attractor basins of the system can yield flexibility. This model is based on the following hypotheses: (i) the walking velocity is a global variable, and (ii) the leg posture at the beginning of the stance phase is the initial state of the gait. Moreover, we confirm these hypotheses. We investigate the regions near the neutral states between walking and falling phases using numerical experiments and demonstrate that global variables can be defined as the dominant unstable directions of the system dynamics near the neutral states. We propose the concept of an “instability-induced hierarchy.” In this hierarchy, global variables govern other variables near neutral states; i.e., they become elements of a higher level.

  12. Mechanical Energy Recovery during Walking in Patients with Parkinson Disease.

    PubMed

    Dipaola, Mariangela; Pavan, Esteban E; Cattaneo, Andrea; Frazzitta, Giuseppe; Pezzoli, Gianni; Cavallari, Paolo; Frigo, Carlo A; Isaias, Ioannis U

    2016-01-01

    The mechanisms of mechanical energy recovery during gait have been thoroughly investigated in healthy subjects, but never described in patients with Parkinson disease (PD). The aim of this study was to investigate whether such mechanisms are preserved in PD patients despite an altered pattern of locomotion. We consecutively enrolled 23 PD patients (mean age 64±9 years) with bilateral symptoms (H&Y ≥II) if able to walk unassisted in medication-off condition (overnight suspension of all dopaminergic drugs). Ten healthy subjects (mean age 62±3 years) walked both at their 'preferred' and 'slow' speeds, to match the whole range of PD velocities. Kinematic data were recorded by means of an optoelectronic motion analyzer. For each stride we computed spatio-temporal parameters, time-course and range of motion (ROM) of hip, knee and ankle joint angles. We also measured kinetic (Wk), potential (Wp), total (WtotCM) energy variations and the energy recovery index (ER). Along with PD progression, we found a significant correlation of WtotCM and Wp with knee ROM and in particular with knee extension in terminal stance phase. Wk and ER were instead mainly related to gait velocity. In PD subjects, the reduction of knee ROM significantly diminished both Wp and WtotCM. Rehabilitation treatments should possibly integrate passive and active mobilization of knee to prevent a reduction of gait-related energetic components. PMID:27258183

  13. Mechanical Energy Recovery during Walking in Patients with Parkinson Disease.

    PubMed

    Dipaola, Mariangela; Pavan, Esteban E; Cattaneo, Andrea; Frazzitta, Giuseppe; Pezzoli, Gianni; Cavallari, Paolo; Frigo, Carlo A; Isaias, Ioannis U

    2016-01-01

    The mechanisms of mechanical energy recovery during gait have been thoroughly investigated in healthy subjects, but never described in patients with Parkinson disease (PD). The aim of this study was to investigate whether such mechanisms are preserved in PD patients despite an altered pattern of locomotion. We consecutively enrolled 23 PD patients (mean age 64±9 years) with bilateral symptoms (H&Y ≥II) if able to walk unassisted in medication-off condition (overnight suspension of all dopaminergic drugs). Ten healthy subjects (mean age 62±3 years) walked both at their 'preferred' and 'slow' speeds, to match the whole range of PD velocities. Kinematic data were recorded by means of an optoelectronic motion analyzer. For each stride we computed spatio-temporal parameters, time-course and range of motion (ROM) of hip, knee and ankle joint angles. We also measured kinetic (Wk), potential (Wp), total (WtotCM) energy variations and the energy recovery index (ER). Along with PD progression, we found a significant correlation of WtotCM and Wp with knee ROM and in particular with knee extension in terminal stance phase. Wk and ER were instead mainly related to gait velocity. In PD subjects, the reduction of knee ROM significantly diminished both Wp and WtotCM. Rehabilitation treatments should possibly integrate passive and active mobilization of knee to prevent a reduction of gait-related energetic components.

  14. Mechanical Energy Recovery during Walking in Patients with Parkinson Disease

    PubMed Central

    Dipaola, Mariangela; Pavan, Esteban E.; Cattaneo, Andrea; Frazzitta, Giuseppe; Pezzoli, Gianni; Cavallari, Paolo; Frigo, Carlo A.

    2016-01-01

    The mechanisms of mechanical energy recovery during gait have been thoroughly investigated in healthy subjects, but never described in patients with Parkinson disease (PD). The aim of this study was to investigate whether such mechanisms are preserved in PD patients despite an altered pattern of locomotion. We consecutively enrolled 23 PD patients (mean age 64±9 years) with bilateral symptoms (H&Y ≥II) if able to walk unassisted in medication-off condition (overnight suspension of all dopaminergic drugs). Ten healthy subjects (mean age 62±3 years) walked both at their ‘preferred’ and ‘slow’ speeds, to match the whole range of PD velocities. Kinematic data were recorded by means of an optoelectronic motion analyzer. For each stride we computed spatio-temporal parameters, time-course and range of motion (ROM) of hip, knee and ankle joint angles. We also measured kinetic (Wk), potential (Wp), total (WtotCM) energy variations and the energy recovery index (ER). Along with PD progression, we found a significant correlation of WtotCM and Wp with knee ROM and in particular with knee extension in terminal stance phase. Wk and ER were instead mainly related to gait velocity. In PD subjects, the reduction of knee ROM significantly diminished both Wp and WtotCM. Rehabilitation treatments should possibly integrate passive and active mobilization of knee to prevent a reduction of gait-related energetic components. PMID:27258183

  15. Brief communication: arboreal bipedalism in Bwindi chimpanzees.

    PubMed

    Stanford, Craig B

    2002-09-01

    Evidence of the form and function of bipedal behavior in nonhuman primates provides critical evidence to test theories about the origins of hominid bipedalism. Bipedalism has long been considered an evolutionarily interesting but rare behavior in wild chimpanzees. During May 2001, chimpanzees of the Ruhija community in the Bwindi Impenetrable National Park, Uganda, engaged in an exceptional frequency of arboreal bipedalism when feeding in large Ficus trees. Seventy-eight bipedal bouts of at least 5 sec duration were recorded for the entire community (0.49 bouts/hr), with a mean duration of 13.7 sec (+/-1.6 sec). The animals employed many variations on the bipedal postural theme, ranging from erect standing on the largest substrates while grasping overhead limbs for support, to standing on one leg while suspending the other leg in space, to extended-lean standing, in which bipedal standing transitioned into horizontal arm-leg suspension as the animal reached for more distant fruits. Bipedalism was used as part of a behavioral repertoire that integrated brachiation, four-limbed suspension, and forelimb-supported standing for effective small-fruit foraging. These observations suggest that under certain ecological conditions, arboreal bipedalism can be an important posture for wild chimpanzees, and may have been an important behavioral precursor to full terrestrial bipedalism.

  16. Bipedal locomotion of bonnet macaques after spinal cord injury.

    PubMed

    Babu, Rangasamy Suresh; Anand, P; Jeraud, Mathew; Periasamy, P; Namasivayam, A

    2007-10-01

    Experimental studies concerning the analysis of locomotor behavior in spinal cord injury research are widely performed in rodent models. The purpose of this study was to quantitatively evaluate the degree of functional recovery in reflex components and bipedal locomotor behavior of bonnet macaques (Macaca radiata) after spinal contusive injury. Six monkeys were tested for various reflex components (grasping, righting, hopping, extension withdrawal) and were trained preoperatively to walk in bipedal fashion on the simple and complex locomotor runways (narrow beam, grid, inclined plane, treadmill) of this investigation. The overall performance of the animals'motor behavior and the functional status of limb movements during bipedal locomotion were graded by the Combined Behavioral Score (CBS) system. Using the simple Allen weight-drop technique, a contusive injury was produced by dropping a 13-g weight from a height of 30 cm to the exposed spinal cord at the T12-L1 vertebral level of the trained monkeys. All the monkeys showed significant impairments in every reflex activity and in walking behavior during the early part of the postoperative period. In subsequent periods, the animals displayed mild alterations in certain reflex responses, such as grasping, extension withdrawal, and placing reflexes, which persisted through a 1-year follow-up. The contused animals traversed locomotor runways--narrow beam, incline plane, and grid runways--with more steps and few errors, as evaluated with the CBS system. Eventually, the behavioral performance of all spinal-contused monkeys recovered to near-preoperative level by the fifth postoperative month. The findings of this study reveal the recovery time course of various reflex components and bipedal locomotor behavior of spinal-contused macaques on runways for a postoperative period of up to 1 year. Our spinal cord research in primates is advantageous in understanding the characteristics of hind limb functions only, which possibly

  17. Human balance, the evolution of bipedalism and dysequilibrium syndrome.

    PubMed

    Skoyles, John R

    2006-01-01

    A new model of the uniqueness, nature and evolution of human bipedality is presented in the context of the etiology of the balance disorder of dysequilibrium syndrome. Human bipedality is biologically novel in several remarkable respects. Humans are (a) obligate, habitual and diverse in their bipedalism, (b) hold their body carriage spinally erect in a multisegmental "antigravity pole", (c) use their forelimbs exclusively for nonlocomotion, (d) support their body weight exclusively by vertical balance and normally never use prehensile holds. Further, human bipedalism is combined with (e) upper body actions that quickly shift the body's center of mass (e.g. tennis serves, piggy-back carrying of children), (f) use transient unstable erect positions (dance, kicking and fighting), (g) body height that makes falls injurious, (h) stiff gait walking, and (i) endurance running. Underlying these novelties, I conjecture, is a species specific human vertical balance faculty. This faculty synchronizes any action with a skeletomuscular adjustment that corrects its potential destabilizing impact upon the projection of the body's center of mass over its foot support. The balance faculty depends upon internal models of the erect vertical body's geometrical relationship (and its deviations) to its support base. Due to the situation that humans are obligate erect terrestrial animals, two frameworks - the body- and gravity-defined frameworks - are in constant alignment in the vertical z-axis. This alignment allows human balance to adapt egocentric body cognitions to detect body deviations from the gravitational vertical. This link between human balance and the processing of geometrical orientation, I propose, accounts for the close link between balance and spatial cognition found in the cerebral cortex. I argue that cortical areas processing the spatial and other cognitions needed to enable vertical balance was an important reason for brain size expansion of Homo erectus. A novel

  18. Visual aftereffects for walking actions reveal underlying neural mechanisms for action recognition.

    PubMed

    Barraclough, Nick; Jellema, Tjeerd

    2011-01-01

    The results of this study illustrate a new high-level visual aftereffect: Observing actors walking forward, without horizontal translation, makes subsequent actors appear to walk backward, and the opposite effect is obtained after observing backward walking. We used this aftereffect, which cannot be explained by simple low-level adaptation to motion direction, to investigate the properties of neural mechanisms underlying recognition of walking actions. Our results suggest that the perception of walking and the perception of static images of actors in walking postures rely on common brain mechanisms that are primarily object centered, rather than viewer centered, and that are blind to the identity of the actor. These results, obtained with human psychophysical adaptation techniques, support previous evidence accumulated using single-unit recording in nonhuman primates. In addition, these results provide evidence that current models of human action recognition require an object-centered processing stage.

  19. Automaticity of walking: functional significance, mechanisms, measurement and rehabilitation strategies

    PubMed Central

    Clark, David J.

    2015-01-01

    Automaticity is a hallmark feature of walking in adults who are healthy and well-functioning. In the context of walking, “automaticity” refers to the ability of the nervous system to successfully control typical steady state walking with minimal use of attention-demanding executive control resources. Converging lines of evidence indicate that walking deficits and disorders are characterized in part by a shift in the locomotor control strategy from healthy automaticity to compensatory executive control. This is potentially detrimental to walking performance, as an executive control strategy is not optimized for locomotor control. Furthermore, it places excessive demands on a limited pool of executive reserves. The result is compromised ability to perform basic and complex walking tasks and heightened risk for adverse mobility outcomes including falls. Strategies for rehabilitation of automaticity are not well defined, which is due to both a lack of systematic research into the causes of impaired automaticity and to a lack of robust neurophysiological assessments by which to gauge automaticity. These gaps in knowledge are concerning given the serious functional implications of compromised automaticity. Therefore, the objective of this article is to advance the science of automaticity of walking by consolidating evidence and identifying gaps in knowledge regarding: (a) functional significance of automaticity; (b) neurophysiology of automaticity; (c) measurement of automaticity; (d) mechanistic factors that compromise automaticity; and (e) strategies for rehabilitation of automaticity. PMID:25999838

  20. Biped walking robot based on a 2-UPU+2-UU parallel mechanism

    NASA Astrophysics Data System (ADS)

    Miao, Zhihuai; Yao, Yan'an; Kong, Xianwen

    2014-03-01

    Existing biped robots mainly fall into two categories: robots with left and right feet and robots with upper and lower feet. The load carrying capability of a biped robot is quite limited since the two feet of a walking robot supports the robot alternatively during walking. To improve the load carrying capability, a novel biped walking robot is proposed based on a 2-UPU+2-UU parallel mechanism. The biped walking robot is composed of two identical platforms(feet) and four limbs, including two UPU(universal-prismatic-universal serial chain) limbs and two UU limbs. To enhance its terrain adaptability like articulated vehicles, the two feet of the biped walking robot are designed as two vehicles in detail. The conditions that the geometric parameters of the feet must satisfy are discussed. The degrees-of-freedom of the mechanism is analyzed by using screw theory. Gait analysis, kinematic analysis and stability analysis of the mechanism are carried out to verify the structural design parameters. The simulation results validate the feasibility of walking on rugged terrain. Experiments with a physical prototype show that the novel biped walking robot can walk stably on smooth terrain. Due to its unique feet design and high stiffness, the biped walking robot may adapt to rugged terrain and is suitable for load-carrying.

  1. Adaptation mechanism of interlimb coordination in human split-belt treadmill walking through learning of foot contact timing: a robotics study.

    PubMed

    Fujiki, Soichiro; Aoi, Shinya; Funato, Tetsuro; Tomita, Nozomi; Senda, Kei; Tsuchiya, Kazuo

    2015-09-01

    Human walking behaviour adaptation strategies have previously been examined using split-belt treadmills, which have two parallel independently controlled belts. In such human split-belt treadmill walking, two types of adaptations have been identified: early and late. Early-type adaptations appear as rapid changes in interlimb and intralimb coordination activities when the belt speeds of the treadmill change between tied (same speed for both belts) and split-belt (different speeds for each belt) configurations. By contrast, late-type adaptations occur after the early-type adaptations as a gradual change and only involve interlimb coordination. Furthermore, interlimb coordination shows after-effects that are related to these adaptations. It has been suggested that these adaptations are governed primarily by the spinal cord and cerebellum, but the underlying mechanism remains unclear. Because various physiological findings suggest that foot contact timing is crucial to adaptive locomotion, this paper reports on the development of a two-layered control model for walking composed of spinal and cerebellar models, and on its use as the focus of our control model. The spinal model generates rhythmic motor commands using an oscillator network based on a central pattern generator and modulates the commands formulated in immediate response to foot contact, while the cerebellar model modifies motor commands through learning based on error information related to differences between the predicted and actual foot contact timings of each leg. We investigated adaptive behaviour and its mechanism by split-belt treadmill walking experiments using both computer simulations and an experimental bipedal robot. Our results showed that the robot exhibited rapid changes in interlimb and intralimb coordination that were similar to the early-type adaptations observed in humans. In addition, despite the lack of direct interlimb coordination control, gradual changes and after-effects in the

  2. Adaptation mechanism of interlimb coordination in human split-belt treadmill walking through learning of foot contact timing: a robotics study

    PubMed Central

    Fujiki, Soichiro; Aoi, Shinya; Funato, Tetsuro; Tomita, Nozomi; Senda, Kei; Tsuchiya, Kazuo

    2015-01-01

    Human walking behaviour adaptation strategies have previously been examined using split-belt treadmills, which have two parallel independently controlled belts. In such human split-belt treadmill walking, two types of adaptations have been identified: early and late. Early-type adaptations appear as rapid changes in interlimb and intralimb coordination activities when the belt speeds of the treadmill change between tied (same speed for both belts) and split-belt (different speeds for each belt) configurations. By contrast, late-type adaptations occur after the early-type adaptations as a gradual change and only involve interlimb coordination. Furthermore, interlimb coordination shows after-effects that are related to these adaptations. It has been suggested that these adaptations are governed primarily by the spinal cord and cerebellum, but the underlying mechanism remains unclear. Because various physiological findings suggest that foot contact timing is crucial to adaptive locomotion, this paper reports on the development of a two-layered control model for walking composed of spinal and cerebellar models, and on its use as the focus of our control model. The spinal model generates rhythmic motor commands using an oscillator network based on a central pattern generator and modulates the commands formulated in immediate response to foot contact, while the cerebellar model modifies motor commands through learning based on error information related to differences between the predicted and actual foot contact timings of each leg. We investigated adaptive behaviour and its mechanism by split-belt treadmill walking experiments using both computer simulations and an experimental bipedal robot. Our results showed that the robot exhibited rapid changes in interlimb and intralimb coordination that were similar to the early-type adaptations observed in humans. In addition, despite the lack of direct interlimb coordination control, gradual changes and after-effects in the

  3. Adaptation mechanism of interlimb coordination in human split-belt treadmill walking through learning of foot contact timing: a robotics study.

    PubMed

    Fujiki, Soichiro; Aoi, Shinya; Funato, Tetsuro; Tomita, Nozomi; Senda, Kei; Tsuchiya, Kazuo

    2015-09-01

    Human walking behaviour adaptation strategies have previously been examined using split-belt treadmills, which have two parallel independently controlled belts. In such human split-belt treadmill walking, two types of adaptations have been identified: early and late. Early-type adaptations appear as rapid changes in interlimb and intralimb coordination activities when the belt speeds of the treadmill change between tied (same speed for both belts) and split-belt (different speeds for each belt) configurations. By contrast, late-type adaptations occur after the early-type adaptations as a gradual change and only involve interlimb coordination. Furthermore, interlimb coordination shows after-effects that are related to these adaptations. It has been suggested that these adaptations are governed primarily by the spinal cord and cerebellum, but the underlying mechanism remains unclear. Because various physiological findings suggest that foot contact timing is crucial to adaptive locomotion, this paper reports on the development of a two-layered control model for walking composed of spinal and cerebellar models, and on its use as the focus of our control model. The spinal model generates rhythmic motor commands using an oscillator network based on a central pattern generator and modulates the commands formulated in immediate response to foot contact, while the cerebellar model modifies motor commands through learning based on error information related to differences between the predicted and actual foot contact timings of each leg. We investigated adaptive behaviour and its mechanism by split-belt treadmill walking experiments using both computer simulations and an experimental bipedal robot. Our results showed that the robot exhibited rapid changes in interlimb and intralimb coordination that were similar to the early-type adaptations observed in humans. In addition, despite the lack of direct interlimb coordination control, gradual changes and after-effects in the

  4. Inefficient use of inverted pendulum mechanism during quadrupedal walking in the Japanese macaque.

    PubMed

    Ogihara, Naomichi; Makishima, Haruyuki; Hirasaki, Eishi; Nakatsukasa, Masato

    2012-01-01

    In animal walking, the gravitational potential and kinetic energy of the center of mass (COM) fluctuates out-of-phase to reduce the energetic cost of locomotion via an inverted pendulum mechanism, and, in canine quadrupedal walking, up to 70% of the mechanical energy can be recovered. However, the rate of energy recovery for quadrupedal walking in primates has been reported to be comparatively lower. The present study analyzed fluctuations in the potential and kinetic energy of the COM during quadrupedal walking in the Japanese macaque to clarify the mechanisms underlying this inefficient utilization of the inverted pendulum mechanism in primates. Monkeys walked on a wooden walkway at a self-selected speed, and ground reaction forces were measured, using a force platform, to calculate patterns of mechanical energy fluctuation and rates of energy recovery. Our results demonstrated that rates of energy recovery for quadrupedal walking in Japanese macaques were approximately 30-50%, much smaller than those reported for dogs. Comparisons of the patterns of mechanical energy fluctuation suggested that the potential and kinetic energies oscillated relatively more in-phase, and amplitudes did not attain near equality during quadrupedal walking in Japanese macaques, possibly because of greater weight support (reaction force) of the hindlimbs and more protracted forelimbs at touchdown in the Japanese macaque, two of the three commonly accepted locomotor characteristics distinguishing primates from non-primate mammals.

  5. Tuataras and salamanders show that walking and running mechanics are ancient features of tetrapod locomotion.

    PubMed

    Reilly, Stephen M; McElroy, Eric J; Andrew Odum, R; Hornyak, Valerie A

    2006-06-22

    The lumbering locomotor behaviours of tuataras and salamanders are the best examples of quadrupedal locomotion of early terrestrial vertebrates. We show they use the same walking (out-of-phase) and running (in-phase) patterns of external mechanical energy fluctuations of the centre-of-mass known in fast moving (cursorial) animals. Thus, walking and running centre-of-mass mechanics have been a feature of tetrapods since quadrupedal locomotion emerged over 400 million years ago. When walking, these sprawling animals save external mechanical energy with the same pendular effectiveness observed in cursorial animals. However, unlike cursorial animals (that change footfall patterns and mechanics with speed), tuataras and salamanders use only diagonal couplet gaits and indifferently change from walking to running mechanics with no significant change in total mechanical energy. Thus, the change from walking to running is not related to speed and the advantage of walking versus running is unclear. Furthermore, lumbering mechanics in primitive tetrapods is reflected in having total mechanical energy driven by potential energy (rather than kinetic energy as in cursorial animals) and relative centre-of-mass displacements an order of magnitude greater than cursorial animals. Thus, large vertical displacements associated with lumbering locomotion in primitive tetrapods may preclude their ability to increase speed.

  6. Random-walk mechanism in the genetic recombination.

    PubMed

    Fujitani, Youhei; Kawai, Junji; Kobayashi, Ichizo

    2010-01-01

    We have explained some experimental data of the homologous recombination and the genetic interference in terms of one-dimensional random walk over discrete sites. We first review our previous results. Next, we modify our random-walk model for the homologous recombination into a continuous-site model, and discuss a possible explanation for the previous experimental data obtained by means of the plasmid having one-side homology. Finally, we show that a reaction between an intermediate and a product is indispensable in explaining the genetic interference in terms of our reaction-diffusion model.

  7. Muscle force production during bent-knee, bent-hip walking in humans.

    PubMed

    Foster, Adam D; Raichlen, David A; Pontzer, Herman

    2013-09-01

    Researchers have long debated the locomotor posture used by the earliest bipeds. While many agree that by 3-4 Ma (millions of years ago), hominins walked with an extended-limb human style of bipedalism, researchers are still divided over whether the earliest bipeds walked like modern humans, or walked with a more bent-knee, bent-hip (BKBH) ape-like form of locomotion. Since more flexed postures are associated with higher energy costs, reconstructing early bipedal mechanics has implications for the selection pressures that led to upright walking. The purpose of this study is to determine how modern human anatomy functions in BKBH walking to clarify the links between morphology and energy costs in different mechanical regimes. Using inverse dynamics, we calculated muscle force production at the major limb joints in humans walking in two modes, both with extended limbs and BKBH. We found that in BKBH walking, humans must produce large muscle forces at the knee to support body weight, leading to higher estimated energy costs. However, muscle forces at the hip remained similar in BKBH and extended limb walking, suggesting that anatomical adaptations for hip extension in humans do not necessarily diminish the effective mechanical advantage at the hip in more flexed postures. We conclude that the key adaptations for economical walking, regardless of joint posture, seem to center on maintaining low muscle forces at the hip, primarily by keeping low external moments at the hip. We explore the implications of these results for interpreting locomotor energetics in early hominins, including australopithecines and Ardipithecus ramidus. PMID:23928351

  8. Muscle force production during bent-knee, bent-hip walking in humans.

    PubMed

    Foster, Adam D; Raichlen, David A; Pontzer, Herman

    2013-09-01

    Researchers have long debated the locomotor posture used by the earliest bipeds. While many agree that by 3-4 Ma (millions of years ago), hominins walked with an extended-limb human style of bipedalism, researchers are still divided over whether the earliest bipeds walked like modern humans, or walked with a more bent-knee, bent-hip (BKBH) ape-like form of locomotion. Since more flexed postures are associated with higher energy costs, reconstructing early bipedal mechanics has implications for the selection pressures that led to upright walking. The purpose of this study is to determine how modern human anatomy functions in BKBH walking to clarify the links between morphology and energy costs in different mechanical regimes. Using inverse dynamics, we calculated muscle force production at the major limb joints in humans walking in two modes, both with extended limbs and BKBH. We found that in BKBH walking, humans must produce large muscle forces at the knee to support body weight, leading to higher estimated energy costs. However, muscle forces at the hip remained similar in BKBH and extended limb walking, suggesting that anatomical adaptations for hip extension in humans do not necessarily diminish the effective mechanical advantage at the hip in more flexed postures. We conclude that the key adaptations for economical walking, regardless of joint posture, seem to center on maintaining low muscle forces at the hip, primarily by keeping low external moments at the hip. We explore the implications of these results for interpreting locomotor energetics in early hominins, including australopithecines and Ardipithecus ramidus.

  9. The pendular mechanism does not determine the optimal speed of loaded walking on gradients.

    PubMed

    Gomeñuka, Natalia Andrea; Bona, Renata Luisa; da Rosa, Rodrigo Gomes; Peyré-Tartaruga, Leonardo Alexandre

    2016-06-01

    The pendular mechanism does not act as a primary mechanism in uphill walking due to the monotonic behavior of the mechanical energies of the center of mass. Nevertheless, recent evidence shows that there is an important minimization of energy expenditure by the pendular mechanism during walking on uphill gradients. In this study, we analyzed the optimum speed (OPT) of loaded human walking and the pendulum-like determining variables (Recovery R, Instantaneous pendular re-conversion Rint, and Congruity percentage %Cong). Ten young men walked on a treadmill at five different speeds and at three different treadmill incline gradients (0, +7 and +15%), with and without a load carried in their backpacks. We used indirect calorimetry and 3D motion analysis, and all of the data were analyzed by computational algorithms. Rint increased at higher speeds and decreased with increasing gradient. R and %Cong decreased with increasing gradient and increased with speed, independent of load. Thus, energy conversion by the pendular mechanism during walking on a 15% gradient is supported, and although this mechanism can explain the maintenance of OPT at low walking speeds, the pendular mechanism does not fully explain the energy minimization at higher speeds. PMID:27017543

  10. Gait Evaluation of Overground Walking and Treadmill Walking Using Compass-Type Walking Model

    NASA Astrophysics Data System (ADS)

    Nagata, Yousuke; Yamamoto, Masayoshi; Funabiki, Shigeyuki

    A treadmill is a useful apparatus for the gait training and evaluation. However, many differences are reported between treadmill and overground walking. Experimental comparisons of the muscle activity of the leg and the heart rate have been carried out. However, the dynamic comparison has not been performed. The dynamic evaluation of the overground walking and the treadmill walking using a compass-type walking model (CTWM) which is a simple bipedal walking model, then their comparison is discussed. It is confirmed that the walking simulation using the CTWM can simulate the difference of that walk, it is clarified that there are the differences of the kick impulse on the ground and the turning impulse of the foot to the variation of the belt speed and then differences are the main factor of two walking.

  11. Visual control of foot placement when walking over complex terrain.

    PubMed

    Matthis, Jonathan S; Fajen, Brett R

    2014-02-01

    The aim of this study was to investigate the role of visual information in the control of walking over complex terrain with irregularly spaced obstacles. We developed an experimental paradigm to measure how far along the future path people need to see in order to maintain forward progress and avoid stepping on obstacles. Participants walked over an array of randomly distributed virtual obstacles that were projected onto the floor by an LCD projector while their movements were tracked by a full-body motion capture system. Walking behavior in a full-vision control condition was compared with behavior in a number of other visibility conditions in which obstacles did not appear until they fell within a window of visibility centered on the moving observer. Collisions with obstacles were more frequent and, for some participants, walking speed was slower when the visibility window constrained vision to less than two step lengths ahead. When window sizes were greater than two step lengths, the frequency of collisions and walking speed were weakly affected or unaffected. We conclude that visual information from at least two step lengths ahead is needed to guide foot placement when walking over complex terrain. When placed in the context of recent research on the biomechanics of walking, the findings suggest that two step lengths of visual information may be needed because it allows walkers to exploit the passive mechanical forces inherent to bipedal locomotion, thereby avoiding obstacles while maximizing energetic efficiency.

  12. Joint-level mechanics of the walk-to-run transition in humans.

    PubMed

    Pires, Neville J; Lay, Brendan S; Rubenson, Jonas

    2014-10-01

    Two commonly proposed mechanical explanations for the walk-to-run transition (WRT) include the prevention of muscular over-exertion (effort) and the minimization of peak musculoskeletal loads and thus injury risk. The purpose of this study was to address these hypotheses at a joint level by analysing the effect of speed on discrete lower-limb joint kinetic parameters in humans across a wide range of walking and running speeds including walking above and running below the WRT speed. Joint work, peak instantaneous joint power, and peak joint moments in the sagittal and frontal plane of the ankle, knee and hip from eight participants were collected for 10 walking speeds (30-120% of their WRT) and 10 running speeds (80-170% of their WRT) on a force plate instrumented treadmill. Of the parameters analysed, three satisfied our statistical criteria of the 'effort-load' hypothesis of the WRT. Mechanical parameters that provide an acute signal (peak moment and peak power) were more strongly associated with the gait transition than parameters that reflect the mechanical function across a portion of the stride. We found that both the ankle (peak instantaneous joint power during swing) and hip mechanics (peak instantaneous joint power and peak joint moments in stance) can influence the transition from walking to running in human locomotion and may represent a cascade of mechanical events beginning at the ankle and leading to an unfavourable compensation at the hip. Both the ankle and hip mechanisms may contribute to gait transition by lowering the muscular effort of running compared with walking at the WRT speed. Although few of the examined joint variables satisfied our hypothesis of the WRT, most showed a general marked increase when switching from walking to running across all speeds where both walking and running are possible, highlighting the fundamental differences in the mechanics of walking and running. While not eliciting the WRT per se, these variables may initiate

  13. Spinopelvic pathways to bipedality: why no hominids ever relied on a bent-hip-bent-knee gait.

    PubMed

    Lovejoy, C Owen; McCollum, Melanie A

    2010-10-27

    Until recently, the last common ancestor of African apes and humans was presumed to resemble living chimpanzees and bonobos. This was frequently extended to their locomotor pattern leading to the presumption that knuckle-walking was a likely ancestral pattern, requiring bipedality to have emerged as a modification of their bent-hip-bent-knee gait used during erect walking. Research on the development and anatomy of the vertebral column, coupled with new revelations from the fossil record (in particular, Ardipithecus ramidus), now demonstrate that these presumptions have been in error. Reassessment of the potential pathway to early hominid bipedality now reveals an entirely novel sequence of likely morphological events leading to the emergence of upright walking.

  14. A wrist-walker exhibiting no "Uner Tan Syndrome": a theory for possible mechanisms of human devolution toward the atavistic walking patterns.

    PubMed

    Tan, Uner

    2007-01-01

    transition from quadrupedality to bipedality. That is, the activity of the philogenetically youngest supraspinal centers for bipedal walking responsible for suppression of the older supraspinal centers for quadrupedal gait may be interrupted at the atavistic level due to genetic and/or environmental factors. Consequently, it is assumed that these individuals prefer their natural wrist-walking to move around more quickly and efficiently. PMID:17365105

  15. A wrist-walker exhibiting no "Uner Tan Syndrome": a theory for possible mechanisms of human devolution toward the atavistic walking patterns.

    PubMed

    Tan, Uner

    2007-01-01

    transition from quadrupedality to bipedality. That is, the activity of the philogenetically youngest supraspinal centers for bipedal walking responsible for suppression of the older supraspinal centers for quadrupedal gait may be interrupted at the atavistic level due to genetic and/or environmental factors. Consequently, it is assumed that these individuals prefer their natural wrist-walking to move around more quickly and efficiently.

  16. The transmission efficiency of backward walking at different gradients.

    PubMed

    Minetti, A E; Ardigò, L P

    2001-07-01

    The specialized design of the bipedal system towards forward locomotion has been assessed by measuring the metabolic cost and the mechanical work of both forward and backward walking on a treadmill at seven gradients from 0 to +32%. With respect to forward locomotion, backward walking implies: (1) a higher metabolic cost particularly at level gradient, while at steeper inclines the difference decreases, (2) the same mechanical internal work despite an increased stride frequency, (3) higher mechanical external work within a gradient range from 0 to +15%, (4) lower "energy recovery", i.e. the ability to save mechanical energy by moving as an inverted pendulum, mainly in level walking, and (5) as a consequence of the above results, a decrease of the efficiency of locomotion particularly at the 0% gradient. The transmission efficiency of backward walking, relative to the forward progression, was found to be about 65% in level locomotion, while at higher gradients it increased to and was maintained at a value of about 93%. The poorer economy of level backward walking could also be explained by an impaired elastic contribution in the last part of the double contact phase, while the similarity of the two gaits on higher gradients is caused by disruption of the pendulum-like paradigm due to the trajectory geometry of the body's centre of mass progressively losing its downward portion. PMID:11510887

  17. Reading from a Head-Fixed Display during Walking: Adverse Effects of Gaze Stabilization Mechanisms

    PubMed Central

    Borg, Olivier; Casanova, Remy; Bootsma, Reinoud J.

    2015-01-01

    Reading performance during standing and walking was assessed for information presented on earth-fixed and head-fixed displays by determining the minimal duration during which a numerical time stimulus needed to be presented for 50% correct naming answers. Reading from the earth-fixed display was comparable during standing and walking, with optimal performance being attained for visual character sizes in the range of 0.2° to 1°. Reading from the head-fixed display was impaired for small (0.2-0.3°) and large (5°) visual character sizes, especially during walking. Analysis of head and eye movements demonstrated that retinal slip was larger during walking than during standing, but remained within the functional acuity range when reading from the earth-fixed display. The detrimental effects on performance of reading from the head-fixed display during walking could be attributed to loss of acuity resulting from large retinal slip. Because walking activated the angular vestibulo-ocular reflex, the resulting compensatory eye movements acted to stabilize gaze on the information presented on the earth-fixed display but destabilized gaze from the information presented on the head-fixed display. We conclude that the gaze stabilization mechanisms that normally allow visual performance to be maintained during physical activity adversely affect reading performance when the information is presented on a display attached to the head. PMID:26053622

  18. Reading from a Head-Fixed Display during Walking: Adverse Effects of Gaze Stabilization Mechanisms.

    PubMed

    Borg, Olivier; Casanova, Remy; Bootsma, Reinoud J

    2015-01-01

    Reading performance during standing and walking was assessed for information presented on earth-fixed and head-fixed displays by determining the minimal duration during which a numerical time stimulus needed to be presented for 50% correct naming answers. Reading from the earth-fixed display was comparable during standing and walking, with optimal performance being attained for visual character sizes in the range of 0.2° to 1°. Reading from the head-fixed display was impaired for small (0.2-0.3°) and large (5°) visual character sizes, especially during walking. Analysis of head and eye movements demonstrated that retinal slip was larger during walking than during standing, but remained within the functional acuity range when reading from the earth-fixed display. The detrimental effects on performance of reading from the head-fixed display during walking could be attributed to loss of acuity resulting from large retinal slip. Because walking activated the angular vestibulo-ocular reflex, the resulting compensatory eye movements acted to stabilize gaze on the information presented on the earth-fixed display but destabilized gaze from the information presented on the head-fixed display. We conclude that the gaze stabilization mechanisms that normally allow visual performance to be maintained during physical activity adversely affect reading performance when the information is presented on a display attached to the head.

  19. Reading from a Head-Fixed Display during Walking: Adverse Effects of Gaze Stabilization Mechanisms.

    PubMed

    Borg, Olivier; Casanova, Remy; Bootsma, Reinoud J

    2015-01-01

    Reading performance during standing and walking was assessed for information presented on earth-fixed and head-fixed displays by determining the minimal duration during which a numerical time stimulus needed to be presented for 50% correct naming answers. Reading from the earth-fixed display was comparable during standing and walking, with optimal performance being attained for visual character sizes in the range of 0.2° to 1°. Reading from the head-fixed display was impaired for small (0.2-0.3°) and large (5°) visual character sizes, especially during walking. Analysis of head and eye movements demonstrated that retinal slip was larger during walking than during standing, but remained within the functional acuity range when reading from the earth-fixed display. The detrimental effects on performance of reading from the head-fixed display during walking could be attributed to loss of acuity resulting from large retinal slip. Because walking activated the angular vestibulo-ocular reflex, the resulting compensatory eye movements acted to stabilize gaze on the information presented on the earth-fixed display but destabilized gaze from the information presented on the head-fixed display. We conclude that the gaze stabilization mechanisms that normally allow visual performance to be maintained during physical activity adversely affect reading performance when the information is presented on a display attached to the head. PMID:26053622

  20. The evolution of the human pelvis: changing adaptations to bipedalism, obstetrics and thermoregulation.

    PubMed

    Gruss, Laura Tobias; Schmitt, Daniel

    2015-03-01

    The fossil record of the human pelvis reveals the selective priorities acting on hominin anatomy at different points in our evolutionary history, during which mechanical requirements for locomotion, childbirth and thermoregulation often conflicted. In our earliest upright ancestors, fundamental alterations of the pelvis compared with non-human primates facilitated bipedal walking. Further changes early in hominin evolution produced a platypelloid birth canal in a pelvis that was wide overall, with flaring ilia. This pelvic form was maintained over 3-4 Myr with only moderate changes in response to greater habitat diversity, changes in locomotor behaviour and increases in brain size. It was not until Homo sapiens evolved in Africa and the Middle East 200 000 years ago that the narrow anatomically modern pelvis with a more circular birth canal emerged. This major change appears to reflect selective pressures for further increases in neonatal brain size and for a narrow body shape associated with heat dissipation in warm environments. The advent of the modern birth canal, the shape and alignment of which require fetal rotation during birth, allowed the earliest members of our species to deal obstetrically with increases in encephalization while maintaining a narrow body to meet thermoregulatory demands and enhance locomotor performance.

  1. Skipping vs. running as the bipedal gait of choice in hypogravity.

    PubMed

    Pavei, Gaspare; Biancardi, Carlo M; Minetti, Alberto E

    2015-07-01

    Hypogravity challenges bipedal locomotion in its common forms. However, as previously theoretically and empirically suggested, humans can rely on "skipping," a less common gait available as a functional analog (perhaps a vestigium) of quadrupedal gallop, to confidently move when gravity is much lower than on Earth. We set up a 17-m-tall cavaedium (skylight shaft) with a bungee rubber body-suspension system and a treadmill to investigate the metabolic cost and the biomechanics of low-gravity (Mars, Moon) locomotion. Although skipping is never more metabolically economical than running, the difference becomes marginal at lunar gravities, with both bouncing gaits approaching values of walking on Earth (cost ≈ 2 J · kg(-1)· m(-1)). Nonmetabolic factors may thus be allowed to dominate the choice of skipping on the Moon. On the basis of center of pressure measurements and body segments kinetics, we can speculate that these factors may include a further reduction of mechanical work to move the limbs when wearing space suits and a more effective motor control during the ground (regoliths)-boot interaction.

  2. Skipping vs. running as the bipedal gait of choice in hypogravity.

    PubMed

    Pavei, Gaspare; Biancardi, Carlo M; Minetti, Alberto E

    2015-07-01

    Hypogravity challenges bipedal locomotion in its common forms. However, as previously theoretically and empirically suggested, humans can rely on "skipping," a less common gait available as a functional analog (perhaps a vestigium) of quadrupedal gallop, to confidently move when gravity is much lower than on Earth. We set up a 17-m-tall cavaedium (skylight shaft) with a bungee rubber body-suspension system and a treadmill to investigate the metabolic cost and the biomechanics of low-gravity (Mars, Moon) locomotion. Although skipping is never more metabolically economical than running, the difference becomes marginal at lunar gravities, with both bouncing gaits approaching values of walking on Earth (cost ≈ 2 J · kg(-1)· m(-1)). Nonmetabolic factors may thus be allowed to dominate the choice of skipping on the Moon. On the basis of center of pressure measurements and body segments kinetics, we can speculate that these factors may include a further reduction of mechanical work to move the limbs when wearing space suits and a more effective motor control during the ground (regoliths)-boot interaction. PMID:25930029

  3. The evolution of the human pelvis: changing adaptations to bipedalism, obstetrics and thermoregulation

    PubMed Central

    Gruss, Laura Tobias; Schmitt, Daniel

    2015-01-01

    The fossil record of the human pelvis reveals the selective priorities acting on hominin anatomy at different points in our evolutionary history, during which mechanical requirements for locomotion, childbirth and thermoregulation often conflicted. In our earliest upright ancestors, fundamental alterations of the pelvis compared with non-human primates facilitated bipedal walking. Further changes early in hominin evolution produced a platypelloid birth canal in a pelvis that was wide overall, with flaring ilia. This pelvic form was maintained over 3–4 Myr with only moderate changes in response to greater habitat diversity, changes in locomotor behaviour and increases in brain size. It was not until Homo sapiens evolved in Africa and the Middle East 200 000 years ago that the narrow anatomically modern pelvis with a more circular birth canal emerged. This major change appears to reflect selective pressures for further increases in neonatal brain size and for a narrow body shape associated with heat dissipation in warm environments. The advent of the modern birth canal, the shape and alignment of which require fetal rotation during birth, allowed the earliest members of our species to deal obstetrically with increases in encephalization while maintaining a narrow body to meet thermoregulatory demands and enhance locomotor performance. PMID:25602067

  4. Giant Galapagos tortoises walk without inverted pendulum mechanical-energy exchange.

    PubMed

    Zani, Peter A; Gottschall, Jinger S; Kram, Rodger

    2005-04-01

    Animals must perform mechanical work during walking, but most conserve substantial mechanical energy via an inverted-pendulum-like mechanism of energy recovery in which fluctuations of kinetic energy (KE) and gravitational potential energy (GPE) are of similar magnitude and 180 degrees out of phase. The greatest energy recovery typically occurs at intermediate speeds. Tortoises are known for their slow speeds, which we anticipated would lead to small fluctuations in KE. To have an effective exchange of mechanical energy using the inverted-pendulum mechanism, tortoises would need to walk with only small changes in GPE corresponding to vertical center-of-mass (COM) fluctuations of < 0.5 mm. Thus, we hypothesized that giant Galapagos tortoises would not conserve substantial mechanical energy using the inverted-pendulum mechanism. We studied five adult giant Galapagos tortoises Geochelone elephantopus (mean mass=142 kg; range= 103-196 kg). Walking speed was extremely slow (0.16+/-0.052 m s(-1); mean +/- 1 s.d.). The fluctuations in kinetic energy (8.1+/-3.98 J stride(-1)) were only one-third as large as the fluctuations in gravitational potential energy (22.7+/-8.04 J stride(-1)). In addition, these energies fluctuated nearly randomly and were only sporadically out of phase. Because of the dissimilar amplitudes and inconsistent phase relationships of these energies, tortoises conserved little mechanical energy during steady walking, recovering only 29.8+/-3.77% of the mechanical energy (range=13-52%). Thus, giant Galapagos tortoises do not utilize effectively an inverted-pendulum mechanism of energy conservation. Nonetheless, the mass-specific external mechanical work required per distance (0.41+/-0.092 J kg(-1) m(-1)) was not different from most other legged animals. Other turtle species use less than half as much metabolic energy to walk as other terrestrial animals of similar mass. It is not yet known if Galapagos tortoises are economical walkers. Nevertheless

  5. Decoding bipedal locomotion from the rat sensorimotor cortex

    NASA Astrophysics Data System (ADS)

    Rigosa, J.; Panarese, A.; Dominici, N.; Friedli, L.; van den Brand, R.; Carpaneto, J.; DiGiovanna, J.; Courtine, G.; Micera, S.

    2015-10-01

    Objective. Decoding forelimb movements from the firing activity of cortical neurons has been interfaced with robotic and prosthetic systems to replace lost upper limb functions in humans. Despite the potential of this approach to improve locomotion and facilitate gait rehabilitation, decoding lower limb movement from the motor cortex has received comparatively little attention. Here, we performed experiments to identify the type and amount of information that can be decoded from neuronal ensemble activity in the hindlimb area of the rat motor cortex during bipedal locomotor tasks. Approach. Rats were trained to stand, step on a treadmill, walk overground and climb staircases in a bipedal posture. To impose this gait, the rats were secured in a robotic interface that provided support against the direction of gravity and in the mediolateral direction, but behaved transparently in the forward direction. After completion of training, rats were chronically implanted with a micro-wire array spanning the left hindlimb motor cortex to record single and multi-unit activity, and bipolar electrodes into 10 muscles of the right hindlimb to monitor electromyographic signals. Whole-body kinematics, muscle activity, and neural signals were simultaneously recorded during execution of the trained tasks over multiple days of testing. Hindlimb kinematics, muscle activity, gait phases, and locomotor tasks were decoded using offline classification algorithms. Main results. We found that the stance and swing phases of gait and the locomotor tasks were detected with accuracies as robust as 90% in all rats. Decoded hindlimb kinematics and muscle activity exhibited a larger variability across rats and tasks. Significance. Our study shows that the rodent motor cortex contains useful information for lower limb neuroprosthetic development. However, brain-machine interfaces estimating gait phases or locomotor behaviors, instead of continuous variables such as limb joint positions or speeds

  6. Numerical bifurcation analysis of the bipedal spring-mass model

    NASA Astrophysics Data System (ADS)

    Merker, Andreas; Kaiser, Dieter; Hermann, Martin

    2015-01-01

    The spring-mass model and its numerous extensions are currently one of the best candidates for templates of human and animal locomotion. However, with increasing complexity, their applications can become very time-consuming. In this paper, we present an approach that is based on the calculation of bifurcations in the bipedal spring-mass model for walking. Since the bifurcations limit the region of stable walking, locomotion can be studied by computing the corresponding boundaries. Originally, the model was implemented as a hybrid dynamical system. Our new approach consists of the transformation of the series of initial value problems on different intervals into a single boundary value problem. Using this technique, discontinuities can be avoided and sophisticated numerical methods for studying parametrized nonlinear boundary value problems can be applied. Thus, appropriate extended systems are used to compute transcritical and period-doubling bifurcation points as well as turning points. We show that the resulting boundary value problems can be solved by the simple shooting method with sufficient accuracy, making the application of the more extensive multiple shooting superfluous. The proposed approach is fast, robust to numerical perturbations and allows determining complete manifolds of periodic solutions of the original problem.

  7. Obesity does not increase external mechanical work per kilogram body mass during walking.

    PubMed

    Browning, Raymond C; McGowan, Craig P; Kram, Rodger

    2009-10-16

    Walking is the most common type of physical activity prescribed for the treatment of obesity. The net metabolic rate during level walking (W/kg) is approximately 10% greater in obese vs. normal weight adults. External mechanical work (W(ext)) is one of the primary determinants of the metabolic cost of walking, but the effects of obesity on W(ext) have not been clearly established. The purpose of this study was to compare W(ext) between obese and normal weight adults across a range of walking speeds. We hypothesized that W(ext) (J/step) would be greater in obese adults but W(ext) normalized to body mass would be similar in obese and normal weight adults. We collected right leg three-dimensional ground reaction forces (GRF) while twenty adults (10 obese, BMI=35.6 kg/m(2) and 10 normal weight, BMI=22.1 kg/m(2)) walked on a level, dual-belt force measuring treadmill at six speeds (0.50-1.75 m/s). We used the individual limb method (ILM) to calculate external work done on the center of mass. Absolute W(ext) (J/step) was greater in obese vs. normal weight adults at each walking speed, but relative W(ext) (J/step/kg) was similar between the groups. Step frequencies were not different. These results suggest that W(ext) is not responsible for the greater metabolic cost of walking (W/kg) in moderately obese adults.

  8. Mechanical energy assessment of adult with Down syndrome during walking with obstacle avoidance.

    PubMed

    Salami, Firooz; Vimercati, Sara Laura; Rigoldi, Chiara; Taebi, Amirtaha; Albertini, Giorgio; Galli, Manuela

    2014-08-01

    The aim of this study is analyzing the differences between plane walking and stepping over an obstacle for two groups of healthy people and people with Down syndrome and then, evaluating the movement efficiency between the groups by comprising of their mechanical energy exchanges. 39 adults including two groups of 21 people with Down syndrome (age: 21.6 ± 7 years) and 18 healthy people (age: 25.1 ± 2.4 years) participated in this research. The test has been done in two conditions, first in plane walking and second in walking with an obstacle (10% of the subject's height). The gait data were acquired using quantitative movement analysis, composed of an optoelectronic system (Elite2002, BTS) with eight infrared cameras. Mechanical energy exchanges are computed by dedicated software and finally the data including spatiotemporal parameters, mechanical energy parameters and energy recovery of gait cycle are analyzed by statistical software to find significant differences. Regards to spatiotemporal parameters velocity and step length are lower in people with Down syndrome. Mechanical energy parameters particularly energy recovery does not change from healthy people to people with Down syndrome. However, there are some differences in inter-group through plane walking to obstacle avoidance and it means people with Down syndrome probably use their residual abilities in the most efficient way to achieve the main goal of an efficient energy recovery.

  9. The correlation between metabolic and individual leg mechanical power during walking at different slopes and velocities.

    PubMed

    Jeffers, Jana R; Auyang, Arick G; Grabowski, Alena M

    2015-08-20

    During level-ground walking, mechanical work from each leg is required to redirect and accelerate the center of mass. Previous studies show a linear correlation between net metabolic power and the rate of step-to-step transition work during level-ground walking with changing step lengths. However, correlations between metabolic power and individual leg power during step-to-step transitions while walking on uphill/downhill slopes and at different velocities are not known. This basic understanding of these relationships between metabolic demands and biomechanical tasks can provide important information for design and control of biomimetic assistive devices such as leg prostheses and orthoses. Thus, we compared changes in metabolic power and mechanical power during step-to-step transitions while 19 subjects walked at seven slopes (0°, +/-3°, +/-6°, and +/-9°) and three velocities (1.00, 1.25, and 1.50m/s). A quadratic model explained more of the variance (R(2)=0.58-0.61) than a linear model (R(2)=0.37-0.52) between metabolic power and individual leg mechanical power during step-to-step transitions across all velocities. A quadratic model explained more of the variance (R(2)=0.57-0.76) than a linear model (R(2)=0.52-0.59) between metabolic power and individual leg mechanical power during step-to-step transitions at each velocity for all slopes, and explained more of the variance (R(2)=0.12-0.54) than a linear model (R(2)=0.07-0.49) at each slope for all velocities. Our results suggest that it is important to consider the mechanical function of each leg in the design of biomimetic assistive devices aimed at reducing metabolic costs when walking at different slopes and velocities.

  10. The correlation between metabolic and individual leg mechanical power during walking at different slopes and velocities

    PubMed Central

    Jeffers, Jana R.; Auyang, Arick G.; Grabowski, Alena M.

    2016-01-01

    During level-ground walking, mechanical work from each leg is required to redirect and accelerate the center of mass. Previous studies show a linear correlation between net metabolic power and the rate of step-to-step transition work during level-ground walking with changing step lengths. However, correlations between metabolic power and individual leg power during step-to-step transitions while walking on uphill/downhill slopes and at different velocities are not known. This basic understanding of these relationships between metabolic demands and biomechanical tasks can provide important information for design and control of biomimetic assistive devices such as leg prostheses and orthoses. Thus, we compared changes in metabolic power and mechanical power during step-to-step transitions while 19 subjects walked at seven slopes (0°, +/−3°, +/−6°, and +/−9°) and three velocities (1.00, 1.25, and 1.50 m/s). A quadratic model explained more of the variance (R2=0.58–0.61) than a linear model (R2=0.37–0.52) between metabolic power and individual leg mechanical power during step-to-step transitions across all velocities. A quadratic model explained more of the variance (R2=0.57–0.76) than a linear model (R2=0.52–0.59) between metabolic power and individual leg mechanical power during step-to-step transitions at each velocity for all slopes, and explained more of the variance (R2=0.12–0.54) than a linear model (R2=0.07–0.49) at each slope for all velocities. Our results suggest that it is important to consider the mechanical function of each leg in the design of biomimetic assistive devices aimed at reducing metabolic costs when walking at different slopes and velocities. PMID:25959113

  11. The effect of walking speed on muscle function and mechanical energetics.

    PubMed

    Neptune, Richard R; Sasaki, Kotaro; Kautz, Steven A

    2008-07-01

    Modulating speed over a large range is important in walking, yet understanding how the neuromotor patterns adapt to the changing energetic demands of different speeds is not well understood. The purpose of this study was to identify functional and energetic adaptations in individual muscles in response to walking at faster steady-state speeds using muscle-actuated forward dynamics simulations. The simulation data were invariant with speed as to whether muscles contributed to trunk support, forward propulsion or leg swing. Trunk support (vertical acceleration) was provided primarily by the hip and knee extensors in early stance and the plantar flexors in late stance, while trunk propulsion (horizontal acceleration) was provided primarily by the soleus and rectus femoris in late stance, and these muscle contributions all systematically increased with speed. The results also highlighted the importance of initiating and controlling leg swing as there was a dramatic increase at the higher walking speeds in iliopsoas muscle work to accelerate the leg in pre- and early swing, and an increase in the biarticular hamstring muscle work to decelerate the leg in late swing. In addition, walking near self-selected speeds (1.2m/s) improves the utilization of elastic energy storage and recovery in the uniarticular ankle plantar flexors and reduces negative fiber work, when compared to faster or slower speeds. These results provide important insight into the neuromotor mechanisms underlying speed regulation in walking and provide the foundation on which to investigate the influence of walking speed on various neuromotor measures of interest in pathological populations.

  12. Mechanical and energetic consequences of reduced ankle plantar-flexion in human walking.

    PubMed

    Huang, Tzu-wei P; Shorter, Kenneth A; Adamczyk, Peter G; Kuo, Arthur D

    2015-11-01

    The human ankle produces a large burst of 'push-off' mechanical power late in the stance phase of walking, reduction of which leads to considerably poorer energy economy. It is, however, uncertain whether the energetic penalty results from poorer efficiency when the other leg joints substitute for the ankle's push-off work, or from a higher overall demand for work due to some fundamental feature of push-off. Here, we show that greater metabolic energy expenditure is indeed explained by a greater demand for work. This is predicted by a simple model of walking on pendulum-like legs, because proper push-off reduces collision losses from the leading leg. We tested this by experimentally restricting ankle push-off bilaterally in healthy adults (N=8) walking on a treadmill at 1.4 m s(-1), using ankle-foot orthoses with steel cables limiting motion. These produced up to ∼50% reduction in ankle push-off power and work, resulting in up to ∼50% greater net metabolic power expenditure to walk at the same speed. For each 1 J reduction in ankle work, we observed 0.6 J more dissipative collision work by the other leg, 1.3 J more positive work from the leg joints overall, and 3.94 J more metabolic energy expended. Loss of ankle push-off required more positive work elsewhere to maintain walking speed; this additional work was performed by the knee, apparently at reasonably high efficiency. Ankle push-off may contribute to walking economy by reducing dissipative collision losses and thus overall work demand.

  13. Mechanical and energetic consequences of reduced ankle plantar-flexion in human walking

    PubMed Central

    Huang, Tzu-wei P.; Shorter, Kenneth A.; Adamczyk, Peter G.; Kuo, Arthur D.

    2015-01-01

    ABSTRACT The human ankle produces a large burst of ‘push-off’ mechanical power late in the stance phase of walking, reduction of which leads to considerably poorer energy economy. It is, however, uncertain whether the energetic penalty results from poorer efficiency when the other leg joints substitute for the ankle's push-off work, or from a higher overall demand for work due to some fundamental feature of push-off. Here, we show that greater metabolic energy expenditure is indeed explained by a greater demand for work. This is predicted by a simple model of walking on pendulum-like legs, because proper push-off reduces collision losses from the leading leg. We tested this by experimentally restricting ankle push-off bilaterally in healthy adults (N=8) walking on a treadmill at 1.4 m s−1, using ankle–foot orthoses with steel cables limiting motion. These produced up to ∼50% reduction in ankle push-off power and work, resulting in up to ∼50% greater net metabolic power expenditure to walk at the same speed. For each 1 J reduction in ankle work, we observed 0.6 J more dissipative collision work by the other leg, 1.3 J more positive work from the leg joints overall, and 3.94 J more metabolic energy expended. Loss of ankle push-off required more positive work elsewhere to maintain walking speed; this additional work was performed by the knee, apparently at reasonably high efficiency. Ankle push-off may contribute to walking economy by reducing dissipative collision losses and thus overall work demand. PMID:26385330

  14. Soft Tissue Deformations Contribute to the Mechanics of Walking in Obese Adults

    PubMed Central

    Fu, Xiao-Yu; Zelik, Karl E.; Board, Wayne J.; Browning, Raymond C.; Kuo, Arthur D.

    2014-01-01

    Obesity not only adds to the mass that must be carried during walking, but also changes body composition. Although extra mass causes roughly proportional increases in musculoskeletal loading, less well understood is the effect of relatively soft and mechanically compliant adipose tissue. Purpose To estimate the work performed by soft tissue deformations during walking. The soft tissue would be expected to experience damped oscillations, particularly from high force transients following heel strike, and could potentially change the mechanical work demands for walking. Method We analyzed treadmill walking data at 1.25 m/s for 11 obese (BMI > 30 kg/m2) and 9 non-obese (BMI < 30 kg/m2) adults. The soft tissue work was quantified with a method that compares the work performed by lower extremity joints as derived using assumptions of rigid body segments, with that estimated without rigid body assumptions. Results Relative to body mass, obese and non-obese individuals perform similar amounts of mechanical work. But negative work performed by soft tissues was significantly greater in obese individuals (p= 0.0102), equivalent to about 0.36 J/kg vs. 0.27 J/kg in non-obese individuals. The negative (dissipative) work by soft tissues occurred mainly after heel strike, and for obese individuals was comparable in magnitude to the total negative work from all of the joints combined (0.34 J/kg vs. 0.33 J/kg for obese and non-obese adults, respectively). Although the joints performed a relatively similar amount of work overall, obese individuals performed less negative work actively at the knee. Conclusion The greater proportion of soft tissues in obese individuals results in substantial changes in the amount, location, and timing of work, and may also impact metabolic energy expenditure during walking. PMID:25380475

  15. Changes in mechanical control of movement during the first 5 months of independent walking: a longitudinal study.

    PubMed

    Hallemans, Ann; Dhanis, Lin; De Clercq, Dirk; Aerts, Peter

    2007-05-01

    Insight into neuromuscular control of movement is gained through an understanding of the mechanical causes of movement. Data on new walkers' net joint moments is scarce, however, although those moments can be considered the direct cause of movement. The authors' goal in this research project was to characterize net joint moments in toddlers (N = 10) during the first 5 months of independent walking and to discuss their role in mechanical control of walking. The authors modeled leg segments as oscillating pendulums fixed at the proximal joint and investigated the relationship between force and movement. Their investigation revealed that at the onset of independent gait, walking was primarily hip driven. Furthermore, the toddlers seemed to experience problems in uncoupling active and passive control around the joints. Changes in mechanical control of walking were observed after 3 to 4 months of independent walking. The changes were more obvious at the hip and the knee joint than at the ankle.

  16. A stability-based mechanism for hysteresis in the walk-trot transition in quadruped locomotion.

    PubMed

    Aoi, Shinya; Katayama, Daiki; Fujiki, Soichiro; Tomita, Nozomi; Funato, Tetsuro; Yamashita, Tsuyoshi; Senda, Kei; Tsuchiya, Kazuo

    2013-04-01

    Quadrupeds vary their gaits in accordance with their locomotion speed. Such gait transitions exhibit hysteresis. However, the underlying mechanism for this hysteresis remains largely unclear. It has been suggested that gaits correspond to attractors in their dynamics and that gait transitions are non-equilibrium phase transitions that are accompanied by a loss in stability. In the present study, we used a robotic platform to investigate the dynamic stability of gaits and to clarify the hysteresis mechanism in the walk-trot transition of quadrupeds. Specifically, we used a quadruped robot as the body mechanical model and an oscillator network for the nervous system model to emulate dynamic locomotion of a quadruped. Experiments using this robot revealed that dynamic interactions among the robot mechanical system, the oscillator network, and the environment generate walk and trot gaits depending on the locomotion speed. In addition, a walk-trot transition that exhibited hysteresis was observed when the locomotion speed was changed. We evaluated the gait changes of the robot by measuring the locomotion of dogs. Furthermore, we investigated the stability structure during the gait transition of the robot by constructing a potential function from the return map of the relative phase of the legs and clarified the physical characteristics inherent to the gait transition in terms of the dynamics.

  17. Efficient bipedal robots based on passive-dynamic walkers.

    PubMed

    Collins, Steve; Ruina, Andy; Tedrake, Russ; Wisse, Martijn

    2005-02-18

    Passive-dynamic walkers are simple mechanical devices, composed of solid parts connected by joints, that walk stably down a slope. They have no motors or controllers, yet can have remarkably humanlike motions. This suggests that these machines are useful models of human locomotion; however, they cannot walk on level ground. Here we present three robots based on passive-dynamics, with small active power sources substituted for gravity, which can walk on level ground. These robots use less control and less energy than other powered robots, yet walk more naturally, further suggesting the importance of passive-dynamics in human locomotion.

  18. Design, fabrication and testing of laterally driven electrostatic motors employing walking motion and mechanical leverage

    NASA Astrophysics Data System (ADS)

    Tas, N. R.; Sonnenberg, T.; Molenaar, R.; Elwenspoek, M.

    2003-01-01

    Laterally driven linear electrostatic micromotors have been fabricated by standard surface micromachining. We attempt to employ mechanical leverage with the aim to increase the force from the order of 1 μN up to the order of 0.1 mN, in combination with walking motion to increase the stroke to virtually unlimited. Three designs have been made and tested. We conclude that mechanical levers with proper stiffness characteristics to be driven by electrostatic actuators are feasible. Friction as a function of the applied electrostatic clamp force has been measured, showing that there is a significant adhesion in the clamps. Walking motion has been successfully generated in one of the designs, generating a stroke of 15 μm and a force of 3 μN. Improvement of the clamping is needed to benefit from the implemented levers to increase the generated force.

  19. Individuals with multiple sclerosis redistribute positive mechanical work from the ankle to the hip during walking.

    PubMed

    Davies, Brenda L; Hoffman, Rashelle M; Kurz, Max J

    2016-09-01

    Individuals with multiple sclerosis (MS) typically walk slower, have reduced cadences and shorter step lengths. While these spatiotemporal gait alterations have been thought to be due to decreased power generation at the ankle, the distribution of mechanical work across the ankle, knee and hip joints during walking is not well understood. By quantifying the mechanical work at each joint, the compensatory mechanisms utilized by individuals with MS to maintain gait speed may be better understood. Fifteen subjects with MS (EDSS: 4.4±1.0) and fifteen healthy age-matched control subjects completed a three-dimensional gait analysis. The net mechanical work at the ankle, knee and hip joints was quantified for the stance phase of gait. Our results found that the less impaired leg of the subjects with MS generated a similar amount of mechanical work as the control group; however, the ankle joint produced less positive mechanical work, and the hip joint generated more positive mechanical work. Additionally, the less impaired leg of the subjects with MS and the leg of the control group generated more positive work than the more impaired leg of the subjects with MS. These outcomes suggest that individuals with MS may adopt a hip compensatory strategy with their less impaired leg during gait due to the limited amount of mechanical work generated at the ankle.

  20. Biomechanics of Running Indicates Endothermy in Bipedal Dinosaurs

    PubMed Central

    Pontzer, Herman; Allen, Vivian; Hutchinson, John R.

    2009-01-01

    Background One of the great unresolved controversies in paleobiology is whether extinct dinosaurs were endothermic, ectothermic, or some combination thereof, and when endothermy first evolved in the lineage leading to birds. Although it is well established that high, sustained growth rates and, presumably, high activity levels are ancestral for dinosaurs and pterosaurs (clade Ornithodira), other independent lines of evidence for high metabolic rates, locomotor costs, or endothermy are needed. For example, some studies have suggested that, because large dinosaurs may have been homeothermic due to their size alone and could have had heat loss problems, ectothermy would be a more plausible metabolic strategy for such animals. Methodology/Principal Findings Here we describe two new biomechanical approaches for reconstructing the metabolic rate of 14 extinct bipedal dinosauriforms during walking and running. These methods, well validated for extant animals, indicate that during walking and slow running the metabolic rate of at least the larger extinct dinosaurs exceeded the maximum aerobic capabilities of modern ectotherms, falling instead within the range of modern birds and mammals. Estimated metabolic rates for smaller dinosaurs are more ambiguous, but generally approach or exceed the ectotherm boundary. Conclusions/Significance Our results support the hypothesis that endothermy was widespread in at least larger non-avian dinosaurs. It was plausibly ancestral for all dinosauriforms (perhaps Ornithodira), but this is perhaps more strongly indicated by high growth rates than by locomotor costs. The polarity of the evolution of endothermy indicates that rapid growth, insulation, erect postures, and perhaps aerobic power predated advanced “avian” lung structure and high locomotor costs. PMID:19911059

  1. Muscle and prosthesis contributions to amputee walking mechanics: a modeling study.

    PubMed

    Silverman, Anne K; Neptune, Richard R

    2012-08-31

    Unilateral, below-knee amputees have altered gait mechanics, which can significantly affect their mobility. Below-knee amputees lose the functional use of the ankle muscles, which are critical during walking to provide body support, forward propulsion, leg-swing initiation and mediolateral balance. Thus, either muscles must compensate or the prosthesis must provide the functional tasks normally provided by the ankle muscles. Three-dimensional (3D) forward dynamics simulations of amputee and non-amputee walking were generated to identify muscle and prosthesis contributions to amputee walking mechanics, including the subtasks of body support, forward propulsion, leg-swing initiation and mediolateral balance. Results showed that the prosthesis provided body support in the absence of the ankle muscles. The prosthesis contributed to braking from early to mid-stance and propulsion in late stance. The prosthesis also functioned like the uniarticular soleus muscle by transferring energy from the residual leg to the trunk to provide trunk propulsion. The residual-leg vasti and rectus femoris reduced their contributions to braking in early stance, which mitigated braking from the prosthesis during this period. The prosthesis did not replace the function of the gastrocnemius, which normally generates energy to the leg to initiate swing. As a result, lower overall energy was delivered to the residual leg. The prosthesis also acted to accelerate the body laterally in the absence of the ankle muscles. These results provide further insight into muscle and prosthesis function in below-knee amputee walking and can help guide rehabilitation methods and device designs to improve amputee mobility.

  2. Compensatory mechanisms in below-knee amputee gait in response to increasing steady-state walking speeds.

    PubMed

    Silverman, Anne K; Fey, Nicholas P; Portillo, Albert; Walden, Judith G; Bosker, Gordon; Neptune, Richard R

    2008-11-01

    Compensatory mechanisms in below-knee amputee gait are necessary due to the functional loss of the ankle muscles, especially at higher walking speeds when the mechanical energetic demands of walking are greater. The objective of this study was to examine amputee anterior/posterior (A/P) ground reaction force (GRF) impulses and joint kinetics across a wide range of steady-state walking speeds to further understand the compensatory mechanisms used by below-knee amputees. We hypothesized that amputees would rely more on their intact leg to generate greater propulsion relative to the residual leg, which would result in greater GRF asymmetry between legs as walking speed increased. Amputee and control subject kinematic and kinetic data were collected during overground walking at four different speeds. Group (n=14) average amputee data showed no significant differences in braking or propulsive GRF impulse ratios, except the propulsive ratio at 0.9 m/s, indicating that the subjects maintained their initial levels of GRF asymmetry when walking faster. Therefore, our hypothesis was not supported (i.e., walking faster does not increase GRF loading asymmetry). The primary compensatory mechanism was greater positive residual leg hip joint power and work in early stance, which led to increased propulsion from the residual leg as walking speed increased. In addition, amputees had reduced residual leg positive knee work in early stance, suggesting increased output from the biarticular hamstrings. Thus, increasing residual leg hip extensor strength and output may be a useful mechanism to reduce GRF loading asymmetry between the intact and residual legs.

  3. The metabolic costs of 'bent-hip, bent-knee' walking in humans.

    PubMed

    Carey, Tanya Suzanne; Crompton, Robin Huw

    2005-01-01

    The costs of different modes of bipedalism are a key issue in reconstructing the likely gait of early human ancestors such as Australopithecus afarensis. Some workers, on the basis of morphological differences between the locomotor skeleton of A. afarensis and modern humans, have proposed that this hominid would have walked in a 'bent-hip, bent-knee' (BHBK) posture like that seen in the voluntary bipedalism of untrained chimpanzees. Computer modelling studies using inverse dynamics indicate that on the basis of segment proportions AL-288-1 should have been capable of mechanically effective upright walking, but in contrast predicted that BHBK walking would have been highly ineffective. The measure most pertinent to natural selection, however, is more likely to be the complete, physiological, or metabolic energy cost. We cannot measure this parameter in a fossil. This paper presents the most complete investigation yet of the metabolic and thermoregulatory costs of BHBK walking in humans. Data show that metabolic costs including the basal metabolic rate (BMR) increase by around 50% while the energy costs of locomotion and blood lactate production nearly double, heat load is increased, and core temperature does not return to normal within 20 minutes rest. Net effects imply that a resting period of 150% activity time would be necessary to prevent physiologically intolerable heat load. Preliminary data for children suggest that scaling effects would not significantly reduce relative costs for hominids of AL-288-1's size. Data from recent studies using forwards dynamic modelling confirm that similar total (including BMR) and locomotor metabolic costs would have applied to BHBK walking by AL-288-1. We explore some of the ecological consequences of our findings.

  4. The pelvis and femur of Ardipithecus ramidus: the emergence of upright walking.

    PubMed

    Lovejoy, C Owen; Suwa, Gen; Spurlock, Linda; Asfaw, Berhane; White, Tim D

    2009-10-01

    The femur and pelvis of Ardipithecus ramidus have characters indicative of both upright bipedal walking and movement in trees. Consequently, bipedality in Ar. ramidus was more primitive than in later Australopithecus. Compared with monkeys and Early Miocene apes such as Proconsul, the ilium in Ar. ramidus is mediolaterally expanded, and its sacroiliac joint is located more posteriorly. These changes are shared with some Middle and Late Miocene apes as well as with African apes and later hominids. However, in contrast to extant apes, bipedality in Ar. ramidus was facilitated by craniocaudal shortening of the ilium and enhanced lordotic recurvature of the lower spine. Given the predominant absence of derived traits in other skeletal regions of Ar. ramidus, including the forelimb, these adaptations were probably acquired shortly after divergence from our last common ancestor with chimpanzees. They therefore bear little or no functional relationship to the highly derived suspension, vertical climbing, knuckle-walking, and facultative bipedality of extant African apes.

  5. Step length asymmetry is representative of compensatory mechanisms used in post-stroke hemiparetic walking.

    PubMed

    Allen, Jessica L; Kautz, Steven A; Neptune, Richard R

    2011-04-01

    Post-stroke hemiparetic subjects walk with asymmetrical step lengths that are highly variable between subjects and may be indicative of the underlying impairments and compensatory mechanisms used. The goal of this study was to determine if post-stroke hemiparetic subjects grouped by step length asymmetry have similar abnormal walking biomechanics compared to non-impaired walkers. Kinematic and ground reaction force data were recorded from 55 hemiparetic subjects walking at their self-selected speed and 21 age and speed-matched non-impaired control subjects. Hemiparetic subjects were grouped by paretic step ratio, which was calculated as the paretic step-length divided by the sum of paretic and nonparetic step-lengths, into high (>0.535), symmetric (0.535-0.465) and low (<0.465) groups. Non-parametric Wilcoxin signed-rank tests were used to test for differences in joint kinetic measures between hemiparetic groups and speed-matched control subjects during late single-leg stance and pre-swing. The paretic leg ankle moment impulse was reduced in all hemiparetic subjects regardless of their paretic step ratio. The high group had increased nonparetic leg ankle plantarflexor and knee extensor moment impulses, the symmetric group had increased hip flexor moment impulses on both the paretic and nonparetic leg and the low group had no additional significant differences in joint moment impulses. These results suggest that the direction of asymmetry can be used to identify both the degree of paretic plantarflexor impairment and the compensatory mechanisms used by post-stroke hemiparetic subjects.

  6. Step Length Asymmetry is Representative of Compensatory Mechanisms Used in Post-Stroke Hemiparetic Walking

    PubMed Central

    Allen, Jessica L.; Kautz, Steven A.; Neptune, Richard R.

    2011-01-01

    Post-stroke hemiparetic subjects walk with asymmetrical step lengths that are highly variable between subjects and may be indicative of the underlying impairments and compensatory mechanisms used. The goal of this study was to determine if post-stroke hemiparetic subjects grouped by step length asymmetry have similar abnormal walking biomechanics compared to non-impaired walkers. Kinematic and ground reaction force data were recorded from 55 hemiparetic subjects walking at their self-selected speed and 21 age and speed-matched non-impaired control subjects. Hemiparetic subjects were grouped by paretic step ratio, which was calculated as the paretic step-length divided by the sum of paretic and nonparetic step-lengths, into high (>0.535), symmetric (0.535–0.465) and low (<0.465) groups. Non-parametric Wilcoxin signed-rank tests were used to test for differences in joint kinetic measures between hemiparetic groups and speed-matched control subjects during late single-leg stance and pre-swing. The paretic leg ankle moment impulse was reduced in all hemiparetic subjects regardless of their paretic step ratio. The high group had increased nonparetic leg ankle plantarflexor and knee extensor moment impulses, the symmetric group had increased hip flexor moment impulses on both the paretic and nonparetic leg and the low group had no additional significant differences in joint moment impulses. These results suggest that the direction of asymmetry can be used to identify both the degree of paretic plantarflexor impairment and the compensatory mechanisms used by post-stroke hemiparetic subjects. PMID:21316240

  7. External Mechanical Work and Pendular Energy Transduction of Overground and Treadmill Walking in Adolescents with Unilateral Cerebral Palsy

    PubMed Central

    Zollinger, Marie; Degache, Francis; Currat, Gabriel; Pochon, Ludmila; Peyrot, Nicolas; Newman, Christopher J.; Malatesta, Davide

    2016-01-01

    Purpose: Motor impairments affect functional abilities and gait in children and adolescents with cerebral palsy (CP). Improving their walking is an essential objective of treatment, and the use of a treadmill for gait analysis and training could offer several advantages in adolescents with CP. However, there is a controversy regarding the similarity between treadmill and overground walking both for gait analysis and training in children and adolescents. The aim of this study was to compare the external mechanical work and pendular energy transduction of these two types of gait modalities at standard and preferred walking speeds in adolescents with unilateral cerebral palsy (UCP) and typically developing (TD) adolescents matched on age, height and body mass. Methods: Spatiotemporal parameters, external mechanical work and pendular energy transduction of walking were computed using two inertial sensors equipped with a triaxial accelerometer and gyroscope and compared in 10 UCP (14.2 ± 1.7 year) and 10 TD (14.1 ± 1.9 year) adolescents during treadmill and overground walking at standard and preferred speeds. Results: The treadmill induced almost identical mechanical changes to overground walking in TD adolescents and those with UCP, with the exception of potential and kinetic vertical and lateral mechanical works, which are both significantly increased in the overground-treadmill transition only in UCP (P < 0.05). Conclusions: Adolescents with UCP have a reduced adaptive capacity in absorbing and decelerating the speed created by a treadmill (i.e., dynamic stability) compared to TD adolescents. This may have an important implication in rehabilitation programs that assess and train gait by using a treadmill in adolescents with UCP. PMID:27148062

  8. Biased motion and molecular motor properties of bipedal spiders

    NASA Astrophysics Data System (ADS)

    Samii, Laleh; Linke, Heiner; Zuckermann, Martin J.; Forde, Nancy R.

    2010-02-01

    Molecular spiders are synthetic molecular motors featuring multiple legs that each can interact with a substrate through binding and cleavage. Experimental studies suggest the motion of the spider in a matrix is biased toward uncleaved substrates and that spider properties such as processivity can be altered by changing the binding strength of the legs to substrate [R. Pei, S. K. Taylor, D. Stefanovic, S. Rudchenko, T. E. Mitchell, and M. N. Stojanovic, J. Am. Chem. Soc. 128, 12693 (2006)]. We investigate the origin of biased motion and molecular motor properties of bipedal spiders using Monte Carlo simulations. Our simulations combine a realistic chemical kinetic model, hand-over-hand or inchworm modes of stepping, and the use of a one-dimensional track. We find that stronger binding to substrate, cleavage and spider detachment from the track are contributing mechanisms to population bias. We investigate the contributions of stepping mechanism to speed, randomness parameter, processivity, coupling, and efficiency, and comment on how these molecular motor properties can be altered by changing experimentally tunable kinetic parameters.

  9. Kinematics and center of mass mechanics during terrestrial locomotion in northern lapwings (Vanellus vanellus, Charadriiformes).

    PubMed

    Nyakatura, J A; Andrada, E; Grimm, N; Weise, H; Fischer, M S

    2012-11-01

    Avian bipedalism is best studied in derived walking/running specialists. Here, we use kinematics and center of mass (CoM) mechanical energy patterns to investigate gait transitions of lapwings-migratory birds that forage on the ground, and therefore may need a trade-off between the functional demands of terrestrial locomotion and long distance flights. The animals ran on a treadmill while high-speed X-ray videos were recorded within the sustainable speed range. Instantaneous CoM mechanics were computed from integrating kinematics and body segment properties. Lapwings exhibit similar locomotor characteristics to specialized walking/running birds, but have less distinct gaits. At slow speeds no clear separation between vaulting (i.e., walking) and bouncing (i.e., running) energy patterns exists. Mechanical energy recovery of non-bouncing gaits correlates poorly with speed and suggests inefficient use of the inverted pendulum mechanism. Speed ranges of gaits overlap considerably, especially those of grounded running, a gait with CoM mechanics indicative of running but without an aerial phase, and aerial phase running, with no preferential gait at most speeds. Compliant limb morphology and grounded running in birds can be regarded as an evolutionary constraint, but lapwings effectively make use of advantages offered by this gait for a great fraction of their speed range. Thus, effective usage of grounded running during terrestrial locomotion is suggested generally to be a part of striding avian bipedalism-even in species not specialized in walking/running locomotion. PMID:22927254

  10. Metabolic Cost, Mechanical Work, and Efficiency during Normal Walking in Obese and Normal-Weight Children

    ERIC Educational Resources Information Center

    Huang, Liang; Chen, Peijie; Zhuang, Jie; Zhang, Yanxin; Walt, Sharon

    2013-01-01

    Purpose: This study aimed to investigate the influence of childhood obesity on energetic cost during normal walking and to determine if obese children choose a walking strategy optimizing their gait pattern. Method: Sixteen obese children with no functional abnormalities were matched by age and gender with 16 normal-weight children. All…

  11. Orrorin tugenensis femoral morphology and the evolution of hominin bipedalism.

    PubMed

    Richmond, Brian G; Jungers, William L

    2008-03-21

    Bipedalism is a key human adaptation and a defining feature of the hominin clade. Fossil femora discovered in Kenya and attributed to Orrorin tugenensis, at 6 million years ago, purportedly provide the earliest postcranial evidence of hominin bipedalism, but their functional and phylogenetic affinities are controversial. We show that the O. tugenensis femur differs from those of apes and Homo and most strongly resembles those of Australopithecus and Paranthropus, indicating that O. tugenensis was bipedal but is not more closely related to Homo than to Australopithecus. Femoral morphology indicates that O. tugenensis shared distinctive hip biomechanics with australopiths, suggesting that this complex evolved early in human evolution and persisted for almost 4 million years until modifications of the hip appeared in the late Pliocene in early Homo. PMID:18356526

  12. Muscle mechanical work requirements during normal walking: the energetic cost of raising the body's center-of-mass is significant.

    PubMed

    Neptune, R R; Zajac, F E; Kautz, S A

    2004-06-01

    Inverted pendulum models of walking predict that little muscle work is required for the exchange of body potential and kinetic energy in single-limb support. External power during walking (product of the measured ground reaction force and body center-of-mass (COM) velocity) is often analyzed to deduce net work output or mechanical energetic cost by muscles. Based on external power analyses and inverted pendulum theory, it has been suggested that a primary mechanical energetic cost may be associated with the mechanical work required to redirect the COM motion at the step-to-step transition. However, these models do not capture the multi-muscle, multi-segmental properties of walking, co-excitation of muscles to coordinate segmental energetic flow, and simultaneous production of positive and negative muscle work. In this study, a muscle-actuated forward dynamic simulation of walking was used to assess whether: (1). potential and kinetic energy of the body are exchanged with little muscle work; (2). external mechanical power can estimate the mechanical energetic cost for muscles; and (3.) the net work output and the mechanical energetic cost for muscles occurs mostly in double support. We found that the net work output by muscles cannot be estimated from external power and was the highest when the COM moved upward in early single-limb support even though kinetic and potential energy were exchanged, and muscle mechanical (and most likely metabolic) energetic cost is dominated not only by the need to redirect the COM in double support but also by the need to raise the COM in single support. PMID:15111069

  13. The gaits of primates: center of mass mechanics in walking, cantering and galloping ring-tailed lemurs, Lemur catta.

    PubMed

    O'Neill, Matthew C; Schmitt, Daniel

    2012-05-15

    Most primates, including lemurs, have a broad range of locomotor capabilities, yet much of the time, they walk at slow speeds and amble, canter or gallop at intermediate and fast speeds. Although numerous studies have investigated limb function during primate quadrupedalism, how the center of mass (COM) moves is not well understood. Here, we examined COM energy, work and power during walking, cantering and galloping in ring-tailed lemurs, Lemur catta (N=5), over a broad speed range (0.43-2.91 m s(-1)). COM energy recoveries were substantial during walking (35-71%) but lower during canters and gallops (10-51%). COM work, power and collisional losses increased with speed. The positive COM works were 0.625 J kg(-1) m(-1) for walks and 1.661 J kg(-1) m(-1) for canters and gallops, which are in the middle range of published values for terrestrial animals. Although some discontinuities in COM mechanics were evident between walking and cantering, there was no apparent analog to the trot-gallop transition across the intermediate and fast speed range (dimensionless v>0.75, Fr>0.5). A phenomenological model of a lemur cantering and trotting at the same speed shows that canters ensure continuous contact of the body with the substrate while reducing peak vertical COM forces, COM stiffness and COM collisions. We suggest that cantering, rather than trotting, at intermediate speeds may be tied to the arboreal origins of the Order Primates. These data allow us to better understand the mechanics of primate gaits and shed new light on primate locomotor evolution.

  14. The gaits of primates: center of mass mechanics in walking, cantering and galloping ring-tailed lemurs, Lemur catta.

    PubMed

    O'Neill, Matthew C; Schmitt, Daniel

    2012-05-15

    Most primates, including lemurs, have a broad range of locomotor capabilities, yet much of the time, they walk at slow speeds and amble, canter or gallop at intermediate and fast speeds. Although numerous studies have investigated limb function during primate quadrupedalism, how the center of mass (COM) moves is not well understood. Here, we examined COM energy, work and power during walking, cantering and galloping in ring-tailed lemurs, Lemur catta (N=5), over a broad speed range (0.43-2.91 m s(-1)). COM energy recoveries were substantial during walking (35-71%) but lower during canters and gallops (10-51%). COM work, power and collisional losses increased with speed. The positive COM works were 0.625 J kg(-1) m(-1) for walks and 1.661 J kg(-1) m(-1) for canters and gallops, which are in the middle range of published values for terrestrial animals. Although some discontinuities in COM mechanics were evident between walking and cantering, there was no apparent analog to the trot-gallop transition across the intermediate and fast speed range (dimensionless v>0.75, Fr>0.5). A phenomenological model of a lemur cantering and trotting at the same speed shows that canters ensure continuous contact of the body with the substrate while reducing peak vertical COM forces, COM stiffness and COM collisions. We suggest that cantering, rather than trotting, at intermediate speeds may be tied to the arboreal origins of the Order Primates. These data allow us to better understand the mechanics of primate gaits and shed new light on primate locomotor evolution. PMID:22539740

  15. Arboreal bipedalism in wild chimpanzees: implications for the evolution of hominid posture and locomotion.

    PubMed

    Stanford, Craig B

    2006-02-01

    Field observations of bipedal posture and locomotion in wild chimpanzees (Pan troglodytes) can serve as key evidence for reconstructing the likely origins of bipedalism in the last prehominid human ancestor. This paper reports on a sample of bipedal bouts, recorded ad libitum, in wild chimpanzees in Bwindi Impenetrable National Park in southwestern Uganda. The Ruhija community of chimpanzees in Bwindi displays a high rate of bipedal posture. In 246.7 hr of observation from 2001-2003, 179 instances of bipedal posture lasting 5 sec or longer were recorded, for a rate of 0.73 bouts per observation hour. Bipedalism was observed only on arboreal substrates, and was almost all postural, and not locomotor. Bipedalism was part of a complex series of positional behaviors related to feeding, which included two-legged standing, one-legged standing with arm support, and other intermediate postures. Ninety-six percent of bipedal bouts occurred in a foraging context, always as a chimpanzee reached to pluck fruit from tree limbs. Bipedalism was seen in both male and female adults, less frequently among juveniles, and rarely in infants. Both the frequency and duration of bipedal bouts showed a significant positive correlation with estimated substrate diameter. Neither fruit size nor nearest-neighbor association patterns were significantly correlated with the occurrence of bipedalism. Bipedalism is seen frequently in the Bwindi chimpanzee community, in part because of the unusual observer conditions at Bwindi. Most observations of bipedalism were made when the animals were in treetops and the observer at eye-level across narrow ravines. This suggests that wild chimpanzees may engage in bipedal behavior more often than is generally appreciated. Models of the likely evolutionary origins of bipedalism are considered in the light of Bwindi bipedalism data. Bipedalism among Bwindi chimpanzees suggests the origin of bipedal posture in hominids to be related to foraging advantages in

  16. Human Odometry Verifies the Symmetry Perspective on Bipedal Gaits

    ERIC Educational Resources Information Center

    Turvey, M. T.; Harrison, Steven J.; Frank, Till D.; Carello, Claudia

    2012-01-01

    Bipedal gaits have been classified on the basis of the group symmetry of the minimal network of identical differential equations (alias "cells") required to model them. Primary gaits are characterized by dihedral symmetry, whereas secondary gaits are characterized by a lower, cyclic symmetry. This fact was used in a test of human odometry. Results…

  17. A springy pendulum could describe the swing leg kinetics of human walking.

    PubMed

    Song, Hyunggwi; Park, Heewon; Park, Sukyung

    2016-06-14

    The dynamics of human walking during various walking conditions could be qualitatively captured by the springy legged dynamics, which have been used as a theoretical framework for bipedal robotics applications. However, the spring-loaded inverted pendulum model describes the motion of the center of mass (CoM), which combines the torso, swing and stance legs together and does not explicitly inform us as to whether the inter-limb dynamics share the springy legged dynamics characteristics of the CoM. In this study, we examined whether the swing leg dynamics could also be represented by springy mechanics and whether the swing leg stiffness shows a dependence on gait speed, as has been observed in CoM mechanics during walking. The swing leg was modeled as a spring-loaded pendulum hinged at the hip joint, which is under forward motion. The model parameters of the loaded mass were adopted from body parameters and anthropometric tables, whereas the free model parameters for the rest length of the spring and its stiffness were estimated to best match the data for the swing leg joint forces. The joint forces of the swing leg were well represented by the springy pendulum model at various walking speeds with a regression coefficient of R(2)>0.8. The swing leg stiffness increased with walking speed and was correlated with the swing frequency, which is consistent with previous observations from CoM dynamics described using the compliant leg. These results suggest that the swing leg also shares the springy dynamics, and the compliant walking model could be extended to better present swing leg dynamics.

  18. A springy pendulum could describe the swing leg kinetics of human walking.

    PubMed

    Song, Hyunggwi; Park, Heewon; Park, Sukyung

    2016-06-14

    The dynamics of human walking during various walking conditions could be qualitatively captured by the springy legged dynamics, which have been used as a theoretical framework for bipedal robotics applications. However, the spring-loaded inverted pendulum model describes the motion of the center of mass (CoM), which combines the torso, swing and stance legs together and does not explicitly inform us as to whether the inter-limb dynamics share the springy legged dynamics characteristics of the CoM. In this study, we examined whether the swing leg dynamics could also be represented by springy mechanics and whether the swing leg stiffness shows a dependence on gait speed, as has been observed in CoM mechanics during walking. The swing leg was modeled as a spring-loaded pendulum hinged at the hip joint, which is under forward motion. The model parameters of the loaded mass were adopted from body parameters and anthropometric tables, whereas the free model parameters for the rest length of the spring and its stiffness were estimated to best match the data for the swing leg joint forces. The joint forces of the swing leg were well represented by the springy pendulum model at various walking speeds with a regression coefficient of R(2)>0.8. The swing leg stiffness increased with walking speed and was correlated with the swing frequency, which is consistent with previous observations from CoM dynamics described using the compliant leg. These results suggest that the swing leg also shares the springy dynamics, and the compliant walking model could be extended to better present swing leg dynamics. PMID:27020749

  19. Avoidance of overheating and selection for both hair loss and bipedality in hominins

    PubMed Central

    Ruxton, Graeme D.; Wilkinson, David M.

    2011-01-01

    Two frequently debated aspects of hominin evolution are the development of upright bipedal stance and reduction in body hair. It has long been argued, on the basis of heat-balance models, that thermoregulation might have been important in the evolution of both of these traits. Previous models were based on a stationary individual standing in direct sunlight; here we extend this approach to consider a walking hominin, having argued that walking is more thermally challenging than remaining still. Further, stationary activities may be more compatible with shade seeking than activities (such as foraging) involving travel across the landscape. Our model predictions suggest that upright stance probably evolved for nonthermoregulatory reasons. However, the thermoregulatory explanation for hair loss was supported. Specifically, we postulate progressive hair loss being selected and this allowing individuals to be active in hot, open environments initially around dusk and dawn without overheating. Then, as our ancestors’ hair loss increased and sweating ability improved over evolutionary time, the fraction of the day when they could remain active in such environments extended. Our model suggests that only when hair loss and sweating ability reach near-modern human levels could hominins have been active in the heat of the day in hot, open environments. PMID:22160694

  20. A mechanical model of the human ankle in the transverse plane during straight walking: implications for prosthetic design.

    PubMed

    Glaister, Brian C; Schoen, Jason A; Orendurff, Michael S; Klute, Glenn K

    2009-03-01

    In order to protect sensitive residual limb soft tissues, lower limb prostheses need to control torsional loads during gait. To assist with the design of a torsional prosthesis, this paper used simple mechanical elements to model the behavior of the human ankle in the transverse plane during straight walking. Motion capture data were collected from ten able-bodied subjects walking straight ahead at self-selected walking speeds. Gait cycle data were separated into four distinct states, and passive torsional springs and dampers were chosen to model the behavior in each state. Since prosthetic design is facilitated by simplicity, it was desirable to investigate if elastic behavior could account for the physiological ankle moment and include viscous behavior only if necessary to account for the inadequacies of the spring model. In all four states, a springlike behavior was able to account for most of the physiological ankle moments, rendering the use of a damper unnecessary. In State 1, a quadratic torsional spring was chosen to model the behavior, while linear torsional springs were chosen for States 2-4. A prosthetic system that actively changes stiffness could be able to replicate the physiological behavior of the human ankle in the transverse plane. The results of this study will contribute to the mechanical design and control of a biomimetic torsional prosthesis for lower limb amputees. PMID:19154072

  1. Early, Prehospital Activation of the Walking Blood Bank Based on Mechanism of Injury Improves Time to Fresh Whole Blood Transfusion.

    PubMed

    Bassett, Aaron K; Auten, Jonathan D; Zieber, Tara J; Lunceford, Nicole L

    2016-01-01

    Balanced component therapy (BCT) remains the mainstay in trauma resuscitation of the critically battle injured. In austere medical environments, access to packed red blood cells, apheresis platelets, and fresh frozen plasma is often limited. Transfusion of warm, fresh whole blood (FWB) has been used to augment limited access to full BCT in these settings. The main limitation of FWB is that it is not readily available for transfusion on casualty arrival. This small case series evaluates the impact early, mechanism-of-injury (MOI)-based, preactivation of the walking blood bank has on time to transfusion. We report an average time of 18 minutes to FWB transfusion from patient arrival. Early activation of the walking blood bank based on prehospital MOI may further reduce the time to FWB transfusion.

  2. Contributions of knee swing initiation and ankle plantar flexion to the walking mechanics of amputees using a powered prosthesis.

    PubMed

    Ingraham, Kimberly A; Fey, Nicholas P; Simon, Ann M; Hargrove, Levi J

    2014-01-01

    Recently developed powered prostheses are capable of producing near-physiological joint torque at the knee and/or ankle joints. Based on previous studies of biological joint impedance and the mechanics of able-bodied gait, an impedance-based controller has been developed for a powered knee and ankle prosthesis that integrates knee swing initiation and powered plantar flexion in late stance with increasing ankle stiffness throughout stance. In this study, five prosthesis configuration conditions were tested to investigate the individual contributions of each sub-strategy to the overall walking mechanics of four unilateral transfemoral amputees as they completed a clinical 10-m walk test using a powered knee and ankle prosthesis. The baseline condition featured constant ankle stiffness and no swing initiation or powered plantar flexion. The four remaining conditions featured knee swing initiation alone (SI) or in combination with powered plantar flexion (SI+PF), increasing ankle stiffness (SI+IK), or both (SI+PF+IK). Self-selected walking speed did not significantly change between conditions, although subjects tended to walk the slowest in the baseline condition compared to conditions with swing initiation. The addition of powered plantar flexion resulted in significantly higher ankle power generation in late stance irrespective of ankle stiffness. The inclusion of swing initiation resulted in a significantly more flexed knee at toe off and a significantly higher average extensor knee torque following toe off. Identifying individual contributions of intrinsic control strategies to prosthesis biomechanics could help inform the refinement of impedance-based prosthesis controllers and simplify future designs of prostheses and lower-limb assistive devices alike.

  3. Walking in circles: a modelling approach

    PubMed Central

    Maus, Horst-Moritz; Seyfarth, Andre

    2014-01-01

    Blindfolded or disoriented people have the tendency to walk in circles rather than on a straight line even if they wanted to. Here, we use a minimalistic walking model to examine this phenomenon. The bipedal spring-loaded inverted pendulum exhibits asymptotically stable gaits with centre of mass (CoM) dynamics and ground reaction forces similar to human walking in the sagittal plane. We extend this model into three dimensions, and show that stable walking patterns persist if the leg is aligned with respect to the body (here: CoM velocity) instead of a world reference frame. Further, we demonstrate that asymmetric leg configurations, which are common in humans, will typically lead to walking in circles. The diameter of these circles depends strongly on parameter configuration, but is in line with empirical data from human walkers. Simulation results suggest that walking radius and especially direction of rotation are highly dependent on leg configuration and walking velocity, which explains inconsistent veering behaviour in repeated trials in human data. Finally, we discuss the relation between findings in the model and implications for human walking. PMID:25056215

  4. Walking in circles: a modelling approach.

    PubMed

    Maus, Horst-Moritz; Seyfarth, Andre

    2014-10-01

    Blindfolded or disoriented people have the tendency to walk in circles rather than on a straight line even if they wanted to. Here, we use a minimalistic walking model to examine this phenomenon. The bipedal spring-loaded inverted pendulum exhibits asymptotically stable gaits with centre of mass (CoM) dynamics and ground reaction forces similar to human walking in the sagittal plane. We extend this model into three dimensions, and show that stable walking patterns persist if the leg is aligned with respect to the body (here: CoM velocity) instead of a world reference frame. Further, we demonstrate that asymmetric leg configurations, which are common in humans, will typically lead to walking in circles. The diameter of these circles depends strongly on parameter configuration, but is in line with empirical data from human walkers. Simulation results suggest that walking radius and especially direction of rotation are highly dependent on leg configuration and walking velocity, which explains inconsistent veering behaviour in repeated trials in human data. Finally, we discuss the relation between findings in the model and implications for human walking.

  5. [Walking abnormalities in children].

    PubMed

    Segawa, Masaya

    2010-11-01

    Walking is a spontaneous movement termed locomotion that is promoted by activation of antigravity muscles by serotonergic (5HT) neurons. Development of antigravity activity follows 3 developmental epochs of the sleep-wake (S-W) cycle and is modulated by particular 5HT neurons in each epoch. Activation of antigravity activities occurs in the first epoch (around the age of 3 to 4 months) as restriction of atonia in rapid eye movement (REM) stage and development of circadian S-W cycle. These activities strengthen in the second epoch, with modulation of day-time sleep and induction of crawling around the age of 8 months and induction of walking by 1 year. Around the age of 1 year 6 months, absence of guarded walking and interlimb cordination is observed along with modulation of day-time sleep to once in the afternoon. Bipedal walking in upright position occurs in the third epoch, with development of a biphasic S-W cycle by the age of 4-5 years. Patients with infantile autism (IA), Rett syndrome (RTT), or Tourette syndrome (TS) show failure in the development of the first, second, or third epoch, respectively. Patients with IA fail to develop interlimb coordination; those with RTT, crawling and walking; and those with TS, walking in upright posture. Basic pathophysiology underlying these condition is failure in restricting atonia in REM stage; this induces dysfunction of the pedunculopontine nucleus and consequently dys- or hypofunction of the dopamine (DA) neurons. DA hypofunction in the developing brain, associated with compensatory upward regulation of the DA receptors causes psychobehavioral disorders in infancy (IA), failure in synaptogenesis in the frontal cortex and functional development of the motor and associate cortexes in late infancy through the basal ganglia (RTT), and failure in functional development of the prefrontal cortex through the basal ganglia (TS). Further, locomotion failure in early childhood causes failure in development of functional

  6. Mechanical work performed by individual limbs of transfemoral amputees during step-to-step transitions: Effect of walking velocity.

    PubMed

    Bonnet, Xavier; Villa, Coralie; Fodé, Pascale; Lavaste, Francois; Pillet, Hélène

    2014-01-01

    The greater metabolic demand during the gait of people with a transfemoral amputation limits their autonomy and walking velocity. Major modifications of the kinematic and kinetic patterns of transfemoral amputee gait quantified using gait analysis may explain their greater energy cost. Donelan et al. proposed a method called the individual limb method to explore the relationships between the gait biomechanics and metabolic cost. In the present study, we applied this method to quantify mechanical work performed by the affected and intact limbs of transfemoral amputees. We compared a cohort of six active unilateral transfemoral amputees to a control group of six asymptomatic subjects. Compared to the control group, we found that there was significantly less mechanical work produced by the affected leg and significantly more work performed by the unaffected leg during the step-to-step transition. We also found that this mechanical work increased with walking velocity; the increase was less pronounced for the affected leg and substantial for the unaffected leg. Finally, we observed that the lesser work produced by the affected leg was linked to the increase in the hip flexion moment during the late stance phase, which is necessary for initiating knee flexion in the affected leg. It is possible to quantify the mechanical work performed during gait by people with a transfemoral amputation, using the individual limb method and conventional gait laboratory equipment. The method provides information that is useful for prosthetic fitting and rehabilitation.

  7. Fossils, feet and the evolution of human bipedal locomotion.

    PubMed

    Harcourt-Smith, W E H; Aiello, L C

    2004-05-01

    We review the evolution of human bipedal locomotion with a particular emphasis on the evolution of the foot. We begin in the early twentieth century and focus particularly on hypotheses of an ape-like ancestor for humans and human bipedal locomotion put forward by a succession of Gregory, Keith, Morton and Schultz. We give consideration to Morton's (1935) synthesis of foot evolution, in which he argues that the foot of the common ancestor of modern humans and the African apes would be intermediate between the foot of Pan and Hylobates whereas the foot of a hypothetical early hominin would be intermediate between that of a gorilla and a modern human. From this base rooted in comparative anatomy of living primates we trace changing ideas about the evolution of human bipedalism as increasing amounts of postcranial fossil material were discovered. Attention is given to the work of John Napier and John Robinson who were pioneers in the interpretation of Plio-Pleistocene hominin skeletons in the 1960s. This is the period when the wealth of evidence from the southern African australopithecine sites was beginning to be appreciated and Olduvai Gorge was revealing its first evidence for Homo habilis. In more recent years, the discovery of the Laetoli footprint trail, the AL 288-1 (A. afarensis) skeleton, the wealth of postcranial material from Koobi Fora, the Nariokotome Homo ergaster skeleton, Little Foot (Stw 573) from Sterkfontein in South Africa, and more recently tantalizing material assigned to the new and very early taxa Orrorin tugenensis, Ardipithecus ramidus and Sahelanthropus tchadensis has fuelled debate and speculation. The varying interpretations based on this material, together with changing theoretical insights and analytical approaches, is discussed and assessed in the context of new three-dimensional morphometric analyses of australopithecine and Homo foot bones, suggesting that there may have been greater diversity in human bipedalism in the earlier phases

  8. Fossils, feet and the evolution of human bipedal locomotion.

    PubMed

    Harcourt-Smith, W E H; Aiello, L C

    2004-05-01

    We review the evolution of human bipedal locomotion with a particular emphasis on the evolution of the foot. We begin in the early twentieth century and focus particularly on hypotheses of an ape-like ancestor for humans and human bipedal locomotion put forward by a succession of Gregory, Keith, Morton and Schultz. We give consideration to Morton's (1935) synthesis of foot evolution, in which he argues that the foot of the common ancestor of modern humans and the African apes would be intermediate between the foot of Pan and Hylobates whereas the foot of a hypothetical early hominin would be intermediate between that of a gorilla and a modern human. From this base rooted in comparative anatomy of living primates we trace changing ideas about the evolution of human bipedalism as increasing amounts of postcranial fossil material were discovered. Attention is given to the work of John Napier and John Robinson who were pioneers in the interpretation of Plio-Pleistocene hominin skeletons in the 1960s. This is the period when the wealth of evidence from the southern African australopithecine sites was beginning to be appreciated and Olduvai Gorge was revealing its first evidence for Homo habilis. In more recent years, the discovery of the Laetoli footprint trail, the AL 288-1 (A. afarensis) skeleton, the wealth of postcranial material from Koobi Fora, the Nariokotome Homo ergaster skeleton, Little Foot (Stw 573) from Sterkfontein in South Africa, and more recently tantalizing material assigned to the new and very early taxa Orrorin tugenensis, Ardipithecus ramidus and Sahelanthropus tchadensis has fuelled debate and speculation. The varying interpretations based on this material, together with changing theoretical insights and analytical approaches, is discussed and assessed in the context of new three-dimensional morphometric analyses of australopithecine and Homo foot bones, suggesting that there may have been greater diversity in human bipedalism in the earlier phases

  9. Fossils, feet and the evolution of human bipedal locomotion

    PubMed Central

    Harcourt-Smith, W E H; Aiello, L C

    2004-01-01

    We review the evolution of human bipedal locomotion with a particular emphasis on the evolution of the foot. We begin in the early twentieth century and focus particularly on hypotheses of an ape-like ancestor for humans and human bipedal locomotion put forward by a succession of Gregory, Keith, Morton and Schultz. We give consideration to Morton's (1935) synthesis of foot evolution, in which he argues that the foot of the common ancestor of modern humans and the African apes would be intermediate between the foot of Pan and Hylobates whereas the foot of a hypothetical early hominin would be intermediate between that of a gorilla and a modern human. From this base rooted in comparative anatomy of living primates we trace changing ideas about the evolution of human bipedalism as increasing amounts of postcranial fossil material were discovered. Attention is given to the work of John Napier and John Robinson who were pioneers in the interpretation of Plio-Pleistocene hominin skeletons in the 1960s. This is the period when the wealth of evidence from the southern African australopithecine sites was beginning to be appreciated and Olduvai Gorge was revealing its first evidence for Homo habilis. In more recent years, the discovery of the Laetoli footprint trail, the AL 288-1 (A. afarensis) skeleton, the wealth of postcranial material from Koobi Fora, the Nariokotome Homo ergaster skeleton, Little Foot (Stw 573) from Sterkfontein in South Africa, and more recently tantalizing material assigned to the new and very early taxa Orrorin tugenensis, Ardipithecus ramidus and Sahelanthropus tchadensis has fuelled debate and speculation. The varying interpretations based on this material, together with changing theoretical insights and analytical approaches, is discussed and assessed in the context of new three-dimensional morphometric analyses of australopithecine and Homo foot bones, suggesting that there may have been greater diversity in human bipedalism in the earlier phases

  10. Biomechanical mechanism for transitions in phase and frequency of arm and leg swing during walking.

    PubMed

    Kubo, Masayoshi; Wagenaar, Robert C; Saltzman, Elliot; Holt, Kenneth G

    2004-08-01

    As humans increase walking speed, there are concurrent transitions in the frequency ratio between arm and leg movements from 2:1 to 1:1 and in the phase relationship between the movements of the two arms from in-phase to out-of-phase. Superharmonic resonance of a pendulum with monofrequency excitation had been proposed as a potential model for this phenomenon. In this study, an alternative model of paired pendulums with multiple-frequency excitations is explored. It was predicted that the occurrence of the concurrent transitions was a function of (1) changes in the magnitude ratio of shoulder accelerations at step and stride frequencies that accompany changes in walking speed and (2) proximity of these frequencies to the natural resonance frequencies of the arms modeled as a pair of passive pendulums. Model predictions were compared with data collected from 14 healthy young subjects who were instructed to walk on a treadmill. Walking speeds were manipulated between 0.18 and 1.52 m/s in steps of 0.22 m/s. Kinematic data for the arms and shoulders were collected using a 3D motion analysis system, and simulations were conducted in which the movements of a double-pendulum system excited by the accelerations at the suspension point were analyzed to determine the extent to which the arms acted as passive pendulums. It was confirmed that the acceleration waveforms at the shoulder are composed primarily of stride and step frequency components. Between the shoulders, the stride frequency components were out-of-phase, while the step frequency components were in-phase. The amplitude ratio of the acceleration waveform components at the step and stride frequencies changed as a function of walking speed and were associated with the occurrence of the transitions. Simulation results using these summed components as excitatory inputs to the double-pendulum system were in agreement with actual transitions in 80% of the cases. The potential role of state-dependent active muscle

  11. In search of the pitching momentum that enables some lizards to sustain bipedal running at constant speeds.

    PubMed

    Van Wassenbergh, Sam; Aerts, Peter

    2013-07-01

    The forelimbs of lizards are often lifted from the ground when they start sprinting. Previous research pointed out that this is a consequence of the propulsive forces from the hindlimbs. However, despite forward acceleration being hypothesized as necessary to lift the head, trunk and forelimbs, some species of agamids, teiids and basilisks sustain running in a bipedal posture at a constant speed for a relatively long time. Biomechanical modelling of steady bipedal running in the agamid Ctenophorus cristatus now shows that a combination of three mechanisms must be present to generate the angular impulse needed to cancel or oppose the effect of gravity. First, the trunk must be lifted significantly to displace the centre of mass more towards the hip joint. Second, the nose-up pitching moment resulting from aerodynamic forces exerted at the lizard's surface must be taken into account. Third, the vertical ground-reaction forces at the hindlimb must show a certain degree of temporal asymmetry with higher forces closer to the instant of initial foot contact. Such asymmetrical vertical ground-reaction force profiles, which differ from the classical spring-mass model of bipedal running, seem inherent to the windmilling, splayed-legged running style of lizards. PMID:23658116

  12. In search of the pitching momentum that enables some lizards to sustain bipedal running at constant speeds

    PubMed Central

    Van Wassenbergh, Sam; Aerts, Peter

    2013-01-01

    The forelimbs of lizards are often lifted from the ground when they start sprinting. Previous research pointed out that this is a consequence of the propulsive forces from the hindlimbs. However, despite forward acceleration being hypothesized as necessary to lift the head, trunk and forelimbs, some species of agamids, teiids and basilisks sustain running in a bipedal posture at a constant speed for a relatively long time. Biomechanical modelling of steady bipedal running in the agamid Ctenophorus cristatus now shows that a combination of three mechanisms must be present to generate the angular impulse needed to cancel or oppose the effect of gravity. First, the trunk must be lifted significantly to displace the centre of mass more towards the hip joint. Second, the nose-up pitching moment resulting from aerodynamic forces exerted at the lizard's surface must be taken into account. Third, the vertical ground-reaction forces at the hindlimb must show a certain degree of temporal asymmetry with higher forces closer to the instant of initial foot contact. Such asymmetrical vertical ground-reaction force profiles, which differ from the classical spring-mass model of bipedal running, seem inherent to the windmilling, splayed-legged running style of lizards. PMID:23658116

  13. "Far" and "Near" Visual Acuity While Walking and the Collective Contributions of Non-Ocular Mechanisms to Gaze Stabilization

    NASA Technical Reports Server (NTRS)

    Peters, Brian T.; vanEmmerik, Richard E. A.; Bloomberg, Jacob J.

    2006-01-01

    Gaze stabilization was quantified in subjects (n=11) as they walked on a motorized treadmill (1.8 m/s) and viewed visual targets at two viewing distances. A "far" target was positioned at 4 m (FAR) in front of the subject and the "near" target was placed at a distance of 0.5 m (NEAR). A direct measure of visual acuity was used to assess the overall effectiveness of the gaze stabilization system. The contributions of nonocular mechanisms to the gaze goal were also quantified using a measure of the distance between the subject and point in space where fixation of the visual target would require the least eye movement amplitude (i.e. the head fixation distance (HFD)). Kinematic variables mirrored those of previous investigations with the vertical trunk translation and head pitch signals, and the lateral translation and head yaw signals maintaining what appear as antiphase relationships. However, an investigation of the temporal relationships between the maxima and minima of the vertical translation and head pitch signals show that while the maximum in vertical translation occurs at the point of the minimum head pitch signal, the inverse is not true. The maximum in the head pitch signal lags the vertical translation minimum by an average of greater than 12 percent of the step cycle time. Three HFD measures, one each for data in the sagittal and transverse planes, and one that combined the movements from both planes, all revealed changes between the FAR and NEAR target viewing conditions. This reorganization of the nonocular degrees of freedom while walking was consistent with a strategy to reduce the magnitude of the eye movements required when viewing the NEAR target. Despite this reorganization, acuity measures show that image stabilization is not occurring while walking and viewing the NEAR target. Group means indicate that visual acuity is not affected while walking in the FAR condition, but a decrement of 0.15 logMAR (i.e. 1.5 eye chart lines) exists between the

  14. Walking on Mars

    NASA Astrophysics Data System (ADS)

    Cavagna, G. A.; Willems, P. A.; Heglund, N. C.

    1998-06-01

    Sometime in the near future humans may walk in the reduced gravity of Mars. Gravity plays an essential role in walking. On Earth, the body uses gravity to `fall forwards' at each step and then the forward speed is used to restore the initial height in a pendulum-like mechanism. When gravity is reduced, as on the Moon or Mars, the mechanism of walking must change. Here we investigate the mechanics of walking on Mars onboard an aircraft undergoing gravity-reducing flight profiles. The optimal walking speed on Mars will be 3.4 km h-1 (down from 5.5 km h-1 on Earth) and the work done per unit distance to move the centre of mass will be half that on Earth.

  15. [The anatomical and functional origin of the first bipedalism].

    PubMed

    Coppens, Y

    1991-10-01

    This communication is the synthesis of ten years of researchers of comparative anatomy done by the author or under his control on fossil Hominids, three million years old, found by his expeditions in Eastern Ethiopia. It brings, for the first time, the odd picture of a skeleton adapted to arboricolism and bipedalism together. The rachis has already the curves of an erect being but with at least a thoraco-lumbar cyphosis a bit more elongated than in our own rachis; the pelvis is wide and shallow like the pelvis of a biped but with many particular features like the width of the iliac wings, a great biacetabular diameter, the small size of the coxo-femoral joints; the femur is short with a special long neck, a very oblique diaphysis like in Man and an intercondylar fossa, deep and wide like in chimp; the tibia is also short, its spines very tight in such a way that the knee shows a great laxity. The foot is short and flat, with an abducted hallux and long curved toes; the scapular, elbow and wrist joints show, at the opposite of the knee joint, a great solidity, but both characteristics of the hind and fore-limb joints are not in contradiction: they are, as in chimpanzees again, functionally adapted to climbing and moving in the trees where are needed firm grip of the hands as well as mobility of the knee and of the foot. It seems that the early Australopithecine' bipedalism was original, different from ours and quite instable: short steps were necessary to maintain equilibrium as well as a strong rotation of the pelvis around the vertebral axis (50 to 60 degrees on each side). This analysis is then demonstrating a real evolution of bipedalism which was not at all, at once, the bipedalism of Homo sapiens, as it has been claimed. This paper is also showing that bipedalism anatomic organization is taking place from the pelvis to the foot and not the other way round. At last, as we have found, also in Ethiopia, stone-tools more than three million years old in association

  16. Walking Problems

    MedlinePlus

    ... daily activities, get around, and exercise. Having a problem with walking can make daily life more difficult. ... walk is called your gait. A variety of problems can cause an abnormal gait and lead to ...

  17. Neural Computation Scheme of Compound Control: Tacit Learning for Bipedal Locomotion

    NASA Astrophysics Data System (ADS)

    Shimoda, Shingo; Kimura, Hidenori

    The growing need for controlling complex behaviors of versatile robots working in unpredictable environment has revealed the fundamental limitation of model-based control strategy that requires precise models of robots and environments before their operations. This difficulty is fundamental and has the same root with the well-known frame problem in artificial intelligence. It has been a central long standing issue in advanced robotics, as well as machine intelligence, to find a prospective clue to attack this fundamental difficulty. The general consensus shared by many leading researchers in the related field is that the body plays an important role in acquiring intelligence that can conquer unknowns. In particular, purposeful behaviors emerge during body-environment interactions with the help of an appropriately organized neural computational scheme that can exploit what the environment can afford. Along this line, we propose a new scheme of neural computation based on compound control which represents a typical feature of biological controls. This scheme is based on classical neuron models with local rules that can create macroscopic purposeful behaviors. This scheme is applied to a bipedal robot and generates the rhythm of walking without any model of robot dynamics and environments.

  18. Possible biomechanical origins of the long-range correlations in stride intervals of walking

    NASA Astrophysics Data System (ADS)

    Gates, Deanna H.; Su, Jimmy L.; Dingwell, Jonathan B.

    2007-07-01

    When humans walk, the time duration of each stride varies from one stride to the next. These temporal fluctuations exhibit long-range correlations. It has been suggested that these correlations stem from higher nervous system centers in the brain that control gait cycle timing. Existing proposed models of this phenomenon have focused on neurophysiological mechanisms that might give rise to these long-range correlations, and generally ignored potential alternative mechanical explanations. We hypothesized that a simple mechanical system could also generate similar long-range correlations in stride times. We modified a very simple passive dynamic model of bipedal walking to incorporate forward propulsion through an impulsive force applied to the trailing leg at each push-off. Push-off forces were varied from step to step by incorporating both “sensory” and “motor” noise terms that were regulated by a simple proportional feedback controller. We generated 400 simulations of walking, with different combinations of sensory noise, motor noise, and feedback gain. The stride time data from each simulation were analyzed using detrended fluctuation analysis to compute a scaling exponent, α. This exponent quantified how each stride interval was correlated with previous and subsequent stride intervals over different time scales. For different variations of the noise terms and feedback gain, we obtained short-range correlations (α<0.5), uncorrelated time series (α=0.5), long-range correlations (0.5<α<1.0), or Brownian motion (α>1.0). Our results indicate that a simple biomechanical model of walking can generate long-range correlations and thus perhaps these correlations are not a complex result of higher level neuronal control, as has been previously suggested.

  19. Gait selection in the ostrich: mechanical and metabolic characteristics of walking and running with and without an aerial phase.

    PubMed Central

    Rubenson, Jonas; Heliams, Denham B.; Lloyd, David G.; Fournier, Paul A.

    2004-01-01

    It has been argued that minimization of metabolic-energy costs is a primary determinant of gait selection in terrestrial animals. This view is based predominantly on data from humans and horses, which have been shown to choose the most economical gait (walking, running, galloping) for any given speed. It is not certain whether a minimization of metabolic costs is associated with the selection of other prevalent forms of terrestrial gaits, such as grounded running (a widespread gait in birds). Using biomechanical and metabolic measurements of four ostriches moving on a treadmill over a range of speeds from 0.8 to 6.7 m s(-1), we reveal here that the selection of walking or grounded running at intermediate speeds also favours a reduction in the metabolic cost of locomotion. This gait transition is characterized by a shift in locomotor kinetics from an inverted-pendulum gait to a bouncing gait that lacks an aerial phase. By contrast, when the ostrich adopts an aerial-running gait at faster speeds, there are no abrupt transitions in mechanical parameters or in the metabolic cost of locomotion. These data suggest a continuum between grounded and aerial running, indicating that they belong to the same locomotor paradigm. PMID:15293864

  20. Walking the walk

    SciTech Connect

    Butler, B.

    1994-12-31

    Earth Day, celebrated this April, brought out a spate of press conferences, fairs and media spots. The White House announced its plans to green itself by incorporating energy efficiency and recycling, and Vice President Gore and Energy Secretary O`Leary announced the President`s Executive Order, which mandates the use of energy efficiency in federal facilities with solar as a high-profile option. At the White House itself, however, no solar application has yet been selected for installation. Another Earth Day media spot showed how the nation`s utility companies have joined Secretary O`Leary`s Climate Challenge, an ambitious voluntary program to cut greenhouse-gas emissions. During Earth Day 1994, it became clear how many houses use solar water heating and how often photovoltaics is used to power road signs and sign boards, telephones and repeaters, and for cathodic protection and security lighting. Solar energy is expanding. But if it is to become a truly everyday technology, more institution, governments, businesses and individual consumers are going to have to walk the walk. This means that Earth Day will have to last longer, environmental concerns must become more genuine, and the focus of government and business decisions must be more long-term.

  1. Leg mechanics contribute to establishing swing phase trajectories during memory-guided stepping movements in walking cats: a computational analysis

    PubMed Central

    Pearson, Keir G.; Arbabzada, Naik; Gramlich, Rod; Shinya, Masahiro

    2015-01-01

    When quadrupeds stop walking after stepping over a barrier with their forelegs, the memory of barrier height and location is retained for many minutes. This memory is subsequently used to guide hind leg movements over the barrier when walking is resumed. The upslope of the initial trajectory of hind leg paw movements is strongly dependent on the initial location of the paw relative to the barrier. In this study, we have attempted to determine whether mechanical factors contribute significantly in establishing the slope of the paw trajectories by creating a four-link biomechanical model of a cat hind leg and driving this model with a variety of joint-torque profiles, including average torques for a range of initial paw positions relative to the barrier. Torque profiles for individual steps were determined by an inverse dynamic analysis of leg movements in three normal cats. Our study demonstrates that limb mechanics can contribute to establishing the dependency of trajectory slope on the initial position of the paw relative to the barrier. However, an additional contribution of neuronal motor commands was indicated by the fact that the simulated slopes of paw trajectories were significantly less than the observed slopes. A neuronal contribution to the modification of paw trajectories was also revealed by our observations that both the magnitudes of knee flexor muscle EMG bursts and the initial knee flexion torques depended on initial paw position. Previous studies have shown that a shift in paw position prior to stepping over a barrier changes the paw trajectory to be appropriate for the new paw position. Our data indicate that both mechanical and neuronal factors contribute to this updating process, and that any shift in leg position during the delay period modifies the working memory of barrier location. PMID:26441625

  2. The evolution of bipedal running in lizards suggests a consequential origin may be exploited in later lineages.

    PubMed

    Clemente, Christofer J

    2014-08-01

    The origin of bipedal locomotion in lizards is unclear. Modeling studies have suggested that bipedalism may be an exaptation, a byproduct of features originally designed to increase maneuverability, which were only later exploited. Measurement of the body center of mass (BCOM) in 124 species of lizards confirms a significant rearward shift among bipedal lineages. Further racetrack trials showed a significant acceleration threshold between bipedal and quadrupedal runs. These suggest good general support for a passive bipedal model, in which the combination of these features lead to passive lifting of the front of the body. However, variation in morphology could only account for 56% of the variation in acceleration thresholds, suggesting that dynamics have a significant influence on bipedalism. Deviation from the passive bipedal model was compared with node age, supporting an increase in the influence of dynamics over time. Together, these results show that bipedalism may have first arisen as a consequence of acceleration and a rearward shift in the BCOM, but subsequent linages have exploited this consequence to become bipedal more often, suggesting that bipedalism in lizards may convey some advantage. Exploitation of bipedalism was also associated with increased rates of phenotypic diversity, suggesting exploiting bipedalism may promote adaptive radiation.

  3. How Fast Can a Human Run? - Bipedal vs. Quadrupedal Running.

    PubMed

    Kinugasa, Ryuta; Usami, Yoshiyuki

    2016-01-01

    Usain Bolt holds the current world record in the 100-m run, with a running time of 9.58 s, and has been described as the best human sprinter in history. However, this raises questions concerning the maximum human running speed, such as "Can the world's fastest men become faster still?" The correct answer is likely "Yes." We plotted the historical world records for bipedal and quadrupedal 100-m sprint times according to competition year. These historical records were plotted using several curve-fitting procedures. We found that the projected speeds intersected in 2048, when for the first time, the winning quadrupedal 100-m sprint time could be lower, at 9.276 s, than the winning bipedal time of 9.383 s. Video analysis revealed that in quadrupedal running, humans employed a transverse gallop with a small angular excursion. These results suggest that in the future, the fastest human on the planet might be a quadrupedal runner at the 2048 Olympics. This may be achieved by shifting up to the rotary gallop and taking longer strides with wide sagittal trunk motion. PMID:27446911

  4. How Fast Can a Human Run? - Bipedal vs. Quadrupedal Running.

    PubMed

    Kinugasa, Ryuta; Usami, Yoshiyuki

    2016-01-01

    Usain Bolt holds the current world record in the 100-m run, with a running time of 9.58 s, and has been described as the best human sprinter in history. However, this raises questions concerning the maximum human running speed, such as "Can the world's fastest men become faster still?" The correct answer is likely "Yes." We plotted the historical world records for bipedal and quadrupedal 100-m sprint times according to competition year. These historical records were plotted using several curve-fitting procedures. We found that the projected speeds intersected in 2048, when for the first time, the winning quadrupedal 100-m sprint time could be lower, at 9.276 s, than the winning bipedal time of 9.383 s. Video analysis revealed that in quadrupedal running, humans employed a transverse gallop with a small angular excursion. These results suggest that in the future, the fastest human on the planet might be a quadrupedal runner at the 2048 Olympics. This may be achieved by shifting up to the rotary gallop and taking longer strides with wide sagittal trunk motion.

  5. Application of random walk concept to the cyclic diffusion mechanisms for self-diffusion in intermetallic compounds

    NASA Astrophysics Data System (ADS)

    Tiwari, G. P.; Mehrotra, R. S.; Iijima, Y.

    2014-02-01

    Huntington-Elcock-McCombie (HEM) mechanism involving six consecutive and correlated jumps, a triple-defect mechanism (TDM) involving three correlated jumps and an anti-structure bridge (ASB) mechanism invoking the migration of an anti-structure atom are the three mechanisms currently in vogue to explain the self- and solute diffusion in intermetallic compounds. Among them, HEM and TDM are cyclic in nature. The HEM and TDM constitute the theme of the present article. The concept of random walk is applied to them and appropriate expressions for the diffusion coefficient are derived. These equations are then employed to estimate activation energies for self-diffusion via HEM and TDM processes and compared with the available experimental data on activation energy for self-diffusion in intermetallic compounds. The resulting activation energies do not favour HEM and TDM for the self-diffusion in intermetallic compounds. A comparison of the sum of experimentally determined activation energies for vacancy formation and migration with the activation energies for self-diffusion determined from radioactive tracer method favours the conventional monovacancy-mediated process for self-diffusion in intermetallic compounds.

  6. The evolution of bipedalism in jerboas (rodentia: Dipodoidea): origin in humid and forested environments.

    PubMed

    Wu, Shaoyuan; Zhang, Fuchun; Edwards, Scott V; Wu, Wenyu; Ye, Jie; Bi, Shundong; Ni, Xijun; Quan, Cheng; Meng, Jin; Organ, Chris L

    2014-07-01

    Mammalian bipedalism has long been thought to have arisen in response to arid and open environments. Here, we tested whether bipedalism coevolved with environmental changes using molecular and paleontological data from the rodent superfamily Dipodoidea and statistical methods for reconstructing ancestral characteristics and past climates. Our results show that the post-Late Miocene aridification exerted selective pressures on tooth shape, but not on leg length of bipedal jerboas. Cheek tooth crown height has increased since the Late Miocene, but the hind limb/head-body length ratios remained stable and high despite the environmental change from humid and forested to arid and open conditions, rather than increasing from low to high as predicted by the arid-bipedalism hypothesis. The decoupling of locomotor and dental character evolution indicates that bipedalism evolved under selective pressure different from that of dental hypsodonty in jerboas. We reconstructed the habitats of early jerboas using floral and faunal data, and the results show that the environments in which bipedalism evolved were forested. Our results suggest that bipedalism evolved as an adaptation to humid woodlands or forests for vertical jumping. Running at high speeds is likely a by-product of selection for jumping, which became advantageous in open environments later on.

  7. The Recovery of Walking in Stroke Patients: A Review

    ERIC Educational Resources Information Center

    Jang, Sung Ho

    2010-01-01

    We reviewed the literature on walking recovery of stroke patients as it relates to the following subjects: epidemiology of walking dysfunction, recovery course of walking, and recovery mechanism of walking (neural control of normal walking, the evaluation methods for leg motor function, and motor recovery mechanism of leg). The recovery of walking…

  8. Walking molecules.

    PubMed

    von Delius, Max; Leigh, David A

    2011-07-01

    Movement is intrinsic to life. Biologists have established that most forms of directed nanoscopic, microscopic and, ultimately, macroscopic movements are powered by molecular motors from the dynein, myosin and kinesin superfamilies. These motor proteins literally walk, step by step, along polymeric filaments, carrying out essential tasks such as organelle transport. In the last few years biological molecular walkers have inspired the development of artificial systems that mimic aspects of their dynamics. Several DNA-based molecular walkers have been synthesised and shown to walk directionally along a track upon sequential addition of appropriate chemical fuels. In other studies, autonomous operation--i.e. DNA-walker migration that continues as long as a complex DNA fuel is present--has been demonstrated and sophisticated tasks performed, such as moving gold nanoparticles from place-to-place and assistance in sequential chemical synthesis. Small-molecule systems, an order of magnitude smaller in each dimension and 1000× smaller in molecular weight than biological motor proteins or the walker systems constructed from DNA, have also been designed and operated such that molecular fragments can be progressively transported directionally along short molecular tracks. The small-molecule systems can be powered by light or chemical fuels. In this critical review the biological motor proteins from the kinesin, myosin and dynein families are analysed as systems from which the designers of synthetic systems can learn, ratchet concepts for transporting Brownian substrates are discussed as the mechanisms by which molecular motors need to operate, and the progress made with synthetic DNA and small-molecule walker systems reviewed (142 references). PMID:21416072

  9. The Advantage of Standing Up to Fight and the Evolution of Habitual Bipedalism in Hominins

    PubMed Central

    Carrier, David R.

    2011-01-01

    Background Many quadrupedal species stand bipedally on their hindlimbs to fight. This posture may provide a performance advantage by allowing the forelimbs to strike an opponent with the range of motion that is intrinsic to high-speed running, jumping, rapid braking and turning; the range of motion over which peak force and power can be produced. Methodology/Principal Findings To test the hypothesis that bipedal (i.e., orthograde) posture provides a performance advantage when striking with the forelimbs, I measured the force and energy produced when human subjects struck from “quadrupedal” (i.e., pronograde) and bipedal postures. Downward and upward directed striking energy was measured with a custom designed pendulum transducer. Side and forward strikes were measured with a punching bag instrumented with an accelerometer. When subjects struck downward from a bipedal posture the work was 43.70±12.59% (mean ± S.E.) greater than when they struck from a quadrupedal posture. Similarly, 47.49±17.95% more work was produced when subjects struck upward from a bipedal stance compared to a quadrupedal stance. Importantly, subjects did 229.69±44.19% more work in downward than upward directed strikes. During side and forward strikes the force impulses were 30.12±3.68 and 43.04±9.00% greater from a bipedal posture than a quadrupedal posture, respectively. Conclusions/Significance These results indicate that bipedal posture does provide a performance advantage for striking with the forelimbs. The mating systems of great apes are characterized by intense male-male competition in which conflict is resolved through force or the threat of force. Great apes often fight from bipedal posture, striking with both the fore- and hindlimbs. These observations, plus the findings of this study, suggest that sexual selection contributed to the evolution of habitual bipedalism in hominins. PMID:21611167

  10. Electrical noise to a knee joint stabilizes quiet bipedal stance.

    PubMed

    Kimura, Tetsuya; Kouzaki, Motoki

    2013-04-01

    Studies have shown that a minute, noise-like electrical stimulation (ES) of a lower limb joint stabilizes one-legged standing (OS), possibly due to the noise-enhanced joint proprioception. To demonstrate the practical utility of this finding, we assessed whether the bipedal stance (BS), relatively stable and generally employed in daily activities, is also stabilized by the same ES method. Twelve volunteers maintained quiet BS with or without an unperceivable, noise-like ES of a knee joint. The results showed that the average amplitude, peak-to-peak amplitude, and standard deviation of the foot center of pressure in the anteroposterior direction were significantly attenuated by the ES (P<0.05). These results indicate that the BS also can be stabilized by an unperceivable, noise-like ES of a knee joint. PMID:23044409

  11. Light touch contribution to balance in normal bipedal stance.

    PubMed

    Clapp, S; Wing, A M

    1999-04-01

    It has previously been shown that light contact with the finger tip on a fixed surface reduces centre of pressure (CoP) fluctuations in the frontal plane when standing in an unstable posture with the feet in line (tandem Romberg stance). Positive cross-correlations between horizontal finger forces and CoP fluctuations with finger forces exhibiting a phase lead suggest the hand provides sensory input for postural stability. The present study investigates whether this is the case for normal posture. We report reduced CoP fluctuations in the sagittal plane when light touch is permitted during normal bipedal stance. Moreover, we find positive crosscorrelations between finger tip forces and CoP fluctuations which are of similar magnitude and phase lag to those observed in tandem Romberg stance. This shows the utility of hand touch input for regulation of normal upright posture as well as inherently unstable postures such as tandem Romberg.

  12. Anticipating bipedalism: trabecular organization in the newborn ilium

    PubMed Central

    Cunningham, Craig A; Black, Sue M

    2009-01-01

    Trabecular bone structural organization is considered to be predominantly influenced by localized temporal forces which act to maintain and remodel the trabecular architecture into a biomechanically optimal configuration. In the adult pelvis, the most significant remodelling forces are believed to be those generated during bipedal locomotion. However, during the fetal and neonatal period the pelvic complex is non-weight bearing and, as such, structural organization of iliac trabecular bone cannot reflect direct stance-related forces. In this study, micro-computed tomography scans from 28 neonatal ilia were analysed, using a whole bone approach, to investigate the trabecular characteristics present within specific volumes of interest relevant to density gradients highlighted in a previous radiographic study. Analysis of the structural indices bone volume fraction, trabecular thickness, trabecular spacing and trabecular number was carried out to quantitatively investigate structural composition. Quantification of the neonatal trabecular structure reinforced radiographic observations by highlighting regions of significant architectural form which grossly parallel architectural differences in the adult pattern but which have previously been attributed to stance-related forces. It is suggested that the seemingly organized rudimentary scaffold observed in the neonatal ilium may be attributable to other non-weight bearing anatomical interactions or even to a predetermined genetic blueprint. It must also be postulated that whilst the observed patterning may be indicative of a predetermined inherent template, early non-weight bearing and late stance-related locomotive influences may subsequently be superimposed upon this scaffolding and perhaps reinforced and likely remodelled at a later age. Ultimately, the analysis of this fundamental primary pattern has core implications for understanding the earliest changes in pelvic trabecular architecture and provides a baseline

  13. Walking Perception by Walking Observers

    ERIC Educational Resources Information Center

    Jacobs, Alissa; Shiffrar, Maggie

    2005-01-01

    People frequently analyze the actions of other people for the purpose of action coordination. To understand whether such self-relative action perception differs from other-relative action perception, the authors had observers either compare their own walking speed with that of a point-light walker or compare the walking speeds of 2 point-light…

  14. Brownian motion or Lévy walk? Stepping towards an extended statistical mechanics for animal locomotion.

    PubMed

    Gautestad, Arild O

    2012-09-01

    Animals moving under the influence of spatio-temporal scaling and long-term memory generate a kind of space-use pattern that has proved difficult to model within a coherent theoretical framework. An extended kind of statistical mechanics is needed, accounting for both the effects of spatial memory and scale-free space use, and put into a context of ecological conditions. Simulations illustrating the distinction between scale-specific and scale-free locomotion are presented. The results show how observational scale (time lag between relocations of an individual) may critically influence the interpretation of the underlying process. In this respect, a novel protocol is proposed as a method to distinguish between some main movement classes. For example, the 'power law in disguise' paradox-from a composite Brownian motion consisting of a superposition of independent movement processes at different scales-may be resolved by shifting the focus from pattern analysis at one particular temporal resolution towards a more process-oriented approach involving several scales of observation. A more explicit consideration of system complexity within a statistical mechanical framework, supplementing the more traditional mechanistic modelling approach, is advocated.

  15. A three-dimensional human walking model

    NASA Astrophysics Data System (ADS)

    Yang, Q. S.; Qin, J. W.; Law, S. S.

    2015-11-01

    A three-dimensional human bipedal walking model with compliant legs is presented in this paper. The legs are modeled with time-variant dampers, and the model is able to characterize the gait pattern of an individual using a minimal set of parameters. Feedback control, for both the forward and lateral movements, is implemented to regulate the walking performance of the pedestrian. The model provides an improvement over classic invert pendulum models. Numerical studies were undertaken to investigate the effects of leg stiffness and attack angle. Simulation results show that when walking at a given speed, increasing the leg stiffness with a constant attack angle results in a longer step length, a higher step frequency, a faster walking speed and an increase in both the peak vertical and lateral ground reaction forces. Increasing the attack angle with a constant leg stiffness results in a higher step frequency, a decrease in the step length, an increase in the total energy of the system and a decrease in both the peak vertical and lateral ground reaction forces.

  16. Reflex Control of Robotic Gait Using Human Walking Data

    PubMed Central

    Macleod, Catherine A.; Meng, Lin; Conway, Bernard A.; Porr, Bernd

    2014-01-01

    Control of human walking is not thoroughly understood, which has implications in developing suitable strategies for the retraining of a functional gait following neurological injuries such as spinal cord injury (SCI). Bipedal robots allow us to investigate simple elements of the complex nervous system to quantify their contribution to motor control. RunBot is a bipedal robot which operates through reflexes without using central pattern generators or trajectory planning algorithms. Ground contact information from the feet is used to activate motors in the legs, generating a gait cycle visually similar to that of humans. Rather than developing a more complicated biologically realistic neural system to control the robot's stepping, we have instead further simplified our model by measuring the correlation between heel contact and leg muscle activity (EMG) in human subjects during walking and from this data created filter functions transferring the sensory data into motor actions. Adaptive filtering was used to identify the unknown transfer functions which translate the contact information into muscle activation signals. Our results show a causal relationship between ground contact information from the heel and EMG, which allows us to create a minimal, linear, analogue control system for controlling walking. The derived transfer functions were applied to RunBot II as a proof of concept. The gait cycle produced was stable and controlled, which is a positive indication that the transfer functions have potential for use in the control of assistive devices for the retraining of an efficient and effective gait with potential applications in SCI rehabilitation. PMID:25347544

  17. Reflex control of robotic gait using human walking data.

    PubMed

    Macleod, Catherine A; Meng, Lin; Conway, Bernard A; Porr, Bernd

    2014-01-01

    Control of human walking is not thoroughly understood, which has implications in developing suitable strategies for the retraining of a functional gait following neurological injuries such as spinal cord injury (SCI). Bipedal robots allow us to investigate simple elements of the complex nervous system to quantify their contribution to motor control. RunBot is a bipedal robot which operates through reflexes without using central pattern generators or trajectory planning algorithms. Ground contact information from the feet is used to activate motors in the legs, generating a gait cycle visually similar to that of humans. Rather than developing a more complicated biologically realistic neural system to control the robot's stepping, we have instead further simplified our model by measuring the correlation between heel contact and leg muscle activity (EMG) in human subjects during walking and from this data created filter functions transferring the sensory data into motor actions. Adaptive filtering was used to identify the unknown transfer functions which translate the contact information into muscle activation signals. Our results show a causal relationship between ground contact information from the heel and EMG, which allows us to create a minimal, linear, analogue control system for controlling walking. The derived transfer functions were applied to RunBot II as a proof of concept. The gait cycle produced was stable and controlled, which is a positive indication that the transfer functions have potential for use in the control of assistive devices for the retraining of an efficient and effective gait with potential applications in SCI rehabilitation. PMID:25347544

  18. The Human Shoulder Suspension Apparatus: A Causal Explanation for Bilateral Asymmetry and a Fresh Look at the Evolution of Human Bipedality.

    PubMed

    Osborn, Michelle L; Homberger, Dominique G

    2015-09-01

    The combination of large mastoid processes and clavicles is unique to humans, but the biomechanical and evolutionary significance of their special configuration is poorly understood. As part of the newly conceptualized shoulder suspension apparatus, the mastoid processes and clavicles are shaped by forces exerted by the musculo-fascial components of the cleidomastoid and clavotrapezius muscles as they suspend the shoulders from the head. Because both skeletal elements develop during infancy in tandem with the attainment of an upright posture, increased manual dexterity, and the capacity for walking, we hypothesized that the same forces would have shaped them as the shoulder suspension apparatus evolved in ancestral humans in tandem with an upright posture, increased manual dexterity, and bipedality with swinging arms. Because the shoulder suspension apparatus is subjected to asymmetrical forces from handedness, we predicted that its skeletal features would grow asymmetrically. We used this prediction to test our hypothesis in a natural experiment to correlate the size of the skeletal features with the forces exerted on them. We (1) measured biomechanically relevant bony features within the shoulder suspension apparatus in 101 male human specimens (62 of known handedness); and (2) modeled and analyzed the forces within the shoulder suspension apparatus from X-ray CT data. We identified eight right-handed characters and demonstrated the causal relationship between these right-handed characters and the magnitude and direction of forces acting on them. Our data suggest that the presence of the shoulder suspension apparatus in humans was a necessary precondition for human bipedality.

  19. 3D bipedal model with holonomic constraints for the decoupled optimal controller design of the biomechanical sit-to-stand maneuver.

    PubMed

    Mughal, Asif; Iqbal, Kamran

    2010-04-01

    Human voluntary movements are complex physical phenomena due to the complex control mechanism for coordination of limbs in the presence of physiological constraints. In this study, we propose a nonlinear human bipedal model with thirteen generalized coordinates to model sit-to-stand (STS) transfer. The model has three position based holonomic constraints and at the first stage, we decouple the translational variables (constrained system) from rotational variables (unconstrained systems). The unconstrained rotational degrees consist of seven sagittal and three frontal plane angles, which are controlled through their respective joint torques. We further decouple these angles in sagittal and frontal plane systems for a better control strategy. In this scheme, there are three decoupled controllers working together to stabilize the nonlinear model for a STS maneuver while satisfying the holonomic constraints. We adopt H(infinity) and H(2) controller designs for feedback torques in sagittal and frontal planes, respectively, and provide simulation results to show the improvement in the angular profiles. We further adopt this modeling strategy to study and analyze the neuromuscular disorders by decoupling healthy and neurodeficient extremities. Our study indicates that the decoupling of the bipedal model improves the controllability of the system and produces better angular profiles for a bipedal STS maneuver. This modeling scheme is useful for analysis of neuromuscular disorders and other relevant physiological motor control models. PMID:20387973

  20. Foot trajectory approximation using the pendulum model of walking.

    PubMed

    Fang, Juan; Vuckovic, Aleksandra; Galen, Sujay; Conway, Bernard A; Hunt, Kenneth J

    2014-01-01

    Generating a natural foot trajectory is an important objective in robotic systems for rehabilitation of walking. Human walking has pendular properties, so the pendulum model of walking has been used in bipedal robots which produce rhythmic gait patterns. Whether natural foot trajectories can be produced by the pendulum model needs to be addressed as a first step towards applying the pendulum concept in gait orthosis design. This study investigated circle approximation of the foot trajectories, with focus on the geometry of the pendulum model of walking. Three able-bodied subjects walked overground at various speeds, and foot trajectories relative to the hip were analysed. Four circle approximation approaches were developed, and best-fit circle algorithms were derived to fit the trajectories of the ankle, heel and toe. The study confirmed that the ankle and heel trajectories during stance and the toe trajectory in both the stance and the swing phases during walking at various speeds could be well modelled by a rigid pendulum. All the pendulum models were centred around the hip with pendular lengths approximately equal to the segment distances from the hip. This observation provides a new approach for using the pendulum model of walking in gait orthosis design.

  1. Independent evolution of knuckle-walking in African apes shows that humans did not evolve from a knuckle-walking ancestor.

    PubMed

    Kivell, Tracy L; Schmitt, Daniel

    2009-08-25

    Despite decades of debate, it remains unclear whether human bipedalism evolved from a terrestrial knuckle-walking ancestor or from a more generalized, arboreal ape ancestor. Proponents of the knuckle-walking hypothesis focused on the wrist and hand to find morphological evidence of this behavior in the human fossil record. These studies, however, have not examined variation or development of purported knuckle-walking features in apes or other primates, data that are critical to resolution of this long-standing debate. Here we present novel data on the frequency and development of putative knuckle-walking features of the wrist in apes and monkeys. We use these data to test the hypothesis that all knuckle-walking apes share similar anatomical features and that these features can be used to reliably infer locomotor behavior in our extinct ancestors. Contrary to previous expectations, features long-assumed to indicate knuckle-walking behavior are not found in all African apes, show different developmental patterns across species, and are found in nonknuckle-walking primates as well. However, variation among African ape wrist morphology can be clearly explained if we accept the likely independent evolution of 2 fundamentally different biomechanical modes of knuckle-walking: an extended wrist posture in an arboreal environment (Pan) versus a neutral, columnar hand posture in a terrestrial environment (Gorilla). The presence of purported knuckle-walking features in the hominin wrist can thus be viewed as evidence of arboreality, not terrestriality, and provide evidence that human bipedalism evolved from a more arboreal ancestor occupying the ecological niche common to all living apes.

  2. Towards bipedal behavior on a quadrupedal platform using optimal control

    NASA Astrophysics Data System (ADS)

    Topping, T. Turner; Vasilopoulos, Vasileios; De, Avik; Koditschek, Daniel E.

    2016-05-01

    This paper explores the applicability of a Linear Quadratic Regulator (LQR) controller design to the problem of bipedal stance on the Minitaur [1] quadrupedal robot. Restricted to the sagittal plane, this behavior exposes a three degree of freedom (DOF) double inverted pendulum with extensible length that can be projected onto the familiar underactuated revolute-revolute "Acrobot" model by assuming a locked prismatic DOF, and a pinned toe. While previous work has documented the successful use of local LQR control to stabilize a physical Acrobot, simulations reveal that a design very similar to those discussed in the past literature cannot achieve an empirically viable controller for our physical plant. Experiments with a series of increasingly close physical facsimiles leading to the actual Minitaur platform itself corroborate and underscore the physical Minitaur platform corroborate and underscore the implications of the simulation study. We conclude that local LQR-based linearized controller designs are too fragile to stabilize the physical Minitaur platform around its vertically erect equilibrium and end with a brief assessment of a variety of more sophisticated nonlinear control approaches whose pursuit is now in progress.

  3. Development of the fetal ilium – challenging concepts of bipedality

    PubMed Central

    Cunningham, Craig A; Black, Sue M

    2009-01-01

    Macroradiographs of 30 human fetal and neonatal ilia were analysed to investigate the early pattern of trabecular bone organization prior to the influences of direct weight-bearing locomotion. Consistent and well-defined patterns of internal organization were identified within the fetal and neonatal ilium, which correspond with previously recognized regions that have been attributed directly to forces associated with bipedal locomotion. This study proposes that patterns previously attributed to weight-bearing locomotive responses are present in the earliest stages of the development of this bone. It is suggested that the rudimentary scaffold seen in the fetal and neonatal ilium could indicate a predetermined template upon which locomotive influences may be superimposed and perhaps reinforced at a later age. Alternatively, this early pattern may mimic the adult form due to the effects of in-uterolimb movement activity even though it is not weight bearing. This is a preliminary study that will be supported in a further communication with three-dimensional micro-computed trabecular analysis. PMID:19018881

  4. Gluteus maximus muscle function and the origin of hominid bipedality.

    PubMed

    Marzke, M W; Longhill, J M; Rasmussen, S A

    1988-12-01

    Bipedality not only frees the hands for tool use but also enhances tool use by allowing use of the trunk for leverage in applying force and thus imparting greater final velocity to tools. Since the weight and acceleration of the trunk and forelimbs on the hindlimbs must be counteracted by muscles such as m. gluteus maximus that control pelvic and trunk movements, it is suggested that the large size of the cranial portion of the human gluteus maximus muscle and its unique attachment to the dorsal ilium (which is apparent in the Makapan australopithecine ilium) may have contributed to the effectiveness with which trunk movement was exploited in early hominid foraging activities. To test this hypothesis, the cranial portions of both right and left muscles were investigated in six human subjects with electromyography during throwing, clubbing, digging, and lifting. The muscles were found to be significantly recruited when the trunk is used in throwing and clubbing, initiating rotation of the pelvis and braking it as trunk rotation ceases and the forelimb accelerates. They stabilize the pelvis during digging and exhibit marked and prolonged activity when the trunk is maintained in partial flexion during lifting of heavy objects. PMID:3223519

  5. Quantum stochastic walks: A generalization of classical random walks and quantum walks

    NASA Astrophysics Data System (ADS)

    Whitfield, James D.; Rodríguez-Rosario, César A.; Aspuru-Guzik, Alán

    2010-02-01

    We introduce the quantum stochastic walk (QSW), which determines the evolution of a generalized quantum-mechanical walk on a graph that obeys a quantum stochastic equation of motion. Using an axiomatic approach, we specify the rules for all possible quantum, classical, and quantum-stochastic transitions from a vertex as defined by its connectivity. We show how the family of possible QSWs encompasses both the classical random walk (CRW) and the quantum walk (QW) as special cases but also includes more general probability distributions. As an example, we study the QSW on a line and the glued tree of depth three to observe the behavior of the QW-to-CRW transition.

  6. Quantum stochastic walks: A generalization of classical random walks and quantum walks

    SciTech Connect

    Whitfield, James D.; Rodriguez-Rosario, Cesar A.; Aspuru-Guzik, Alan

    2010-02-15

    We introduce the quantum stochastic walk (QSW), which determines the evolution of a generalized quantum-mechanical walk on a graph that obeys a quantum stochastic equation of motion. Using an axiomatic approach, we specify the rules for all possible quantum, classical, and quantum-stochastic transitions from a vertex as defined by its connectivity. We show how the family of possible QSWs encompasses both the classical random walk (CRW) and the quantum walk (QW) as special cases but also includes more general probability distributions. As an example, we study the QSW on a line and the glued tree of depth three to observe the behavior of the QW-to-CRW transition.

  7. Quantum stochastic walks: A generalization of classical random walks and quantum walks

    SciTech Connect

    Rodriguez-Rosario, Cesar A.; Aspuru-Guzik, Alan; Whitfield, James D.

    2010-02-23

    We introduce the quantum stochastic walk (QSW), which determines the evolution of a generalized quantum-mechanical walk on a graph that obeys a quantum stochastic equation of motion. Using an axiomatic approach, we specify the rules for all possible quantum, classical, and quantum-stochastic transitions from a vertex as defined by its connectivity. We show how the family of possible QSWs encompasses both the classical random walk (CRW) and the quantum walk (QW) as special cases but also includes more general probability distributions. As an example, we study the QSW on a line and the glued tree of depth three to observe the behavior of the QW-to-CRW transition.

  8. Functional anatomy of the head-neck movement system of quadrupedal and bipedal mammals.

    PubMed Central

    Graf, W; de Waele, C; Vidal, P P

    1995-01-01

    the functional implications for head movement control of the different sagittal-plane ranges of motion in vertebrates, we hypothesise that different mechanical requirements relating to the influence of gravity have caused the observed differences between the investigated bipedal and quadrupedal mammals. Images Fig. 2 Fig. 3 Fig. 4 Fig. 5 Fig. 6 Fig. 7 Fig. 9 Fig. 11 PMID:7649818

  9. Powered ankle exoskeletons reveal the metabolic cost of plantar flexor mechanical work during walking with longer steps at constant step frequency.

    PubMed

    Sawicki, Gregory S; Ferris, Daniel P

    2009-01-01

    We examined the metabolic cost of plantar flexor muscle-tendon mechanical work during human walking. Nine healthy subjects walked at constant step frequency on a motorized treadmill at speeds corresponding to 80% (1.00 m s(-1)), 100% (1.25 m s(-1)), 120% (1.50 m s(-1)) and 140% (1.75 m s(-1)) of their preferred step length (L(*)) at 1.25 m s(-1). In each condition subjects donned robotic ankle exoskeletons on both legs. The exoskeletons were powered by artificial pneumatic muscles and controlled using soleus electromyography (i.e. proportional myoelectric control). We measured subjects' metabolic energy expenditure and exoskeleton mechanics during both unpowered and powered walking to test the hypothesis that ankle plantarflexion requires more net metabolic power (W kg(-1)) at longer step lengths for a constant step frequency (i.e. preferred at 1.25 m s(-1)). As step length increased from 0.8 L(*) to 1.4 L(*), exoskeletons delivered approximately 25% more average positive mechanical power (P=0.01; +0.20+/-0.02 W kg(-1) to +0.25+/-0.02 W kg(-1), respectively). The exoskeletons reduced net metabolic power by more at longer step lengths (P=0.002; -0.21+/-0.06 W kg(-1) at 0.8 L(*) and -0.70+/-0.12 W kg(-1) at 1.4 L(*)). For every 1 J of exoskeleton positive mechanical work subjects saved 0.72 J of metabolic energy ('apparent efficiency'=1.39) at 0.8 L(*) and 2.6 J of metabolic energy ('apparent efficiency'=0.38) at 1.4 L(*). Declining ankle muscle-tendon ;apparent efficiency' suggests an increase in ankle plantar flexor muscle work relative to Achilles' tendon elastic energy recoil during walking with longer steps. However, previously stored elastic energy in Achilles' tendon still probably contributes up to 34% of ankle muscle-tendon positive work even at the longest step lengths we tested. Across the range of step lengths we studied, the human ankle muscle-tendon system performed 34-40% of the total lower-limb positive mechanical work but accounted for only 7-26% of

  10. Analysis on the Load Carrying Mechanism Integrated as Heterogeneous Co-operative Manipulator in a Walking Wheelchair

    NASA Astrophysics Data System (ADS)

    Rajay Vedaraj, I. S.; Jain, Ritika; Rao, B. V. A.

    2014-07-01

    used for climbing stairs with three leg design and anlaysis were also done on the mechanism integrated to the system. Kinematics of the legs are analysed separately and the legs are designed to carry a maximum of 175kgs, which is sustained by the center leg and shared by the dual wing legs equally during the walking phase. In the proposed design, screwjack mechanism is used as the central leg to share the load and thus the analysis on the load sharing capability of the whole system is analysed and concluded in terms of failure modes.

  11. Assessing the Relative Contributions of Active Ankle and Knee Assistance to the Walking Mechanics of Transfemoral Amputees Using a Powered Prosthesis

    PubMed Central

    Simon, Ann M.; Hargrove, Levi J.

    2016-01-01

    Powered knee-ankle prostheses are capable of providing net-positive mechanical energy to amputees. Yet, there are limitless ways to deliver this energy throughout the gait cycle. It remains largely unknown how different combinations of active knee and ankle assistance affect the walking mechanics of transfemoral amputees. This study assessed the relative contributions of stance phase knee swing initiation, increasing ankle stiffness and powered plantarflexion as three unilateral transfemoral amputees walked overground at their self-selected walking speed. Five combinations of knee and ankle conditions were evaluated regarding the kinematics and kinetics of the amputated and intact legs using repeated measures analyses of variance. We found eliminating active knee swing initiation or powered plantarflexion was linked to increased compensations of the ipsilateral hip joint during the subsequent swing phase. The elimination of knee swing initiation or powered plantarflexion also led to reduced braking ground reaction forces of the amputated and intact legs, and influenced both sagittal and frontal plane loading of the intact knee joint. Gradually increasing prosthetic ankle stiffness influenced the shape of the prosthetic ankle plantarflexion moment, more closely mirroring the intact ankle moment. Increasing ankle stiffness also corresponded to increased prosthetic ankle power generation (despite a similar maximum stiffness value across conditions) and increased braking ground reaction forces of the amputated leg. These findings further our understanding of how to deliver assistance with powered knee-ankle prostheses and the compensations that occur when specific aspects of assistance are added/removed. PMID:26807889

  12. Assessing the Relative Contributions of Active Ankle and Knee Assistance to the Walking Mechanics of Transfemoral Amputees Using a Powered Prosthesis.

    PubMed

    Ingraham, Kimberly A; Fey, Nicholas P; Simon, Ann M; Hargrove, Levi J

    2016-01-01

    Powered knee-ankle prostheses are capable of providing net-positive mechanical energy to amputees. Yet, there are limitless ways to deliver this energy throughout the gait cycle. It remains largely unknown how different combinations of active knee and ankle assistance affect the walking mechanics of transfemoral amputees. This study assessed the relative contributions of stance phase knee swing initiation, increasing ankle stiffness and powered plantarflexion as three unilateral transfemoral amputees walked overground at their self-selected walking speed. Five combinations of knee and ankle conditions were evaluated regarding the kinematics and kinetics of the amputated and intact legs using repeated measures analyses of variance. We found eliminating active knee swing initiation or powered plantarflexion was linked to increased compensations of the ipsilateral hip joint during the subsequent swing phase. The elimination of knee swing initiation or powered plantarflexion also led to reduced braking ground reaction forces of the amputated and intact legs, and influenced both sagittal and frontal plane loading of the intact knee joint. Gradually increasing prosthetic ankle stiffness influenced the shape of the prosthetic ankle plantarflexion moment, more closely mirroring the intact ankle moment. Increasing ankle stiffness also corresponded to increased prosthetic ankle power generation (despite a similar maximum stiffness value across conditions) and increased braking ground reaction forces of the amputated leg. These findings further our understanding of how to deliver assistance with powered knee-ankle prostheses and the compensations that occur when specific aspects of assistance are added/removed.

  13. When Human Walking is a Random Walk

    NASA Astrophysics Data System (ADS)

    Hausdorff, J. M.

    1998-03-01

    The complex, hierarchical locomotor system normally does a remarkable job of controlling an inherently unstable, multi-joint system. Nevertheless, the stride interval --- the duration of a gait cycle --- fluctuates from one stride to the next, even under stationary conditions. We used random walk analysis to study the dynamical properties of these fluctuations under normal conditions and how they change with disease and aging. Random walk analysis of the stride-to-stride fluctuations of healthy, young adult men surprisingly reveals a self-similar pattern: fluctuations at one time scale are statistically similar to those at multiple other time scales (Hausdorff et al, J Appl Phsyiol, 1995). To study the stability of this fractal property, we analyzed data obtained from healthy subjects who walked for 1 hour at their usual pace, as well as at slower and faster speeds. The stride interval fluctuations exhibited long-range correlations with power-law decay for up to a thousand strides at all three walking rates. In contrast, during metronomically-paced walking, these long-range correlations disappeared; variations in the stride interval were uncorrelated and non-fractal (Hausdorff et al, J Appl Phsyiol, 1996). To gain insight into the mechanism(s) responsible for this fractal property, we examined the effects of aging and neurological impairment. Using detrended fluctuation analysis (DFA), we computed α, a measure of the degree to which one stride interval is correlated with previous and subsequent intervals over different time scales. α was significantly lower in healthy elderly subjects compared to young adults (p < .003) and in subjects with Huntington's disease, a neuro-degenerative disorder of the central nervous system, compared to disease-free controls (p < 0.005) (Hausdorff et al, J Appl Phsyiol, 1997). α was also significantly related to degree of functional impairment in subjects with Huntington's disease (r=0.78). Recently, we have observed that just as

  14. Quantum random walks without walking

    SciTech Connect

    Manouchehri, K.; Wang, J. B.

    2009-12-15

    Quantum random walks have received much interest due to their nonintuitive dynamics, which may hold the key to a new generation of quantum algorithms. What remains a major challenge is a physical realization that is experimentally viable and not limited to special connectivity criteria. We present a scheme for walking on arbitrarily complex graphs, which can be realized using a variety of quantum systems such as a Bose-Einstein condensate trapped inside an optical lattice. This scheme is particularly elegant since the walker is not required to physically step between the nodes; only flipping coins is sufficient.

  15. Joint Loads in Marsupial Ankles Reflect Habitual Bipedalism versus Quadrupedalism

    PubMed Central

    Carlson, Kristian J.; Jashashvili, Tea; Houghton, Kimberley; Westaway, Michael C.; Patel, Biren A.

    2013-01-01

    Joint surfaces of limb bones are loaded in compression by reaction forces generated from body weight and musculotendon complexes bridging them. In general, joints of eutherian mammals have regions of high radiodensity subchondral bone that are better at resisting compressive forces than low radiodensity subchondral bone. Identifying similar form-function relationships between subchondral radiodensity distribution and joint load distribution within the marsupial postcranium, in addition to providing a richer understanding of marsupial functional morphology, can serve as a phylogenetic control in evaluating analogous relationships within eutherian mammals. Where commonalities are established across phylogenetic borders, unifying principles in mammalian physiology, morphology, and behavior can be identified. Here, we assess subchondral radiodensity patterns in distal tibiae of several marsupial taxa characterized by different habitual activities (e.g., locomotion). Computed tomography scanning, maximum intensity projection maps, and pixel counting were used to quantify radiodensity in 41 distal tibiae of bipedal (5 species), arboreal quadrupedal (4 species), and terrestrial quadrupedal (5 species) marsupials. Bipeds (Macropus and Wallabia) exhibit more expansive areas of high radiodensity in the distal tibia than arboreal (Dendrolagus, Phascolarctos, and Trichosurus) or terrestrial quadrupeds (Sarcophilus, Thylacinus, Lasiorhinus, and Vombatus), which may reflect the former carrying body weight only through the hind limbs. Arboreal quadrupeds exhibit smallest areas of high radiodensity, though they differ non-significantly from terrestrial quadrupeds. This could indicate slightly more compliant gaits by arboreal quadrupeds compared to terrestrial quadrupeds. The observed radiodensity patterns in marsupial tibiae, though their statistical differences disappear when controlling for phylogeny, corroborate previously documented patterns in primates and xenarthrans

  16. Joint loads in marsupial ankles reflect habitual bipedalism versus quadrupedalism.

    PubMed

    Carlson, Kristian J; Jashashvili, Tea; Houghton, Kimberley; Westaway, Michael C; Patel, Biren A

    2013-01-01

    Joint surfaces of limb bones are loaded in compression by reaction forces generated from body weight and musculotendon complexes bridging them. In general, joints of eutherian mammals have regions of high radiodensity subchondral bone that are better at resisting compressive forces than low radiodensity subchondral bone. Identifying similar form-function relationships between subchondral radiodensity distribution and joint load distribution within the marsupial postcranium, in addition to providing a richer understanding of marsupial functional morphology, can serve as a phylogenetic control in evaluating analogous relationships within eutherian mammals. Where commonalities are established across phylogenetic borders, unifying principles in mammalian physiology, morphology, and behavior can be identified. Here, we assess subchondral radiodensity patterns in distal tibiae of several marsupial taxa characterized by different habitual activities (e.g., locomotion). Computed tomography scanning, maximum intensity projection maps, and pixel counting were used to quantify radiodensity in 41 distal tibiae of bipedal (5 species), arboreal quadrupedal (4 species), and terrestrial quadrupedal (5 species) marsupials. Bipeds (Macropus and Wallabia) exhibit more expansive areas of high radiodensity in the distal tibia than arboreal (Dendrolagus, Phascolarctos, and Trichosurus) or terrestrial quadrupeds (Sarcophilus, Thylacinus, Lasiorhinus, and Vombatus), which may reflect the former carrying body weight only through the hind limbs. Arboreal quadrupeds exhibit smallest areas of high radiodensity, though they differ non-significantly from terrestrial quadrupeds. This could indicate slightly more compliant gaits by arboreal quadrupeds compared to terrestrial quadrupeds. The observed radiodensity patterns in marsupial tibiae, though their statistical differences disappear when controlling for phylogeny, corroborate previously documented patterns in primates and xenarthrans

  17. The influence of wind resistance in running and walking and the mechanical efficiency of work against horizontal or vertical forces

    PubMed Central

    Pugh, L. G. C. E.

    1971-01-01

    1. O2 intakes were determined on subjects running and walking at various constant speeds, (a) against wind of up to 18·5 m/sec (37 knots) in velocity, and (b) on gradients ranging from 2 to 8%. 2. In running and walking against wind, O2 intakes increased as the square of wind velocity. 3. In running on gradients the relation of O2 intake and lifting work was linear and independent of speed. In walking on gradients the relation was linear at work rates above 300 kg m/min, but curvilinear at lower work rates. 4. In a 65 kg athlete running at 4·45 m/sec (marathon speed) V̇O2 increased from 3·0 l./min with minimal wind to 5·0 l./min at a wind velocity of 18·5 m/sec. The corresponding values for a 75 kg subject walking at 1·25 m/sec were 0·8 l./min with minimal wind and 3·1 l./min at a wind velocity of 18·5 m/sec. 5. Direct measurements of wind pressure on shapes of similar area to one of the subjects yielded higher values than those predicted from the relation of wind velocity and lifting work at equal O2 intakes. Horizontal work against wind was more efficient than vertical work against gravity. 6. The energy cost of overcoming air resistance in track running may be 7·5% of the total energy cost at middle distance speed and 13% at sprint speed. Running 1 m behind another runner virtually eliminated air resistance and reduced V̇O2 by 6·5% at middle distance speed. PMID:5574828

  18. Quantum stochastic walks: A generalization of classical random walks and quantum walks

    NASA Astrophysics Data System (ADS)

    Aspuru-Guzik, Alan

    2010-03-01

    We introduce the quantum stochastic walk (QSW), which determines the evolution of generalized quantum mechanical walk on a graph that obeys a quantum stochastic equation of motion. Using an axiomatic approach, we specify the rules for all possible quantum, classical and quantum-stochastic transitions from a vertex as defined by its connectivity. We show how the family of possible QSWs encompasses both the classical random walk (CRW) and the quantum walk (QW) as special cases, but also includes more general probability distributions. As an example, we study the QSW on a line, the QW to CRW transition and transitions to genearlized QSWs that go beyond the CRW and QW. QSWs provide a new framework to the study of quantum algorithms as well as of quantum walks with environmental effects.

  19. On the mechanics of the knee during the stance phase of the gait.

    PubMed

    Shamaei, Kamran; Dollar, Aaron M

    2011-01-01

    In this paper, we explore the mechanical behavior of the knee during the weight acceptance stage of stance during normal walking. We show that the torque/angle behavior of the knee during this stage can be approximated by a linear torsional spring. The mechanical parameters completely specifying this spring are identified, including stiffness, amount of rotation, and angle of engagement, and the effect of gait speed and body/load mass on those parameters are discussed. We discuss how the findings of this paper can be applied to the design of leg orthoses, prostheses and exoskeletons, and bipedal robots in general, allowing the implementation of human-like leg compliance during stance with a relatively simple latched-spring mechanism.

  20. On the mechanics of the ankle in the stance phase of the gait.

    PubMed

    Shamaei, Kamran; Cenciarini, Massimo; Dollar, Aaron M

    2011-01-01

    In this paper we explore the mechanical behavior of the ankle in the progression stage of stance during normal walking. We show that the torque/angle behavior of the ankle during this stage can be approximated by an augmented linear torsional spring. The mechanical parameters completely specifying this spring are identified, including stiffness, amount of rotation, and angle of zero moment. The effect of load weight, gait speed and ground slope on those parameters and the propulsive work of the ankle are also discussed. The findings of this paper can be applied to the design of leg orthoses, prostheses and exoskeletons, and bipedal robots in general, allowing the implementation of human-like leg compliance during stance with a relatively simple latched-spring mechanism.

  1. Dual processing of visual rotation for bipedal stance control

    PubMed Central

    Muller, Timothy; Offord, Joanna; Di Giulio, Irene

    2016-01-01

    relationships. Thus, the early component decreased with faster visual rotation, while the later component increased. Furthermore, the decrease in size of the early component was not achieved by a simple attenuation of gain, but by a change in its temporal structure. We conclude that the two components represent expressions of different motor functions, both pertinent to the control of bipedal stance. We propose that the early response stems from the balance control system attempting to minimise unintended body motion, while the later response arises from the postural control system attempting to align the body with gravity. PMID:27686250

  2. Experimental verification of a computational technique for determining ground reactions in human bipedal stance.

    PubMed

    Audu, Musa L; Kirsch, Robert F; Triolo, Ronald J

    2007-01-01

    We have developed a three-dimensional (3D) biomechanical model of human standing that enables us to study the mechanisms of posture and balance simultaneously in various directions in space. Since the two feet are on the ground, the system defines a kinematically closed-chain which has redundancy problems that cannot be resolved using the laws of mechanics alone. We have developed a computational (optimization) technique that avoids the problems with the closed-chain formulation thus giving users of such models the ability to make predictions of joint moments, and potentially, muscle activations using more sophisticated musculoskeletal models. This paper describes the experimental verification of the computational technique that is used to estimate the ground reaction vector acting on an unconstrained foot while the other foot is attached to the ground, thus allowing human bipedal standing to be analyzed as an open-chain system. The computational approach was verified in terms of its ability to predict lower extremity joint moments derived from inverse dynamic simulations performed on data acquired from four able-bodied volunteers standing in various postures on force platforms. Sensitivity analyses performed with model simulations indicated which ground reaction force (GRF) and center of pressure (COP) components were most critical for providing better estimates of the joint moments. Overall, the joint moments predicted by the optimization approach are strongly correlated with the joint moments computed using the experimentally measured GRF and COP (0.78 < or = r(2) < or = 0.99,median,0.96) with a best-fit that was not statistically different from a straight line with unity slope (experimental=computational results) for postures of the four subjects examined. These results indicate that this model-based technique can be relied upon to predict reasonable and consistent estimates of the joint moments using the predicted GRF and COP for most standing postures.

  3. How is sagittal balance acquired during bipedal gait acquisition? Comparison of neonatal and adult pelves in three dimensions. Evolutionary implications.

    PubMed

    Tardieu, Christine; Bonneau, Noémie; Hecquet, Jérôme; Boulay, Christophe; Marty, Catherine; Legaye, Jean; Duval-Beaupère, Geneviève

    2013-08-01

    We compare adult and intact neonatal pelves, using a pelvic sagittal variable, the angle of sacral incidence, which presents significant correlations with vertebral curvature in adults and plays an important role in sagittal balance of the trunk on the lower limbs. Since the lumbar curvature develops in the child in association with gait acquisition, we expect a change in this angle during growth which could contribute to the acquisition of sagittal balance. To understand the mechanisms underlying the sagittal balance in the evolution of human bipedalism, we also measure the angle of incidence of hominid fossils. Fourty-seven landmarks were digitized on 50 adult and 19 intact neonatal pelves. We used a three-dimensional model of the pelvis (DE-VISU program) which calculates the angle of sacral incidence and related functional variables. Cross-sectional data from newborns and adults show that the angle of sacral incidence increases and becomes negatively correlated with the sacro-acetabular distance. During ontogeny the sacrum becomes curved, tends to sink down between the iliac blades as a wedge and moves backward in the sagittal plane relative to the acetabula, thus contributing to the backwards displacement of the center of gravity of the trunk. A chain of correlations links the degree of the sacral slope and of the angle of incidence, which is tightly linked with the lumbar lordosis. We sketch a model showing the coordinated changes occurring in the pelvis and vertebral column during the acquisition of bipedalism in infancy. In the australopithecine pelves, Sts 14 and AL 288-1, and in the Homo erectus Gona pelvis the angle of sacral incidence reaches the mean values of humans. Discussing the incomplete pelves of Ardipithecus ramidus, Australopithecus sediba and the Nariokotome Boy, we suggest how the functional linkage between pelvis and spine, observed in humans, could have emerged during hominid evolution. PMID:23838060

  4. How is sagittal balance acquired during bipedal gait acquisition? Comparison of neonatal and adult pelves in three dimensions. Evolutionary implications.

    PubMed

    Tardieu, Christine; Bonneau, Noémie; Hecquet, Jérôme; Boulay, Christophe; Marty, Catherine; Legaye, Jean; Duval-Beaupère, Geneviève

    2013-08-01

    We compare adult and intact neonatal pelves, using a pelvic sagittal variable, the angle of sacral incidence, which presents significant correlations with vertebral curvature in adults and plays an important role in sagittal balance of the trunk on the lower limbs. Since the lumbar curvature develops in the child in association with gait acquisition, we expect a change in this angle during growth which could contribute to the acquisition of sagittal balance. To understand the mechanisms underlying the sagittal balance in the evolution of human bipedalism, we also measure the angle of incidence of hominid fossils. Fourty-seven landmarks were digitized on 50 adult and 19 intact neonatal pelves. We used a three-dimensional model of the pelvis (DE-VISU program) which calculates the angle of sacral incidence and related functional variables. Cross-sectional data from newborns and adults show that the angle of sacral incidence increases and becomes negatively correlated with the sacro-acetabular distance. During ontogeny the sacrum becomes curved, tends to sink down between the iliac blades as a wedge and moves backward in the sagittal plane relative to the acetabula, thus contributing to the backwards displacement of the center of gravity of the trunk. A chain of correlations links the degree of the sacral slope and of the angle of incidence, which is tightly linked with the lumbar lordosis. We sketch a model showing the coordinated changes occurring in the pelvis and vertebral column during the acquisition of bipedalism in infancy. In the australopithecine pelves, Sts 14 and AL 288-1, and in the Homo erectus Gona pelvis the angle of sacral incidence reaches the mean values of humans. Discussing the incomplete pelves of Ardipithecus ramidus, Australopithecus sediba and the Nariokotome Boy, we suggest how the functional linkage between pelvis and spine, observed in humans, could have emerged during hominid evolution.

  5. The relative cost of bent-hip bent-knee walking is reduced in water.

    PubMed

    Kuliukas, Algis V; Milne, Nick; Fournier, Paul

    2009-01-01

    The debate about how early hominids walked may be characterised as two competing hypotheses: They moved with a fully upright (FU) gait, like modern humans, or with a bent-hip, bent-knee (BK) gait, like apes. Both have assumed that this bipedalism was almost exclusively on land, in trees or a combination of the two. Recent findings favoured the FU hypothesis by showing that the BK gait is 50-60% more energetically costly than a FU human gait on land. We confirm these findings but show that in water this cost differential is markedly reduced, especially in deeper water, at slower speeds and with greater knee flexion. These data suggest that the controversy about australopithecine locomotion may be eased if it is assumed that wading was a component of their locomotor repertoire and supports the idea that shallow water might have been an environment favourable to the evolution of early forms of "non-optimal" hominid bipedalism. PMID:19853850

  6. The walking robot project

    NASA Technical Reports Server (NTRS)

    Williams, P.; Sagraniching, E.; Bennett, M.; Singh, R.

    1991-01-01

    A walking robot was designed, analyzed, and tested as an intelligent, mobile, and a terrain adaptive system. The robot's design was an application of existing technologies. The design of the six legs modified and combines well understood mechanisms and was optimized for performance, flexibility, and simplicity. The body design incorporated two tripods for walking stability and ease of turning. The electrical hardware design used modularity and distributed processing to drive the motors. The software design used feedback to coordinate the system and simple keystrokes to give commands. The walking machine can be easily adapted to hostile environments such as high radiation zones and alien terrain. The primary goal of the leg design was to create a leg capable of supporting a robot's body and electrical hardware while walking or performing desired tasks, namely those required for planetary exploration. The leg designers intent was to study the maximum amount of flexibility and maneuverability achievable by the simplest and lightest leg design. The main constraints for the leg design were leg kinematics, ease of assembly, degrees of freedom, number of motors, overall size, and weight.

  7. Coordination of push-off and collision determine the mechanical work of step-to-step transitions when isolated from human walking.

    PubMed

    Soo, Caroline H; Donelan, J Maxwell

    2012-02-01

    In human walking, each transition to a new stance limb requires redirection of the center of mass (COM) velocity from one inverted pendulum arc to the next. While this can be accomplished with either negative collision work by the leading limb, positive push-off work by the trailing limb, or some combination of the two, physics-based models of step-to-step transitions predict that total positive work is minimized when the push-off and collision work are equal in magnitude. Here, we tested the importance of the coordination of push-off and collision work in determining transition work using ankle and knee joint braces to limit the ability of a leg to perform positive work on the body. To isolate transitions from other contributors to walking mechanics, participants were instructed to rock back and forth from one leg to the other, restricting motion to the sagittal plane and eliminating the need to swing the legs. We found that reduced push-off work increased the collision work required to complete the redirection of the COM velocity during each transition. A greater amount of total mechanical work was required when rocking departed from the predicted optimal coordination of step-to-step transitions, in which push-off and collision work are equal in magnitude. Our finding that transition work increases if one or both legs do not push-off with the optimal coordination may help explain the elevated metabolic cost of pathological gait irrespective of etiology.

  8. The Walking Droplet Instability

    NASA Astrophysics Data System (ADS)

    Bostwick, Joshua; Steen, Paul

    2013-11-01

    A droplet of liquid that partially wets a solid substrate assumes a spherical-cap equilibrium shape. We show that the spherical-cap with a mobile contact-line is unstable to a non-axisymmetric disturbance and we characterize the instability mechanism, as it depends upon the wetting properties of the substrate. We then solve the hydrodynamic problem for inviscid motions showing that the flow associated with the instability correlates with horizontal motion of the droplet's center-of-mass. We calculate the resulting ``walking speed.'' A novel feature is that the energy conversion mechanism is not unique, so long as the contact-line is mobilized. Hence, the walking droplet instability is potentially significant to a number of industrial applications, such as self-cleansing surfaces or energy harvesting devices.

  9. Mechanical Perturbations of the Walking Surface Reveal Unaltered Axial Trunk Stiffness in Chronic Low Back Pain Patients

    PubMed Central

    Meijer, Onno G.

    2016-01-01

    Introduction Patients with chronic low back pain (CLBP) often demonstrate altered timing of thorax rotations in the transverse plane during gait. Increased axial trunk stiffness has been claimed to cause this movement pattern. Objectives The objective of this study was to assess whether axial trunk stiffness is increased in gait in CLBP patients. Methods 15 CLBP patients and 15 healthy controls walked on a treadmill that imposed rotational perturbations in the transverse plane. The effect of these perturbations on transverse pelvis, thorax and trunk (thorax relative to pelvis) rotations was evaluated in terms of residual rotations, i.e., the deviation of these movements from the unperturbed patterns. In view of the heterogeneity of the CLBP group, we additionally performed a subgroup comparison between seven patients and seven controls with maximal between-group contrast for timing of thorax rotations. Results Rotations of the walking surface had a clear effect on transverse pelvis, thorax and trunk rotations in all groups. No significant between-group differences on residual transverse pelvis, thorax and trunk rotations were observed. Conclusion Axial trunk stiffness in gait does not appear to be increased in CLBP. Altered timing of thorax rotations in CLBP does not seem to be a result of increased axial trunk stiffness. PMID:27310528

  10. Development of pendulum mechanism and kinematic coordination from the first unsupported steps in toddlers.

    PubMed

    Ivanenko, Yuri P; Dominici, Nadia; Cappellini, Germana; Dan, Bernard; Cheron, Guy; Lacquaniti, Francesco

    2004-10-01

    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.

  11. Wading for food the driving force of the evolution of bipedalism?

    PubMed

    Kuliukas, Algis

    2002-01-01

    Evidence is accumulating that suggests that the large human brain is most likely to have evolved in littoral and estuarine habitats rich in naturally occurring essential fatty acids. This paper adds further weight to this view, suggesting that another key human trait, our bipedality might also be best explained as an adaptation to a water-side niche. Evidence is provided here that extant apes, although preferring to keep dry, go into water when driven to do so by hunger. The anecdotal evidence has suggested that they tend to do this bipedally. Here, a new empirical study of captive bonobos found them to exhibit 2% or less bipedality on the ground or in trees but over 90% when wading in water to collect food. The skeletal morphology of AL 288-1 ("Lucy") is shown to indicate a strong ability to abduct and adduct the femur. These traits, together with a remarkably platypelloid pelvis, have not yet been adequately explained by terrestrial or arboreal models for early bipedalism but are consistent with those expected in an ape that adopted a specialist side-to-side 'ice-skating' or sideways wading mode. It is argued that this explanation of A. afarensis locomotor morphology is more parsimonious than others which have plainly failed to produce a consensus. Microwear evidence of Australopithecus dentition is also presented as evidence that the drive for such a wading form of locomotion might well have been waterside foods. This model obtains further support from the paleo-habitats of the earliest known bipeds, which are consistent with the hypothesis that wading contributed to the adaptive pressure towards bipedality.

  12. Does Bipedality Predict the Group-Level Manual Laterality in Mammals?

    PubMed Central

    Giljov, Andrey; Karenina, Karina; Malashichev, Yegor

    2012-01-01

    Background Factors determining patterns of laterality manifestation in mammals remain unclear. In primates, the upright posture favours the expression of manual laterality across species, but may have little influence within a species. Whether the bipedalism acts the same in non-primate mammals is unknown. Our recent findings in bipedal and quadrupedal marsupials suggested that differences in laterality pattern, as well as emergence of manual specialization in evolution might depend on species-specific body posture. Here, we evaluated the hypothesis that the postural characteristics are the key variable shaping the manual laterality expression across mammalian species. Methodology/Principal Findings We studied forelimb preferences in a most bipedal marsupial, brush-tailed bettong, Bettongia penicillata in four different types of unimanual behavior. The significant left-forelimb preference at the group level was found in all behaviours studied. In unimanual feeding on non-living food, catching live prey and nest-material collecting, all or most subjects were lateralized, and among lateralized bettongs a significant majority displayed left-forelimb bias. Only in unimanual supporting of the body in the tripedal stance the distribution of lateralized and non-lateralized individuals did not differ from chance. Individual preferences were consistent across all types of behaviour. The direction or the strength of forelimb preferences were not affected by the animals’ sex. Conclusions/Significance Our findings support the hypothesis that the expression of manual laterality depends on the species-typical postural habit. The interspecies comparison illustrates that in marsupials the increase of bipedality corresponds with the increase of the degree of group-level forelimb preference in a species. Thus, bipedalism can predict pronounced manual laterality at both intra- and interspecific levels in mammals. We also conclude that quadrupedal position in biped species can

  13. Hand before foot? Cortical somatotopy suggests manual dexterity is primitive and evolved independently of bipedalism

    PubMed Central

    Hashimoto, Teruo; Ueno, Kenichi; Ogawa, Akitoshi; Asamizuya, Takeshi; Suzuki, Chisato; Cheng, Kang; Tanaka, Michio; Taoka, Miki; Iwamura, Yoshiaki; Suwa, Gen; Iriki, Atsushi

    2013-01-01

    People have long speculated whether the evolution of bipedalism in early hominins triggered tool use (by freeing their hands) or whether the necessity of making and using tools encouraged the shift to upright gait. Either way, it is commonly thought that one led to the other. In this study, we sought to shed new light on the origins of manual dexterity and bipedalism by mapping the neural representations in the brain of the fingers and toes of living people and monkeys. Contrary to the ‘hand-in-glove’ notion outlined above, our results suggest that adaptations underlying tool use evolved independently of those required for human bipedality. In both humans and monkeys, we found that each finger was represented separately in the primary sensorimotor cortex just as they are physically separated in the hand. This reflects the ability to use each digit independently, as required for the complex manipulation involved in tool use. The neural mapping of the subjects’ toes differed, however. In the monkeys, the somatotopic representation of the toes was fused, showing that the digits function predominantly as a unit in general grasping. Humans, by contrast, had an independent neurological representation of the big toe (hallux), suggesting association with bipedal locomotion. These observations suggest that the brain circuits for the hand had advanced beyond simple grasping, whereas our primate ancestors were still general arboreal quadrupeds. This early adaptation laid the foundation for the evolution of manual dexterity, which was preserved and enhanced in hominins. In hominins, a separate adaptation, involving the neural separation of the big toe, apparently occurred with bipedality. This accords with the known fossil evidence, including the recently reported hominin fossils which have been dated to 4.4 million years ago. PMID:24101627

  14. The biomechanics of walking shape the use of visual information during locomotion over complex terrain.

    PubMed

    Matthis, Jonathan Samir; Barton, Sean L; Fajen, Brett R

    2015-03-18

    The aim of this study was to examine how visual information is used to control stepping during locomotion over terrain that demands precision in the placement of the feet. More specifically, we sought to determine the point in the gait cycle at which visual information about a target is no longer needed to guide accurate foot placement. Subjects walked along a path while stepping as accurately as possible on a series of small, irregularly spaced target footholds. In various conditions, each of the targets became invisible either during the step to the target or during the step to the previous target. We found that making targets invisible after toe off of the step to the target had little to no effect on stepping accuracy. However, when targets disappeared during the step to the previous target, foot placement became less accurate and more variable. The findings suggest that visual information about a target is used prior to initiation of the step to that target but is not needed to continuously guide the foot throughout the swing phase. We propose that this style of control is rooted in the biomechanics of walking, which facilitates an energetically efficient strategy in which visual information is primarily used to initialize the mechanical state of the body leading into a ballistic movement toward the target foothold. Taken together with previous studies, the findings suggest the availability of visual information about the terrain near a particular step is most essential during the latter half of the preceding step, which constitutes a critical control phase in the bipedal gait cycle.

  15. The biomechanics of walking shape the use of visual information during locomotion over complex terrain

    PubMed Central

    Matthis, Jonathan Samir; Barton, Sean L.; Fajen, Brett R.

    2015-01-01

    The aim of this study was to examine how visual information is used to control stepping during locomotion over terrain that demands precision in the placement of the feet. More specifically, we sought to determine the point in the gait cycle at which visual information about a target is no longer needed to guide accurate foot placement. Subjects walked along a path while stepping as accurately as possible on a series of small, irregularly spaced target footholds. In various conditions, each of the targets became invisible either during the step to the target or during the step to the previous target. We found that making targets invisible after toe off of the step to the target had little to no effect on stepping accuracy. However, when targets disappeared during the step to the previous target, foot placement became less accurate and more variable. The findings suggest that visual information about a target is used prior to initiation of the step to that target but is not needed to continuously guide the foot throughout the swing phase. We propose that this style of control is rooted in the biomechanics of walking, which facilitates an energetically efficient strategy in which visual information is primarily used to initialize the mechanical state of the body leading into a ballistic movement toward the target foothold. Taken together with previous studies, the findings suggest the availability of visual information about the terrain near a particular step is most essential during the latter half of the preceding step, which constitutes a critical control phase in the bipedal gait cycle. PMID:25788704

  16. The Human Shoulder Suspension Apparatus: A Causal Explanation for Bilateral Asymmetry and a Fresh Look at the Evolution of Human Bipedality.

    PubMed

    Osborn, Michelle L; Homberger, Dominique G

    2015-09-01

    The combination of large mastoid processes and clavicles is unique to humans, but the biomechanical and evolutionary significance of their special configuration is poorly understood. As part of the newly conceptualized shoulder suspension apparatus, the mastoid processes and clavicles are shaped by forces exerted by the musculo-fascial components of the cleidomastoid and clavotrapezius muscles as they suspend the shoulders from the head. Because both skeletal elements develop during infancy in tandem with the attainment of an upright posture, increased manual dexterity, and the capacity for walking, we hypothesized that the same forces would have shaped them as the shoulder suspension apparatus evolved in ancestral humans in tandem with an upright posture, increased manual dexterity, and bipedality with swinging arms. Because the shoulder suspension apparatus is subjected to asymmetrical forces from handedness, we predicted that its skeletal features would grow asymmetrically. We used this prediction to test our hypothesis in a natural experiment to correlate the size of the skeletal features with the forces exerted on them. We (1) measured biomechanically relevant bony features within the shoulder suspension apparatus in 101 male human specimens (62 of known handedness); and (2) modeled and analyzed the forces within the shoulder suspension apparatus from X-ray CT data. We identified eight right-handed characters and demonstrated the causal relationship between these right-handed characters and the magnitude and direction of forces acting on them. Our data suggest that the presence of the shoulder suspension apparatus in humans was a necessary precondition for human bipedality. PMID:26054034

  17. Possible functional roles of phase resetting during walking.

    PubMed

    Yamasaki, Taiga; Nomura, Taishin; Sato, Shunsuke

    2003-06-01

    The walking rhythm is known to show phase shift or "reset" in response to external impulsive perturbations. We tried to elucidate functional roles of the phase reset possibly used for the neural control of locomotion. To this end, a system with a double pendulum as a simplified model of the locomotor control and a model of bipedal locomotion were employed and analyzed in detail. In these models, a movement corresponding to the normal steady-state walking was realized as a stable limit cycle solution of the system. Unexpected external perturbations applied to the system can push the state point of the system away from its limit cycle, either outside or inside the basin of attraction of the limit cycle. Our mathematical analyses of the models suggested functional roles of the phase reset during walking as follows. Function 1: an appropriate amount of the phase reset for a given perturbation can contribute to relocating the system's state point outside the basin of attraction of the limit cycle back to the inside. Function 2: it can also be useful to reduce the convergence time (the time necessary for the state point to return to the limit cycle). In experimental studies during walking of animals and humans, the reset of walking rhythm induced by perturbations was investigated using the phase transition curve (PTC) or the phase resetting curve (PRC) representing phase-dependent responses of the walking. We showed, for the simple double-pendulum model, the existence of the optimal phase control and the corresponding PTC that could optimally realize the aforementioned functions in response to impulsive force perturbations. Moreover, possible forms of PRC that can avoid falling against the force perturbations were predicted by the biped model, and they were compared with the experimentally observed PRC during human walking. Finally, physiological implications of the results were discussed. PMID:12789495

  18. Complementarity and quantum walks

    SciTech Connect

    Kendon, Viv; Sanders, Barry C.

    2005-02-01

    We show that quantum walks interpolate between a coherent 'wave walk' and a random walk depending on how strongly the walker's coin state is measured; i.e., the quantum walk exhibits the quintessentially quantum property of complementarity, which is manifested as a tradeoff between knowledge of which path the walker takes vs the sharpness of the interference pattern. A physical implementation of a quantum walk (the quantum quincunx) should thus have an identifiable walker and the capacity to demonstrate the interpolation between wave walk and random walk depending on the strength of measurement.

  19. Effect of walking speed on the gait of king penguins: An accelerometric approach.

    PubMed

    Willener, Astrid S T; Handrich, Yves; Halsey, Lewis G; Strike, Siobhán

    2015-12-21

    Little is known about non-human bipedal gaits. This is probably due to the fact that most large animals are quadrupedal and that non-human bipedal animals are mostly birds, whose primary form of locomotion is flight. Very little research has been conducted on penguin pedestrian locomotion with the focus instead on their associated high energy expenditure. In animals, tri-axial accelerometers are frequently used to estimate physiological energy cost, as well as to define the behaviour pattern of a species, or the kinematics of swimming. In this study, we showed how an accelerometer-based technique could be used to determine the biomechanical characteristics of pedestrian locomotion. Eight king penguins, which represent the only family of birds to have an upright bipedal gait, were trained to walk on a treadmill. The trunk tri-axial accelerations were recorded while the bird was walking at four different speeds (1.0, 1.2, 1.4 and 1.6km/h), enabling the amplitude of dynamic body acceleration along the three axes (amplitude of DBAx, DBAy and DBAz), stride frequency, waddling and leaning amplitude, as well as the leaning angle to be defined. The magnitude of the measured variables showed a significant increase with increasing speed, apart from the backwards angle of lean, which decreased with increasing speed. The variability of the measured variables also showed a significant increase with speed apart from the DBAz amplitude, the waddling amplitude, and the leaning angle, where no significant effect of the walking speed was found. This paper is the first approach to describe 3D biomechanics with an accelerometer on wild animals, demonstrating the potential of this technique.

  20. Effect of walking speed on the gait of king penguins: An accelerometric approach.

    PubMed

    Willener, Astrid S T; Handrich, Yves; Halsey, Lewis G; Strike, Siobhán

    2015-12-21

    Little is known about non-human bipedal gaits. This is probably due to the fact that most large animals are quadrupedal and that non-human bipedal animals are mostly birds, whose primary form of locomotion is flight. Very little research has been conducted on penguin pedestrian locomotion with the focus instead on their associated high energy expenditure. In animals, tri-axial accelerometers are frequently used to estimate physiological energy cost, as well as to define the behaviour pattern of a species, or the kinematics of swimming. In this study, we showed how an accelerometer-based technique could be used to determine the biomechanical characteristics of pedestrian locomotion. Eight king penguins, which represent the only family of birds to have an upright bipedal gait, were trained to walk on a treadmill. The trunk tri-axial accelerations were recorded while the bird was walking at four different speeds (1.0, 1.2, 1.4 and 1.6km/h), enabling the amplitude of dynamic body acceleration along the three axes (amplitude of DBAx, DBAy and DBAz), stride frequency, waddling and leaning amplitude, as well as the leaning angle to be defined. The magnitude of the measured variables showed a significant increase with increasing speed, apart from the backwards angle of lean, which decreased with increasing speed. The variability of the measured variables also showed a significant increase with speed apart from the DBAz amplitude, the waddling amplitude, and the leaning angle, where no significant effect of the walking speed was found. This paper is the first approach to describe 3D biomechanics with an accelerometer on wild animals, demonstrating the potential of this technique. PMID:26427338

  1. Fire-Walking

    ERIC Educational Resources Information Center

    Willey, David

    2010-01-01

    This article gives a brief history of fire-walking and then deals with the physics behind fire-walking. The author has performed approximately 50 fire-walks, took the data for the world's hottest fire-walk and was, at one time, a world record holder for the longest fire-walk (www.dwilley.com/HDATLTW/Record_Making_Firewalks.html). He currently…

  2. Two families with quadrupedalism, mental retardation, no speech, and infantile hypotonia (Uner Tan Syndrome Type-II); a novel theory for the evolutionary emergence of human bipedalism

    PubMed Central

    Tan, Uner

    2014-01-01

    Two consanguineous families with Uner Tan Syndrome (UTS) were analyzed in relation to self-organizing processes in complex systems, and the evolutionary emergence of human bipedalism. The cases had the key symptoms of previously reported cases of UTS, such as quadrupedalism, mental retardation, and dysarthric or no speech, but the new cases also exhibited infantile hypotonia and are designated UTS Type-II. There were 10 siblings in Branch I and 12 siblings in Branch II. Of these, there were seven cases exhibiting habitual quadrupedal locomotion (QL): four deceased and three living. The infantile hypotonia in the surviving cases gradually disappeared over a period of years, so that they could sit by about 10 years, crawl on hands and knees by about 12 years. They began walking on all fours around 14 years, habitually using QL. Neurological examinations showed normal tonus in their arms and legs, no Babinski sign, brisk tendon reflexes especially in the legs, and mild tremor. The patients could not walk in a straight line, but (except in one case) could stand up and maintain upright posture with truncal ataxia. Cerebello-vermial hypoplasia and mild gyral simplification were noted in their MRIs. The results of the genetic analysis were inconclusive: no genetic code could be identified as the triggering factor for the syndrome in these families. Instead, the extremely low socio-economic status of the patients was thought to play a role in the emergence of UTS, possibly by epigenetically changing the brain structure and function, with a consequent selection of ancestral neural networks for QL during locomotor development. It was suggested that UTS may be regarded as one of the unpredictable outcomes of self-organization within a complex system. It was also noted that the prominent feature of this syndrome, the diagonal-sequence habitual QL, generated an interference between ipsilateral hands and feet, as in non-human primates. It was suggested that this may have been

  3. Two families with quadrupedalism, mental retardation, no speech, and infantile hypotonia (Uner Tan Syndrome Type-II); a novel theory for the evolutionary emergence of human bipedalism.

    PubMed

    Tan, Uner

    2014-01-01

    Two consanguineous families with Uner Tan Syndrome (UTS) were analyzed in relation to self-organizing processes in complex systems, and the evolutionary emergence of human bipedalism. The cases had the key symptoms of previously reported cases of UTS, such as quadrupedalism, mental retardation, and dysarthric or no speech, but the new cases also exhibited infantile hypotonia and are designated UTS Type-II. There were 10 siblings in Branch I and 12 siblings in Branch II. Of these, there were seven cases exhibiting habitual quadrupedal locomotion (QL): four deceased and three living. The infantile hypotonia in the surviving cases gradually disappeared over a period of years, so that they could sit by about 10 years, crawl on hands and knees by about 12 years. They began walking on all fours around 14 years, habitually using QL. Neurological examinations showed normal tonus in their arms and legs, no Babinski sign, brisk tendon reflexes especially in the legs, and mild tremor. The patients could not walk in a straight line, but (except in one case) could stand up and maintain upright posture with truncal ataxia. Cerebello-vermial hypoplasia and mild gyral simplification were noted in their MRIs. The results of the genetic analysis were inconclusive: no genetic code could be identified as the triggering factor for the syndrome in these families. Instead, the extremely low socio-economic status of the patients was thought to play a role in the emergence of UTS, possibly by epigenetically changing the brain structure and function, with a consequent selection of ancestral neural networks for QL during locomotor development. It was suggested that UTS may be regarded as one of the unpredictable outcomes of self-organization within a complex system. It was also noted that the prominent feature of this syndrome, the diagonal-sequence habitual QL, generated an interference between ipsilateral hands and feet, as in non-human primates. It was suggested that this may have been

  4. A model-experiment comparison of system dynamics for human walking and running.

    PubMed

    Lipfert, Susanne W; Günther, Michael; Renjewski, Daniel; Grimmer, Sten; Seyfarth, Andre

    2012-01-01

    The human musculo-skeletal system comprises high complexity which makes it difficult to identify underlying basic principles of bipedal locomotion. To tackle this challenge, a common approach is to strip away complexity and formulate a reductive model. With utter simplicity a bipedal spring-mass model gives good predictions of the human gait dynamics, however, it has not been fully investigated whether center of mass motion over time of walking and running is comparable between the model and the human body over a wide range of speed. To test the model's ability in this respect, we compare sagittal center of mass trajectories of model and human data for speeds ranging from 0.5 m/s to 4 m/s. For simulations, system parameters and initial conditions are extracted from experimental observations of 28 subjects. The leg parameters stiffness and length are extracted from functional fitting to the subjects' leg force-length curves. With small variations of the touch-down angle of the leg and the vertical position of the center of mass at apex, we find successful spring-mass simulations for moderate walking and medium running speeds. Predictions of the sagittal center of mass trajectories and ground reaction forces are good, but their amplitudes are overestimated, while contact time is underestimated. At faster walking speeds and slower running speeds we do not find successful model locomotion with the extent of allowed parameter variation. We conclude that the existing limitations may be improved by adding complexity to the model.

  5. Optimal bipedal interactions with dynamic terrain: synthesis and analysis via nonlinear programming

    NASA Astrophysics Data System (ADS)

    Hubicki, Christian; Goldman, Daniel; Ames, Aaron

    In terrestrial locomotion, gait dynamics and motor control behaviors are tuned to interact efficiently and stably with the dynamics of the terrain (i.e. terradynamics). This controlled interaction must be particularly thoughtful in bipeds, as their reduced contact points render them highly susceptible to falls. While bipedalism under rigid terrain assumptions is well-studied, insights for two-legged locomotion on soft terrain, such as sand and dirt, are comparatively sparse. We seek an understanding of how biological bipeds stably and economically negotiate granular media, with an eye toward imbuing those abilities in bipedal robots. We present a trajectory optimization method for controlled systems subject to granular intrusion. By formulating a large-scale nonlinear program (NLP) with reduced-order resistive force theory (RFT) models and jamming cone dynamics, the optimized motions are informed and shaped by the dynamics of the terrain. Using a variant of direct collocation methods, we can express all optimization objectives and constraints in closed-form, resulting in rapid solving by standard NLP solvers, such as IPOPT. We employ this tool to analyze emergent features of bipedal locomotion in granular media, with an eye toward robotic implementation.

  6. A multi-scale finite element model for investigation of chondrocyte mechanics in normal and medial meniscectomy human knee joint during walking.

    PubMed

    Tanska, Petri; Mononen, Mika E; Korhonen, Rami K

    2015-06-01

    Mechanical signals experienced by chondrocytes (articular cartilage cells) modulate cell synthesis and cartilage health. Multi-scale modeling can be used to study how forces are transferred from joint surfaces through tissues to chondrocytes. Therefore, estimation of chondrocyte behavior during certain physical activities, such as walking, could provide information about how cells respond to normal and abnormal loading in joints. In this study, a 3D multi-scale model was developed for evaluating chondrocyte and surrounding peri- and extracellular matrix responses during gait loading within healthy and medial meniscectomy knee joints. The knee joint geometry was based on MRI, whereas the input used for gait loading was obtained from the literature. Femoral and tibial cartilages were modeled as fibril-reinforced poroviscoelastic materials, whereas menisci were considered as transversely isotropic. Fluid pressures in the chondrocyte and cartilage tissue increased up to 2MPa (an increase of 30%) in the meniscectomy joint compared to the normal, healthy joint. The elevated level of fluid pressure was observed during the entire stance phase of gait. A medial meniscectomy caused substantially larger (up to 60%) changes in maximum principal strains in the chondrocyte compared to those in the peri- or extracellular matrices. Chondrocyte volume or morphology did not change substantially due to a medial meniscectomy. Current findings suggest that during walking chondrocyte deformations are not substantially altered due to a medial meniscectomy, while abnormal joint loading exposes chondrocytes to elevated levels of fluid pressure and maximum principal strains (compared to strains in the peri- or extracellular matrices). These might contribute to cell viability and the onset of osteoarthritis.

  7. Quantum walks driven by many coins

    SciTech Connect

    Brun, Todd A.; Ambainis, Andris; Carteret, Hilary A.

    2003-05-01

    Quantum random walks have been much studied recently, largely due to their highly nonclassical behavior. In this paper, we study one possible route to classical behavior for the discrete quantum random walk on the line: the use of multiple quantum 'coins' (or more generally, coins of higher dimension) in order to diminish the effects of interference between paths. We find solutions to this system in terms of the single-coin random walk, and compare the asymptotic limit of these solutions to numerical simulations. We find exact analytical expressions for the time dependence of the first two moments, and show that in the long-time limit the ''quantum-mechanical'' behavior of the one-coin walk persists, even if each coin is flipped only twice. We further show that this is generic for a very broad class of possible walks, and that this behavior disappears only in the limit of a new coin for every step of the walk.

  8. New bifurcations in the simplest passive walking model.

    PubMed

    Li, Qingdu; Tang, Song; Yang, Xiao-Song

    2013-12-01

    This paper uncovers several new stable periodic gaits in the simplest passive walking bipedal model proposed in the literature. It is demonstrated that the model has period-3 to period-7 gaits beside the period-1 gaits found by Garcia et al. By simulations, this paper shows that each of these new gaits leads to chaos via period-doubling bifurcation and loses its stability by cyclic-fold bifurcation. This interesting phenomenon suggests a series of new bifurcation scenarios that have not been observed before. To confirm the new gaits and their bifurcations, this paper presents computer assisted proofs on the existence and stability of each periodic gait and its period-doubling gaits with the interval Newton method. To verify that the routes indeed lead to chaos, computer-assisted proofs are also given by means of topological horseshoes theory. PMID:24387549

  9. New bifurcations in the simplest passive walking model

    NASA Astrophysics Data System (ADS)

    Li, Qingdu; Tang, Song; Yang, Xiao-Song

    2013-12-01

    This paper uncovers several new stable periodic gaits in the simplest passive walking bipedal model proposed in the literature. It is demonstrated that the model has period-3 to period-7 gaits beside the period-1 gaits found by Garcia et al. By simulations, this paper shows that each of these new gaits leads to chaos via period-doubling bifurcation and loses its stability by cyclic-fold bifurcation. This interesting phenomenon suggests a series of new bifurcation scenarios that have not been observed before. To confirm the new gaits and their bifurcations, this paper presents computer assisted proofs on the existence and stability of each periodic gait and its period-doubling gaits with the interval Newton method. To verify that the routes indeed lead to chaos, computer-assisted proofs are also given by means of topological horseshoes theory.

  10. Continuous limit of discrete quantum walks

    NASA Astrophysics Data System (ADS)

    M N, Dheeraj; Brun, Todd A.

    2015-06-01

    Quantum walks can be defined in two quite distinct ways: discrete-time and continuous-time quantum walks (DTQWs and CTQWs). For classical random walks, there is a natural sense in which continuous-time walks are a limit of discrete-time walks. Quantum mechanically, in the discrete-time case, an additional "coin space" must be appended for the walk to have nontrivial time evolution. Continuous-time quantum walks, however, have no such constraints. This means that there is no completely straightforward way to treat a CTQW as a limit of a DTQW, as can be done in the classical case. Various approaches to this problem have been taken in the past. We give a construction for walks on d -regular, d -colorable graphs when the coin flip operator is Hermitian: from a standard DTQW we construct a family of discrete-time walks with a well-defined continuous-time limit on a related graph. One can think of this limit as a "coined" continuous-time walk. We show that these CTQWs share some properties with coined DTQWs. In particular, we look at a spatial search by a DTQW over the two-dimensional (2D) torus (a grid with periodic boundary conditions) of size √{N }×√{N } , where it was shown that a coined DTQW can search in time O (√{N }logN ) , but a standard CTQW takes Ω (N ) time to search for a marked element. The continuous limit of the DTQW search over the 2D torus exhibits the O (√{N }logN ) scaling, like the coined walk it is derived from. We also look at the effects of graph symmetry on the limiting walk, and show that the properties are similar to those of the DTQW as shown in Krovi and Brun, Phys. Rev. A 75, 062332 (2007), 10.1103/PhysRevA.75.062332.

  11. Walk This Way

    ERIC Educational Resources Information Center

    Mason, Nick

    2007-01-01

    A generation ago, it was part of growing up for all kids when they biked or walked to school. But in the last 30 years, heavier traffic, wider roads and more dangerous intersections have made it riskier for students walking or pedaling. Today, fewer than 15 percent of kids bike or walk to school compared with more than 50 percent in 1969. In the…

  12. Walking Wellness. Student Workbook.

    ERIC Educational Resources Information Center

    Sweetgall, Robert; Neeves, Robert

    This comprehensive student text and workbook, for grades four through eight, contains 16 workshop units focusing on walking field trips, aerobic pacing concepts, walking techniques, nutrition, weight control and healthy life-style planning. Co-ordinated homework assignments are included. The appendixes include 10 tips for walking, a calorie chart,…

  13. Quantum walk computation

    SciTech Connect

    Kendon, Viv

    2014-12-04

    Quantum versions of random walks have diverse applications that are motivating experimental implementations as well as theoretical studies. Recent results showing quantum walks are “universal for quantum computation” relate to algorithms, to be run on quantum computers. We consider whether an experimental implementation of a quantum walk could provide useful computation before we have a universal quantum computer.

  14. Feeding strategies as revealed by the section moduli of the humerus bones in bipedal theropod dinosaurs

    NASA Astrophysics Data System (ADS)

    Lee, Scott; Richards, Zachary

    2015-03-01

    The section modulus of a bone is a measure of its ability to resist bending torques. Carnivorous dinosaurs presumably had strong arm bones to hold struggling prey during hunting. Some theropods are believed to have become herbivorous and such animals would not have needed such strong arms. In this work, the section moduli of the humerus bones of bipedal theropod dinosaurs (from Microvenator celer to Tyrannosaurus rex) are studied to determine the maximum bending loads their arms could withstand. The results show that bending strength is not of uniform importance to these magnificent animals. The predatory theropods had strong arms for use in hunting. In contrast, the herbivorous dinosaurs had weaker arms.

  15. Locomotion by Abdopus aculeatus (Cephalopoda: Octopodidae): walking the line between primary and secondary defenses.

    PubMed

    Huffard, Christine L

    2006-10-01

    Speeds and variation in body form during crawling, bipedal walking, swimming and jetting by the shallow-water octopus Abdopus aculeatus were compared to explore possible interactions between defense behaviors and biomechanics of these multi-limbed organisms. General body postures and patterns were more complex and varied during the slow mode of crawling than during fast escape maneuvers such as swimming and jetting. These results may reflect a trade-off between predator deception and speed, or simply a need to reduce drag during jet-propelled locomotion. Octopuses swam faster when dorsoventrally compressed, a form that may generate lift, than when swimming in the head-raised posture. Bipedal locomotion proceeded as fast as swimming and can be considered a form of fast escape (secondary defense) that also incorporates elements of crypsis and polyphenism (primary defenses). Body postures during walking suggested the use of both static and dynamic stability. Absolute speed was not correlated with body mass in any mode. Based on these findings the implications for defense behaviors such as escape from predation, aggression, and 'flatfish mimicry' performed by A. aculeatus and other octopuses are discussed.

  16. Locomotion by Abdopus aculeatus (Cephalopoda: Octopodidae): walking the line between primary and secondary defenses.

    PubMed

    Huffard, Christine L

    2006-10-01

    Speeds and variation in body form during crawling, bipedal walking, swimming and jetting by the shallow-water octopus Abdopus aculeatus were compared to explore possible interactions between defense behaviors and biomechanics of these multi-limbed organisms. General body postures and patterns were more complex and varied during the slow mode of crawling than during fast escape maneuvers such as swimming and jetting. These results may reflect a trade-off between predator deception and speed, or simply a need to reduce drag during jet-propelled locomotion. Octopuses swam faster when dorsoventrally compressed, a form that may generate lift, than when swimming in the head-raised posture. Bipedal locomotion proceeded as fast as swimming and can be considered a form of fast escape (secondary defense) that also incorporates elements of crypsis and polyphenism (primary defenses). Body postures during walking suggested the use of both static and dynamic stability. Absolute speed was not correlated with body mass in any mode. Based on these findings the implications for defense behaviors such as escape from predation, aggression, and 'flatfish mimicry' performed by A. aculeatus and other octopuses are discussed. PMID:16985187

  17. Exploring topological phases with quantum walks

    SciTech Connect

    Kitagawa, Takuya; Rudner, Mark S.; Berg, Erez; Demler, Eugene

    2010-09-15

    The quantum walk was originally proposed as a quantum-mechanical analog of the classical random walk, and has since become a powerful tool in quantum information science. In this paper, we show that discrete-time quantum walks provide a versatile platform for studying topological phases, which are currently the subject of intense theoretical and experimental investigations. In particular, we demonstrate that recent experimental realizations of quantum walks with cold atoms, photons, and ions simulate a nontrivial one-dimensional topological phase. With simple modifications, the quantum walk can be engineered to realize all of the topological phases, which have been classified in one and two dimensions. We further discuss the existence of robust edge modes at phase boundaries, which provide experimental signatures for the nontrivial topological character of the system.

  18. Beam walking can detect differences in walking balance proficiency across a range of sensorimotor abilities.

    PubMed

    Sawers, Andrew; Ting, Lena H

    2015-02-01

    The ability to quantify differences in walking balance proficiency is critical to curbing the rising health and financial costs of falls. Current laboratory-based approaches typically focus on successful recovery of balance while clinical instruments often pose little difficulty for all but the most impaired patients. Rarely do they test motor behaviors of sufficient difficulty to evoke failures in balance control limiting their ability to quantify balance proficiency. Our objective was to test whether a simple beam-walking task could quantify differences in walking balance proficiency across a range of sensorimotor abilities. Ten experts, ten novices, and five individuals with transtibial limb loss performed six walking trials across three different width beams. Walking balance proficiency was quantified as the ratio of distance walked to total possible distance. Balance proficiency was not significantly different between cohorts on the wide-beam, but clear differences between cohorts on the mid and narrow-beams were identified. Experts walked a greater distance than novices on the mid-beam (average of 3.63±0.04m verus 2.70±0.21m out of 3.66m; p=0.009), and novices walked further than amputees (1.52±0.20m; p=0.03). Amputees were unable to walk on the narrow-beam, while experts walked further (3.07±0.14m) than novices (1.55±0.26m; p=0.0005). A simple beam-walking task and an easily collected measure of distance traveled detected differences in walking balance proficiency across sensorimotor abilities. This approach provides a means to safely study and evaluate successes and failures in walking balance in the clinic or lab. It may prove useful in identifying mechanisms underlying falls versus fall recoveries.

  19. Water-walking devices

    NASA Astrophysics Data System (ADS)

    Hu, David L.; Prakash, Manu; Chan, Brian; Bush, John W. M.

    2007-11-01

    We report recent efforts in the design and construction of water-walking machines inspired by insects and spiders. The fundamental physical constraints on the size, proportion and dynamics of natural water-walkers are enumerated and used as design criteria for analogous mechanical devices. We report devices capable of rowing along the surface, leaping off the surface and climbing menisci by deforming the free surface. The most critical design constraint is that the devices be lightweight and non-wetting. Microscale manufacturing techniques and new man-made materials such as hydrophobic coatings and thermally actuated wires are implemented. Using high-speed cinematography and flow visualization, we compare the functionality and dynamics of our devices with those of their natural counterparts.

  20. Water-walking devices

    NASA Astrophysics Data System (ADS)

    Hu, David L.; Prakash, Manu; Chan, Brian; Bush, John W. M.

    We report recent efforts in the design and construction of water-walking machines inspired by insects and spiders. The fundamental physical constraints on the size, proportion and dynamics of natural water-walkers are enumerated and used as design criteria for analogous mechanical devices. We report devices capable of rowing along the surface, leaping off the surface and climbing menisci by deforming the free surface. The most critical design constraint is that the devices be lightweight and non-wetting. Microscale manufacturing techniques and new man-made materials such as hydrophobic coatings and thermally actuated wires are implemented. Using highspeed cinematography and flow visualization, we compare the functionality and dynamics of our devices with those of their natural counterparts.

  1. Lucy's lower limbs: long enough for Lucy to be fully bipedal?

    PubMed

    Wolpoff, M H

    The recent attempt to show that the Hadar australopithecine female 'Lucy' (AL 288-1) had hindlimbs too short to allow a modern pattern of striding bipedal gait has important implications for understanding the origin of bipedalism, if not for the more general problem of hominid origins. Combined with previous claims that Lucy had a forelimb unusually long in proportion and ape-like in morphology, the additional contention of a relatively short hindlimb would suggest a very different pattern of gait from the norm of today because the effectiveness of the pendulum action of the lower limb during stride is a function of the amount of mass in the limb, and because a short hindlimb would necessitate a short stride length. Yet, these contentions seem contradicted by the analyses of Lucy's pelvis (and the innominates of other australopithecines) that indicate a similar pattern of muscle use and imply a lack of significant gait differences. Are Lucy's legs too short to allow an effective stride, or is there a different solution to this contradiction? I propose here that there is.

  2. How Fast Can a Human Run? − Bipedal vs. Quadrupedal Running

    PubMed Central

    Kinugasa, Ryuta; Usami, Yoshiyuki

    2016-01-01

    Usain Bolt holds the current world record in the 100-m run, with a running time of 9.58 s, and has been described as the best human sprinter in history. However, this raises questions concerning the maximum human running speed, such as “Can the world’s fastest men become faster still?” The correct answer is likely “Yes.” We plotted the historical world records for bipedal and quadrupedal 100-m sprint times according to competition year. These historical records were plotted using several curve-fitting procedures. We found that the projected speeds intersected in 2048, when for the first time, the winning quadrupedal 100-m sprint time could be lower, at 9.276 s, than the winning bipedal time of 9.383 s. Video analysis revealed that in quadrupedal running, humans employed a transverse gallop with a small angular excursion. These results suggest that in the future, the fastest human on the planet might be a quadrupedal runner at the 2048 Olympics. This may be achieved by shifting up to the rotary gallop and taking longer strides with wide sagittal trunk motion. PMID:27446911

  3. Lucy's lower limbs: long enough for Lucy to be fully bipedal?

    PubMed

    Wolpoff, M H

    The recent attempt to show that the Hadar australopithecine female 'Lucy' (AL 288-1) had hindlimbs too short to allow a modern pattern of striding bipedal gait has important implications for understanding the origin of bipedalism, if not for the more general problem of hominid origins. Combined with previous claims that Lucy had a forelimb unusually long in proportion and ape-like in morphology, the additional contention of a relatively short hindlimb would suggest a very different pattern of gait from the norm of today because the effectiveness of the pendulum action of the lower limb during stride is a function of the amount of mass in the limb, and because a short hindlimb would necessitate a short stride length. Yet, these contentions seem contradicted by the analyses of Lucy's pelvis (and the innominates of other australopithecines) that indicate a similar pattern of muscle use and imply a lack of significant gait differences. Are Lucy's legs too short to allow an effective stride, or is there a different solution to this contradiction? I propose here that there is. PMID:6408483

  4. Treadmill walking is not equivalent to overground walking for the study of walking smoothness and rhythmicity in older adults.

    PubMed

    Row Lazzarini, Brandi S; Kataras, Theodore J

    2016-05-01

    Treadmills are appealing for gait studies, but some gait mechanics are disrupted during treadmill walking. The purpose of this study was to examine the effects of speed and treadmill walking on walking smoothness and rhythmicity of 40 men and women between the ages of 70-96 years. Gait smoothness was examined during overground (OG) and treadmill (TM) walking by calculating the harmonic ratio from linear accelerations measured at the level of the lumbar spine. Rhythmicity was quantified as the stride time standard deviation. TM walking was performed at two speeds: a speed matching the natural OG walk speed (TM-OG), and a preferred TM speed (PTM). A dual-task OG condition (OG-DT) was evaluated to determine if TM walking posed a similar cognitive challenge. Statistical analysis included a one-way Analysis of Variance with Bonferroni corrected post hoc comparisons and the Wilcoxon signed rank test for non-normally distributed variables. Average PTM speed was slower than OG. Compared to OG, those who could reach the TM-OG speed (74.3% of sample) exhibited improved ML smoothness and rhythmicity, and the slower PTM caused worsened vertical and AP smoothness, but did not affect rhythmicity. PTM disrupted smoothness and rhythmicity differently than the OG-DT condition, likely due to reduced speed. The use of treadmills for gait smoothness and rhythmicity studies in older adults is problematic; some participants will not achieve OG speed during TM walking, walking at the TM-OG speed artificially improves rhythmicity and ML smoothness, and walking at the slower PTM speed worsens vertical and AP gait smoothness.

  5. Walking for Little Children. Creative Workshops for Teaching Walking & Wellness.

    ERIC Educational Resources Information Center

    Sweetgall, Robert; Neeves, Robert

    This walking primer is intended for teachers and parents who are interested in early childhood wellness. The manual contains 40 photographs and 60 fitness walking exercises, walking games and fun workshops in nutrition and children's weight control, walking field trips, and guidance for the walking teacher. Attention is given to winning parental…

  6. Can treadmill walking be used to assess propulsion generation?

    PubMed

    Goldberg, Evan J; Kautz, Steven A; Neptune, Richard R

    2008-01-01

    Instrumented treadmills offer significant advantages for analysis of human locomotion, including recording consecutive steady-state gait cycles, precisely controlling walking speed, and avoiding force plate targeting. However, some studies of hemiparetic walking on a treadmill have suggested that the moving treadmill belt may fundamentally alter propulsion mechanics. Any differences in propulsion mechanics during treadmill walking would be problematic since recent studies assessing propulsion have provided fundamental insight into hemiparetic walking. The purpose of this study was to test the hypothesis that there would be no difference in the generation of anterior/posterior (A/P) propulsion by performing a carefully controlled comparison of the A/P ground reaction forces (GRFs) and impulses in healthy adults during treadmill and overground walking. Gait data were collected from eight subjects walking overground and on a treadmill with speed and cadence controlled. Peak negative and positive horizontal GRFs in early and late stance, respectively, were reduced by less than 5% of body weight (p<0.05) during treadmill walking compared to overground walking. The magnitude of the braking impulse was similarly lower (p<0.05) during treadmill walking, but no significant difference was found between propulsion impulses. While there were some subtle differences in A/P GRFs between overground and treadmill walking, these results suggest there is no fundamental difference in propulsion mechanics. We conclude that treadmill walking can be used to investigate propulsion generation in healthy and by implication clinical populations.

  7. Rhythm Pattern of Sole through Electrification of the Human Body When Walking

    NASA Astrophysics Data System (ADS)

    Takiguchi, Kiyoaki; Wada, Takayuki; Tohyama, Shigeki

    The rhythm of automatic cyclic movements such as walking is known to be generated by a rhythm generator called CPG in the spinal cord. The measurement of rhythm characteristics in walking is considered to be important for analyzing human bipedal walking and adaptive walking on irregular terrain. In particular, the soles that contact the terrain surface perform flexible movements similar to the movement of the fins of a lungfish, which is considered to be the predecessor of land animals. The sole movements are believed to be a basic movement acquired during prehistoric times. The detailed rhythm pattern of sole motion is considered to be important. We developed a method for measuring electrification without installing device on a subject's body and footwear for stabilizing the electrification of the human body. We measured the rhythm pattern of 20 subjects including 4 infants when walking by using this system and the corresponding equipment. Therefore, we confirmed the commonality of the correlative rhythm patterns of 20 subjects. Further, with regard to an individual subject, the reproducibility of a rhythm pattern with strong correlation coefficient > 0.93 ± 0.5 (mean ± SD) concerning rhythms of trials that are differently conducted on adult subjects could be confirmed.

  8. Quantum walk public-key cryptographic system

    NASA Astrophysics Data System (ADS)

    Vlachou, C.; Rodrigues, J.; Mateus, P.; Paunković, N.; Souto, A.

    2015-12-01

    Quantum Cryptography is a rapidly developing field of research that benefits from the properties of Quantum Mechanics in performing cryptographic tasks. Quantum walks are a powerful model for quantum computation and very promising for quantum information processing. In this paper, we present a quantum public-key cryptographic system based on quantum walks. In particular, in the proposed protocol the public-key is given by a quantum state generated by performing a quantum walk. We show that the protocol is secure and analyze the complexity of public key generation and encryption/decryption procedures.

  9. Universal computation by multiparticle quantum walk.

    PubMed

    Childs, Andrew M; Gosset, David; Webb, Zak

    2013-02-15

    A quantum walk is a time-homogeneous quantum-mechanical process on a graph defined by analogy to classical random walk. The quantum walker is a particle that moves from a given vertex to adjacent vertices in quantum superposition. We consider a generalization to interacting systems with more than one walker, such as the Bose-Hubbard model and systems of fermions or distinguishable particles with nearest-neighbor interactions, and show that multiparticle quantum walk is capable of universal quantum computation. Our construction could, in principle, be used as an architecture for building a scalable quantum computer with no need for time-dependent control. PMID:23413349

  10. Numerical Simulations of Level-Ground Walking Based on Passive Walk for Planar Biped Robots with Torso by Hip Actuators

    NASA Astrophysics Data System (ADS)

    Narukawa, Terumasa; Takahashi, Masaki; Yoshida, Kazuo

    This study aims at a design technique of energy-efficient biped walking robots on level ground with simple mechanisms. To do this, we focus on the passive dynamic walkers which can walk stably down a shallow slope without actuators and controllers. On level ground, active walking should be studied because the mechanical energy is mainly lost through the swing-leg impacts with the ground. In this paper, numerical simulations show that planar biped robots with torso can walk efficiently on level ground over a wide range of speed by only using hip actuators. The hip actuators are used for a torso and swing-leg control based on passive-dynamic walking. The torso is used to generate active power replacing gravity used in the case of the passive walk. The swing-leg control is introduced to walk stably over a wide range of speed.

  11. Prediction of walking possibility in crawling children in poliomyelitis.

    PubMed

    Arora, S S; Tandon, H

    1999-01-01

    Crawling is one of the most common modes of ambulating in children with severe paralysis and deformities in poliomyelitis. Restoring upright posture and bipedal gait, although desirable, has its own limitations due to various factors. Fifty-three children below the age of 12 years (29 boys and 24 girls) crawling due to post-poliomyelitis residual paralysis were assessed for the genesis of crawling as a mode of ambulating. The patterns of crawling were classified according to Cross's classification. Paralyzed muscles and deformities in definite combinations were found responsible for each type of crawling. Trunk muscles, gluteus maximus, quadriceps, hamstrings, tibialis anterior, and triceps surae were identified as muscles crucial for walking in order of priority. At least antigravity power in these muscles was necessary for an upright posture and walking with support. Various combinations of treatment modalities were used to correct the deformities before fitting an orthosis and instituting gait training. Thirty-four children became outdoor walkers, 14 indoor walkers, and five remained nonwalkers. The most favorable patterns of crawling for restoration of upright posture were true quadruped progression (30 cases) and infant-like crawl (14 cases). Average follow-up was 17 months (range, 6 months to 5 years).

  12. Mechanical analysis of infant carrying in hominoids

    NASA Astrophysics Data System (ADS)

    Amaral, Lia Q.

    2008-04-01

    In all higher nonhuman primates, species survival depends upon safe carrying of infants clinging to body hair of adults. In this work, measurements of mechanical properties of ape hair (gibbon, orangutan, and gorilla) are presented, focusing on constraints for safe infant carrying. Results of hair tensile properties are shown to be species-dependent. Analysis of the mechanics of the mounting position, typical of heavier infant carrying among African apes, shows that both clinging and friction are necessary to carry heavy infants. As a consequence, a required relationship between infant weight, hair-hair friction coefficient, and body angle exists. The hair-hair friction coefficient is measured using natural ape skin samples, and dependence on load and humidity is analyzed. Numerical evaluation of the equilibrium constraint is in agreement with the knuckle-walking quadruped position of African apes. Bipedality is clearly incompatible with the usual clinging and mounting pattern of infant carrying, requiring a revision of models of hominization in relation to the divergence between apes and hominins. These results suggest that safe carrying of heavy infants justify the emergence of biped form of locomotion. Ways to test this possibility are foreseen here.

  13. Walking boot assembly

    NASA Technical Reports Server (NTRS)

    Vykukal, H. C.; Chambers, A. B.; Stjohn, R. H. (Inventor)

    1977-01-01

    A walking boot assembly particularly suited for use with a positively pressurized spacesuit is presented. A bootie adapted to be secured to the foot of a wearer, an hermetically sealed boot for receiving the bootie having a walking sole, an inner sole, and an upper portion adapted to be attached to an ankle joint of a spacesuit, are also described.

  14. Anyonic quantum walks

    SciTech Connect

    Brennen, Gavin K.; Ellinas, Demosthenes; Kendon, Viv; Pachos, Jiannis K. Tsohantjis, Ioannis; Wang Zhenghan

    2010-03-15

    The one dimensional quantum walk of anyonic systems is presented. The anyonic walker performs braiding operations with stationary anyons of the same type ordered canonically on the line of the walk. Abelian as well as non-Abelian anyons are studied and it is shown that they have very different properties. Abelian anyonic walks demonstrate the expected quadratic quantum speedup. Non-Abelian anyonic walks are much more subtle. The exponential increase of the system's Hilbert space and the particular statistical evolution of non-Abelian anyons give a variety of new behaviors. The position distribution of the walker is related to Jones polynomials, topological invariants of the links created by the anyonic world-lines during the walk. Several examples such as the SU(2){sub k} and the quantum double models are considered that provide insight to the rich diffusion properties of anyons.

  15. Emergence of bipedal locomotion through entrainment among the neuro-musculo-skeletal system and the environment

    NASA Astrophysics Data System (ADS)

    Taga, Gentaro

    1994-08-01

    A principle of locomotor control in an unpredictably changing environment is presented on the basis of neurophysiology and biomechanics from the perspective of nonlinear dynamics theory. Locomotor movements emerge as a limit cycle generated through global entrainment among the neuro-musculo-skeletal system and the environment. A computer simulation of a specific model of bipedal locomotion shows its ability to adapt to a changing environment in real-time. The stability of the limit cycle is maintained despite the presence of time delays in transporting and processing information between the neural rhythm generator and the musculo-skeletal system. With considerable time delays, however, the locomotor pattern becomes chaotic, which is compared with a gait of patients with neural deficits. A general framework for motor control is discussed toward the control of movements in an unpredictable environment.

  16. Energy expenditure during walking in amputees after disarticulation of the hip. A microprocessor-controlled swing-phase control knee versus a mechanical-controlled stance-phase control knee.

    PubMed

    Chin, T; Sawamura, S; Shiba, R; Oyabu, H; Nagakura, Y; Nakagawa, A

    2005-01-01

    We have compared the energy expenditure during walking in three patients, aged between 51 and 55 years, with unilateral disarticulation of the hip when using the mechanical-controlled stance-phase control knee (Otto Bock 3R15) and the microprocessor-controlled pneumatic swing-phase control knee (Intelligent Prosthesis, IP). All had an endoskeletal hip disarticulation prosthesis with an Otto Bock 7E7 hip and a single-axis foot. The energy expenditure was measured when walking at speeds of 30, 50, and 70 m/min. Two patients showed a decreased uptake of oxygen (energy expenditure per unit time, ml/kg/min) of between 10.3% and 39.6% when using the IP compared with the Otto Bock 3R15 at the same speeds. One did not show any significant difference in the uptake of oxygen at 30 m/min, but at 50 and 70 m/min, a decrease in uptake of between 10.5% and 11.6% was found when using the IP. The use of the IP decreased the energy expenditure of walking in these patients.

  17. Walking with coffee: why does it spill?

    PubMed

    Mayer, H C; Krechetnikov, R

    2012-04-01

    In our busy lives, almost all of us have to walk with a cup of coffee. While often we spill the drink, this familiar phenomenon has never been explored systematically. Here we report on the results of an experimental study of the conditions under which coffee spills for various walking speeds and initial liquid levels in the cup. These observations are analyzed from the dynamical systems and fluid mechanics viewpoints as well as with the help of a model developed here. Particularities of the common cup sizes, the coffee properties, and the biomechanics of walking proved to be responsible for the spilling phenomenon. The studied problem represents an example of the interplay between the complex motion of a cup, due to the biomechanics of a walking individual, and the low-viscosity-liquid dynamics in it. PMID:22680548

  18. Walking Humanoid Robot Lola

    NASA Astrophysics Data System (ADS)

    Schwienbacher, Markus; Favot, Valerio; Buschmann, Thomas; Lohmeier, Sebastian; Ulbrich, Heinz

    Based on the experience gathered from the walking robot Johnnie the new performance enhanced 25-DoF humanoid robot Lola was built. The goal of this project is to realize a fast, human-like walking. This paper presents different aspects of this complex mechatronic system. Besides the overall lightweight construction, custom build multi-sensory joint drives with high torque brush-less motors were crucial for reaching the performance goal. A decentralized electronics architecture is used for joint control and sensor data processing. A simulation environment serves as a testbed for the walking control, to minimize the risk of damaging the robot hardware during real world experiments.

  19. Quantum Walk Schemes for Universal Quantum Computation

    NASA Astrophysics Data System (ADS)

    Underwood, Michael S.

    Random walks are a powerful tool for the efficient implementation of algorithms in classical computation. Their quantum-mechanical analogues, called quantum walks, hold similar promise. Quantum walks provide a model of quantum computation that has recently been shown to be equivalent in power to the standard circuit model. As in the classical case, quantum walks take place on graphs and can undergo discrete or continuous evolution, though quantum evolution is unitary and therefore deterministic until a measurement is made. This thesis considers the usefulness of continuous-time quantum walks to quantum computation from the perspectives of both their fundamental power under various formulations, and their applicability in practical experiments. In one extant scheme, logical gates are effected by scattering processes. The results of an exhaustive search for single-qubit operations in this model are presented. It is shown that the number of distinct operations increases exponentially with the number of vertices in the scattering graph. A catalogue of all graphs on up to nine vertices that implement single-qubit unitaries at a specific set of momenta is included in an appendix. I develop a novel scheme for universal quantum computation called the discontinuous quantum walk, in which a continuous-time quantum walker takes discrete steps of evolution via perfect quantum state transfer through small 'widget' graphs. The discontinuous quantum-walk scheme requires an exponentially sized graph, as do prior discrete and continuous schemes. To eliminate the inefficient vertex resource requirement, a computation scheme based on multiple discontinuous walkers is presented. In this model, n interacting walkers inhabiting a graph with 2n vertices can implement an arbitrary quantum computation on an input of length n, an exponential savings over previous universal quantum walk schemes. This is the first quantum walk scheme that allows for the application of quantum error correction

  20. Integrated photonic quantum walks

    NASA Astrophysics Data System (ADS)

    Gräfe, Markus; Heilmann, René; Lebugle, Maxime; Guzman-Silva, Diego; Perez-Leija, Armando; Szameit, Alexander

    2016-10-01

    Over the last 20 years quantum walks (QWs) have gained increasing interest in the field of quantum information science and processing. In contrast to classical walkers, quantum objects exhibit intrinsic properties like non-locality and non-classical many-particle correlations, which renders QWs a versatile tool for quantum simulation and computation as well as for a deeper understanding of genuine quantum mechanics. Since they are highly controllable and hardly interact with their environment, photons seem to be ideally suited quantum walkers. In order to study and exploit photonic QWs, lattice structures that allow low loss coherent evolution of quantum states are demanded. Such requirements are perfectly met by integrated optical waveguide devices that additionally allow a substantial miniaturization of experimental settings. Moreover, by utilizing the femtosecond direct laser writing technique three-dimensional waveguide structures are capable of analyzing QWs also on higher dimensional geometries. In this context, advances and findings of photonic QWs are discussed in this review. Various concepts and experimental results are presented covering, such as different quantum transport regimes, the Boson sampling problem, and the discrete fractional quantum Fourier transform.

  1. Hip proprioceptive feedback influences the control of mediolateral stability during human walking

    PubMed Central

    Roden-Reynolds, Devin C.; Walker, Megan H.; Wasserman, Camille R.

    2015-01-01

    Active control of the mediolateral location of the feet is an important component of a stable bipedal walking pattern, although the roles of sensory feedback in this process are unclear. In the present experiments, we tested whether hip abductor proprioception influenced the control of mediolateral gait motion. Participants performed a series of quiet standing and treadmill walking trials. In some trials, 80-Hz vibration was applied intermittently over the right gluteus medius (GM) to evoke artificial proprioceptive feedback. During walking, the GM was vibrated during either right leg stance (to elicit a perception that the pelvis was closer mediolaterally to the stance foot) or swing (to elicit a perception that the swing leg was more adducted). Vibration during quiet standing evoked leftward sway in most participants (13 of 16), as expected from its predicted perceptual effects. Across the 13 participants sensitive to vibration, stance phase vibration caused the contralateral leg to be placed significantly closer to the midline (by ∼2 mm) at the end of the ongoing step. In contrast, swing phase vibration caused the vibrated leg to be placed significantly farther mediolaterally from the midline (by ∼2 mm), whereas the pelvis was held closer to the stance foot (by ∼1 mm). The estimated mediolateral margin of stability was thus decreased by stance phase vibration but increased by swing phase vibration. Although the observed effects of vibration were small, they were consistent with humans monitoring hip proprioceptive feedback while walking to maintain stable mediolateral gait motion. PMID:26289467

  2. Effect of expertise in shooting and Taekwondo on bipedal and unipedal postural control isolated or concurrent with a reaction-time task.

    PubMed

    Negahban, Hossein; Aryan, Najmolhoda; Mazaheri, Masood; Norasteh, Ali Asghar; Sanjari, Mohammad Ali

    2013-06-01

    It was hypothesized that training in 'static balance' or 'dynamic balance' sports has differential effects on postural control and its attention demands during quiet standing. In order to test this hypothesis, two groups of female athletes practicing shooting, as a 'static balance' sport, and Taekwondo, as a 'dynamic balance' sport, and a control group of non-physically active females voluntarily participated in this study. Postural control was assessed during bipedal and unipedal stance with and without performing a Go/No-go reaction time task. Visual and/or support surface conditions were manipulated in bipedal and unipedal stances in order to modify postural difficulty. Mixed model analysis of variance was used to determine the effects of dual tasking on postural and cognitive performance. Similar pattern of results were found in bipedal and unipedal stances, with Taekwondo practitioners displaying larger sway, shooters displaying lower sway and non-athletes displaying sway characteristics intermediate to Taekwondo and shooting athletes. Larger effect was found in bipedal stance. Single to dual-task comparison of postural control showed no significant effect of mental task on sway velocity in shooters, indicating less cognitive effort invested in balance control during bipedal stance. We suggest that expertise in shooting has a more pronounced effect on decreased sway in static balance conditions. Furthermore, shooters invest less attention in postures that are more specific to their training, i.e. bipedal stance. PMID:23245642

  3. Effect of expertise in shooting and Taekwondo on bipedal and unipedal postural control isolated or concurrent with a reaction-time task.

    PubMed

    Negahban, Hossein; Aryan, Najmolhoda; Mazaheri, Masood; Norasteh, Ali Asghar; Sanjari, Mohammad Ali

    2013-06-01

    It was hypothesized that training in 'static balance' or 'dynamic balance' sports has differential effects on postural control and its attention demands during quiet standing. In order to test this hypothesis, two groups of female athletes practicing shooting, as a 'static balance' sport, and Taekwondo, as a 'dynamic balance' sport, and a control group of non-physically active females voluntarily participated in this study. Postural control was assessed during bipedal and unipedal stance with and without performing a Go/No-go reaction time task. Visual and/or support surface conditions were manipulated in bipedal and unipedal stances in order to modify postural difficulty. Mixed model analysis of variance was used to determine the effects of dual tasking on postural and cognitive performance. Similar pattern of results were found in bipedal and unipedal stances, with Taekwondo practitioners displaying larger sway, shooters displaying lower sway and non-athletes displaying sway characteristics intermediate to Taekwondo and shooting athletes. Larger effect was found in bipedal stance. Single to dual-task comparison of postural control showed no significant effect of mental task on sway velocity in shooters, indicating less cognitive effort invested in balance control during bipedal stance. We suggest that expertise in shooting has a more pronounced effect on decreased sway in static balance conditions. Furthermore, shooters invest less attention in postures that are more specific to their training, i.e. bipedal stance.

  4. Idiopathic toe walking.

    PubMed

    Oetgen, Matthew E; Peden, Sean

    2012-05-01

    Toe walking is a bilateral gait abnormality in which a normal heel strike is absent and most weight bearing occurs through the forefoot. This abnormality may not be pathologic in patients aged <2 years, but it is a common reason for referral to an orthopaedic surgeon. Toe walking can be caused by several neurologic and developmental abnormalities and may be the first sign of a global developmental problem. Cases that lack a definitive etiology are categorized as idiopathic. A detailed history, with careful documentation of the developmental history, and a thorough physical examination are required in the child with a primary report of toe walking. Treatment is based on age and the severity of the abnormality. Management includes observation, stretching, casting, bracing, chemodenervation, and surgical lengthening of the gastrocnemius-soleus complex and/or Achilles tendon. An understanding of idiopathic toe walking as well as treatment options and their outcomes can help the physician individualize treatment to achieve optimal results.

  5. Walking: technology and biology.

    PubMed

    Pfeiffer, Friedrich; Inoue, Hirochika

    2007-01-15

    If all the signs are to be believed, then the twenty-first century will technologically be characterized by machine walking and its relevant products, which possess all chances to become real bulk goods in the course of the next decades. With several university institutes and with Honda and Sony from the industrial side, Japan is today and without any doubt the leading nation in research and development of walking machines. The US and Europe follow at some distance. Walking machines will influence all areas of daily and industrial life and, with the fast evolution of artificial intelligence, will become a real partner of human beings. All relevant technologies are highly interdisciplinary, they will push the future technologies of all technical fields. The special issue on this topic gives a selection of walking machine research and development including some aspects from biology.

  6. Contribution of Each Leg to the Control of Unperturbed Bipedal Stance in Lower Limb Amputees: New Insights Using Entropy

    PubMed Central

    Hlavackova, Petra; Franco, Céline; Diot, Bruno; Vuillerme, Nicolas

    2011-01-01

    The present study was designed to assess the relative contribution of each leg to unperturbed bipedal posture in lower limb amputees. To achieve this goal, eight unilateral traumatic trans-femoral amputees (TFA) were asked to stand as still as possible on a plantar pressure data acquisition system with their eyes closed. Four dependent variables were computed to describe the subject's postural behavior: (1) body weight distribution, (2) amplitude, (3) velocity and (4) regularity of centre of foot pressure (CoP) trajectories under the amputated (A) leg and the non-amputated (NA) leg. Results showed a larger body weight distribution applied to the NA leg than to the A leg and a more regular CoP profiles (lower sample entropy values) with greater amplitude and velocity under the NA leg than under the A leg. Taken together, these findings suggest that the NA leg and the A leg do not equally contribute to the control of unperturbed bipedal posture in TFA. The observation that TFA do actively control unperturbed bipedal posture with their NA leg could be viewed as an adaptive process to the loss of the lower leg afferents and efferents because of the unilateral lower-limb amputation. From a methodological point of view, these results demonstrate the suitability of computing bilateral CoP trajectories regularity for the assessment of lateralized postural control under pathological conditions. PMID:21603630

  7. [Comparison of kinematic and kinetic parameters between the locomotion patterns in nordic walking, walking and running].

    PubMed

    Kleindienst, F I; Michel, K J; Schwarz, J; Krabbe, B

    2006-03-01

    Based on a higher cardio-pulmonary and cardio-vascular benefit and a promised reduction of mechanical load of the musculoskeletal system Nordic Walking (NW) shows an increased market potential. The present study should investigate whether there are biomechanical differences between the locomotion patterns NW, walking and running. Moreover possible resultant load differences should be determined. Eleven subjects, who were already experienced with the NW-technique, participated in this experiment. The kinematic data were collected using two high-speed camera systems from posterior and from lateral at the same time. Simultaneously the ground reaction forces were recorded. The kinematic and the kinetic data reveal differences between the three analyzed locomotion patterns. For NW as well as walking the mechanical load of the lower extremity is lower compared to running. None of the kinematic parameters suggest a "physiological benefit" of NW compared to walking. Moreover NW shows higher vertical and horizontal forces during landing. Exclusively the lower vertical force peak during push off indicates a lower mechanical load for NW in comparison to walking. Consequently it is questionable is NW -- based on its promised "biomechanical benefits" compared to walking -- should be still recommended for overweight people and for people with existing musculoskeletal problems of the lower limb.

  8. Energy cost of walking with hip joint impairment.

    PubMed

    Gussoni, M; Margonato, V; Ventura, R; Veicsteinas, A

    1990-05-01

    The energy cost of walking was measured in 12 patients (age 39-73 years) with hip joint impairment and 10 healthy controls during unassisted walking (2-6 km.h-1) on a level treadmill surface and on a 5% incline. The energy cost of locomotion in most patients increased up to 50% and 70% during level-surface and uphill walking, respectively. This difference between patients and controls was probably due to the increased external mechanical work. The energy cost of walking, although related to pain experienced during walking but not to hip joint range of motion or to joint status evaluated radiographically, provides an additional variable when defining the conditions of disability and functional impairment in individuals with this pathological condition. [Gussoni M, Margonato V, Ventura R, et al: Energy cost of walking with hip joint impairment.

  9. D.U.C.K. Walking.

    ERIC Educational Resources Information Center

    Steller, Jenifer J.

    This manual presents a schoolwide walking program that includes aerobic fitness information, curriculum integration, and walking tours. "Discover and Understand Carolina Kids by Walking" is D.U.C.K. Walking. An aerobic walking activity, D.U.C.K. Walking has two major goals: (1) to promote regular walking as a way to exercise at any age; and (2) to…

  10. Biomechanical modeling and sensitivity analysis of bipedal running ability. II. Extinct taxa.

    PubMed

    Hutchinson, John R

    2004-10-01

    Using an inverse dynamics biomechanical analysis that was previously validated for extant bipeds, I calculated the minimum amount of actively contracting hindlimb extensor muscle that would have been needed for rapid bipedal running in several extinct dinosaur taxa. I analyzed models of nine theropod dinosaurs (including birds) covering over five orders of magnitude in size. My results uphold previous findings that large theropods such as Tyrannosaurus could not run very quickly, whereas smaller theropods (including some extinct birds) were adept runners. Furthermore, my results strengthen the contention that many nonavian theropods, especially larger individuals, used fairly upright limb orientations, which would have reduced required muscular force, and hence muscle mass. Additional sensitivity analysis of muscle fascicle lengths, moment arms, and limb orientation supports these conclusions and points out directions for future research on the musculoskeletal limits on running ability. Although ankle extensor muscle support is shown to have been important for all taxa, the ability of hip extensor muscles to support the body appears to be a crucial limit for running capacity in larger taxa. I discuss what speeds were possible for different theropod dinosaurs, and how running ability evolved in an inverse relationship to body size in archosaurs.

  11. Walks on SPR neighborhoods.

    PubMed

    Caceres, Alan Joseph J; Castillo, Juan; Lee, Jinnie; St John, Katherine

    2013-01-01

    A nearest-neighbor-interchange (NNI)-walk is a sequence of unrooted phylogenetic trees, T1, T2, . . . , T(k) where each consecutive pair of trees differs by a single NNI move. We give tight bounds on the length of the shortest NNI-walks that visit all trees in a subtree-prune-and-regraft (SPR) neighborhood of a given tree. For any unrooted, binary tree, T, on n leaves, the shortest walk takes Θ(n²) additional steps more than the number of trees in the SPR neighborhood. This answers Bryant’s Second Combinatorial Challenge from the Phylogenetics Challenges List, the Isaac Newton Institute, 2011, and the Penny Ante Problem List, 2009.

  12. Walks on SPR neighborhoods.

    PubMed

    Caceres, Alan Joseph J; Castillo, Juan; Lee, Jinnie; St John, Katherine

    2013-01-01

    A nearest-neighbor-interchange (NNI)-walk is a sequence of unrooted phylogenetic trees, T1, T2, . . . , T(k) where each consecutive pair of trees differs by a single NNI move. We give tight bounds on the length of the shortest NNI-walks that visit all trees in a subtree-prune-and-regraft (SPR) neighborhood of a given tree. For any unrooted, binary tree, T, on n leaves, the shortest walk takes Θ(n²) additional steps more than the number of trees in the SPR neighborhood. This answers Bryant’s Second Combinatorial Challenge from the Phylogenetics Challenges List, the Isaac Newton Institute, 2011, and the Penny Ante Problem List, 2009. PMID:23702562

  13. Random walks on networks

    NASA Astrophysics Data System (ADS)

    Donnelly, Isaac

    Random walks on lattices are a well used model for diffusion on continuum. They have been to model subdiffusive systems, systems with forcing and reactions as well as a combination of the three. We extend the traditional random walk framework to the network to obtain novel results. As an example due to the small graph diameter, the early time behaviour of subdiffusive dynamics dominates the observed system which has implications for models of the brain or airline networks. I would like to thank the Australian American Fulbright Association.

  14. Influence of an infant walker on onset and quality of walking pattern of locomotion:an electromyographic investigation.

    PubMed

    Kauffman, I B; Ridenour, M

    1977-12-01

    Acquisition of bipedal locomotor skill in human infants was studied electromyographically with regard to the deprivation or enrichment behavior resulting from the frequent and regular use of an infant walker. Subjects were six sets of male, fraternal twins. One randomly selected sibling from each set underwent a training program, commencing at the age of 300 days, spending a total of 2 hr. per day in a walker. Siblings not included in this group were subjected to no special training. EMG recordings were taken of all subjects at specified intervals in order to establish a model of the typical motor pattern at various stages of skill development. These data were then contrasted with EMG data similarly obtained from the walker-trained subjects. Use of an infant walker modified the mechanics of the infant's locomotion in a number of important ways. It was shown that use of the walker enables an infant to commit substantial mechanical errors yet succeed in bipedal locomotion. Inasmuch as the mechanics of walker-assisted and non-assisted bipedal locomotion are dissimilar in so many important ways, positive transfer from walker-training appears questionable.

  15. Random walk in generalized quantum theory

    SciTech Connect

    Martin, Xavier; O'Connor, Denjoe; Sorkin, Rafael D.

    2005-01-15

    One can view quantum mechanics as a generalization of classical probability theory that provides for pairwise interference among alternatives. Adopting this perspective, we 'quantize' the classical random walk by finding, subject to a certain condition of 'strong positivity', the most general Markovian, translationally invariant 'decoherence functional' with nearest neighbor transitions.

  16. Mall Walking Program Environments, Features, and Participants: A Scoping Review

    PubMed Central

    Belza, Basia; Allen, Peg; Brolliar, Sarah; Brown, David R.; Cormier, Marc L.; Janicek, Sarah; Jones, Dina L.; King, Diane K.; Marquez, David X.; Rosenberg, Dori E.

    2015-01-01

    Introduction Walking is a preferred and recommended physical activity for middle-aged and older adults, but many barriers exist, including concerns about safety (ie, personal security), falling, and inclement weather. Mall walking programs may overcome these barriers. The purpose of this study was to summarize the evidence on the health-related value of mall walking and mall walking programs. Methods We conducted a scoping review of the literature to determine the features, environments, and benefits of mall walking programs using the RE-AIM framework (reach, effectiveness, adoption, implementation, and maintenance). The inclusion criteria were articles that involved adults aged 45 years or older who walked in indoor or outdoor shopping malls. Exclusion criteria were articles that used malls as laboratory settings or focused on the mechanics of walking. We included published research studies, dissertations, theses, conference abstracts, syntheses, nonresearch articles, theoretical papers, editorials, reports, policy briefs, standards and guidelines, and nonresearch conference abstracts and proposals. Websites and articles written in a language other than English were excluded. Results We located 254 articles on mall walking; 32 articles met our inclusion criteria. We found that malls provided safe, accessible, and affordable exercise environments for middle-aged and older adults. Programmatic features such as program leaders, blood pressure checks, and warm-up exercises facilitated participation. Individual benefits of mall walking programs included improvements in physical, social, and emotional well-being. Limited transportation to the mall was a barrier to participation. Conclusion We found the potential for mall walking programs to be implemented in various communities as a health promotion measure. However, the research on mall walking programs is limited and has weak study designs. More rigorous research is needed to define best practices for mall walking

  17. Bicycling and Walking are Associated with Different Cortical Oscillatory Dynamics.

    PubMed

    Storzer, Lena; Butz, Markus; Hirschmann, Jan; Abbasi, Omid; Gratkowski, Maciej; Saupe, Dietmar; Schnitzler, Alfons; Dalal, Sarang S

    2016-01-01

    Although bicycling and walking involve similar complex coordinated movements, surprisingly Parkinson's patients with freezing of gait typically remain able to bicycle despite severe difficulties in walking. This observation suggests functional differences in the motor networks subserving bicycling and walking. However, a direct comparison of brain activity related to bicycling and walking has never been performed, neither in healthy participants nor in patients. Such a comparison could potentially help elucidating the cortical involvement in motor control and the mechanisms through which bicycling ability may be preserved in patients with freezing of gait. The aim of this study was to contrast the cortical oscillatory dynamics involved in bicycling and walking in healthy participants. To this end, EEG and EMG data of 14 healthy participants were analyzed, who cycled on a stationary bicycle at a slow cadence of 40 revolutions per minute (rpm) and walked at 40 strides per minute (spm), respectively. Relative to walking, bicycling was associated with a stronger power decrease in the high beta band (23-35 Hz) during movement initiation and execution, followed by a stronger beta power increase after movement termination. Walking, on the other hand, was characterized by a stronger and persisting alpha power (8-12 Hz) decrease. Both bicycling and walking exhibited movement cycle-dependent power modulation in the 24-40 Hz range that was correlated with EMG activity. This modulation was significantly stronger in walking. The present findings reveal differential cortical oscillatory dynamics in motor control for two types of complex coordinated motor behavior, i.e., bicycling and walking. Bicycling was associated with a stronger sustained cortical activation as indicated by the stronger high beta power decrease during movement execution and less cortical motor control within the movement cycle. We speculate this to be due to the more continuous nature of bicycling demanding

  18. Bicycling and Walking are Associated with Different Cortical Oscillatory Dynamics

    PubMed Central

    Storzer, Lena; Butz, Markus; Hirschmann, Jan; Abbasi, Omid; Gratkowski, Maciej; Saupe, Dietmar; Schnitzler, Alfons; Dalal, Sarang S.

    2016-01-01

    Although bicycling and walking involve similar complex coordinated movements, surprisingly Parkinson’s patients with freezing of gait typically remain able to bicycle despite severe difficulties in walking. This observation suggests functional differences in the motor networks subserving bicycling and walking. However, a direct comparison of brain activity related to bicycling and walking has never been performed, neither in healthy participants nor in patients. Such a comparison could potentially help elucidating the cortical involvement in motor control and the mechanisms through which bicycling ability may be preserved in patients with freezing of gait. The aim of this study was to contrast the cortical oscillatory dynamics involved in bicycling and walking in healthy participants. To this end, EEG and EMG data of 14 healthy participants were analyzed, who cycled on a stationary bicycle at a slow cadence of 40 revolutions per minute (rpm) and walked at 40 strides per minute (spm), respectively. Relative to walking, bicycling was associated with a stronger power decrease in the high beta band (23–35 Hz) during movement initiation and execution, followed by a stronger beta power increase after movement termination. Walking, on the other hand, was characterized by a stronger and persisting alpha power (8–12 Hz) decrease. Both bicycling and walking exhibited movement cycle-dependent power modulation in the 24–40 Hz range that was correlated with EMG activity. This modulation was significantly stronger in walking. The present findings reveal differential cortical oscillatory dynamics in motor control for two types of complex coordinated motor behavior, i.e., bicycling and walking. Bicycling was associated with a stronger sustained cortical activation as indicated by the stronger high beta power decrease during movement execution and less cortical motor control within the movement cycle. We speculate this to be due to the more continuous nature of bicycling

  19. Walking in My Shoes

    ERIC Educational Resources Information Center

    Salia, Hannah

    2010-01-01

    The Walking in My Shoes curriculum at St. Thomas School in Medina, Washington, has been developed to deepen students' understanding of their own heritage and the cultural similarities and differences among their global peers. Exploring the rich diversity of the world's cultural heritage and the interactions of global migrations throughout history,…

  20. Walking On Air

    NASA Video Gallery

    This video features a series of time lapse sequences photographed by the Expedition 30 crew aboard the International Space Station. Set to the song “Walking in the Air,” by Howard Blake, the v...

  1. A Walk through Time.

    ERIC Educational Resources Information Center

    Renfroe, Mark; Letendre, Wanda

    1996-01-01

    Describes a seventh-grade class project where students constructed a "time tunnel" (a walk-through display with models and exhibits illustrating various themes and eras). Beginning modestly, the tunnel grew over seven years to include 11 different display scenes. Discusses the construction of the project and benefits to the school. (MJP)

  2. Walking Out Graphs

    ERIC Educational Resources Information Center

    Shen, Ji

    2009-01-01

    In the Walking Out Graphs Lesson described here, students experience several types of representations used to describe motion, including words, sentences, equations, graphs, data tables, and actions. The most important theme of this lesson is that students have to understand the consistency among these representations and form the habit of…

  3. Deterministic Walks with Choice

    SciTech Connect

    Beeler, Katy E.; Berenhaut, Kenneth S.; Cooper, Joshua N.; Hunter, Meagan N.; Barr, Peter S.

    2014-01-10

    This paper studies deterministic movement over toroidal grids, integrating local information, bounded memory and choice at individual nodes. The research is motivated by recent work on deterministic random walks, and applications in multi-agent systems. Several results regarding passing tokens through toroidal grids are discussed, as well as some open questions.

  4. Take a Planet Walk

    ERIC Educational Resources Information Center

    Schuster, Dwight

    2008-01-01

    Physical models in the classroom "cannot be expected to represent the full-scale phenomenon with complete accuracy, not even in the limited set of characteristics being studied" (AAAS 1990). Therefore, by modifying a popular classroom activity called a "planet walk," teachers can explore upper elementary students' current understandings; create an…

  5. The Longest Walk.

    ERIC Educational Resources Information Center

    American Indian Journal, 1978

    1978-01-01

    Focusing on the views of Ernie Peters, Phillip Deere, and Larry Leventhal which were considered by the authors as reflective and representative of the Longest Walk participants, this article also presented an "Affirmation of Sovereignty of the Indigenous people of the Western Hemisphere." (RTS)

  6. Universal quantum computation by discontinuous quantum walk

    SciTech Connect

    Underwood, Michael S.; Feder, David L.

    2010-10-15

    Quantum walks are the quantum-mechanical analog of random walks, in which a quantum ''walker'' evolves between initial and final states by traversing the edges of a graph, either in discrete steps from node to node or via continuous evolution under the Hamiltonian furnished by the adjacency matrix of the graph. We present a hybrid scheme for universal quantum computation in which a quantum walker takes discrete steps of continuous evolution. This ''discontinuous'' quantum walk employs perfect quantum-state transfer between two nodes of specific subgraphs chosen to implement a universal gate set, thereby ensuring unitary evolution without requiring the introduction of an ancillary coin space. The run time is linear in the number of simulated qubits and gates. The scheme allows multiple runs of the algorithm to be executed almost simultaneously by starting walkers one time step apart.

  7. Design and use of improved walking aids.

    PubMed

    Nava, L C; Laura, P A

    1985-10-01

    The design of crutches and walking sticks to assist the disabled has not varied much since their original conception, some 5000 years ago. From an engineering viewpoint one must consider crutches and walking sticks as dynamic mechanical systems which alleviate a disability; they may act as supports, help the user to recover from stumbling, or transmit from the arms, the energy required to lift the feet from the ground, an action not provided by artificial ankle joints. We describe some dynamic walking aids recently developed at the Instituto de Mecánica Aplicada, and discuss their design and our experience with their use. They are adjustable in height, shock absorbing and have non-slipping tips. Specially developed aids have been designed for children; they are versatile and their use has been made psychologically attractive.

  8. Predicting metabolic rate across walking speed: One fit for all body sizes?

    Technology Transfer Automated Retrieval System (TEKTRAN)

    We formulated a "one-size-fits-all" model that predicts the energy requirements of level human walking from height, weight, and walking speed. Our three-component model theorizes that the energy expended per kilogram per stride is independent of stature at mechanically equivalent walking speeds. We ...

  9. How to walk a conveyor

    SciTech Connect

    2007-06-15

    The article gives a check list of what one should know before walking a belt conveyor, and what to do during the walk. It then presents a list of what to look at on a walk along the conveyor system (excluding related equipment which could be inspected or maintained during the walk). It gives advice on when to stop the conveyor, on testing the emergency stop system, on recording problems and on acting on things noted. 1 tab.

  10. Walking with a Slower Friend

    ERIC Educational Resources Information Center

    Bailey, Herb; Kalman, Dan

    2011-01-01

    Fay and Sam go for a walk. Sam walks along the left side of the street while Fay, who walks faster, starts with Sam but walks to a point on the right side of the street and then returns to meet Sam to complete one segment of their journey. We determine Fay's optimal path minimizing segment length, and thus maximizing the number of times they meet…

  11. Persistence of Motor-Equivalent Postural Fluctuations during Bipedal Quiet Standing

    PubMed Central

    Verrel, Julius; Pradon, Didier; Vuillerme, Nicolas

    2012-01-01

    Theoretical and empirical work indicates that the central nervous system is able to stabilize motor performance by selectively suppressing task-relevant variability (TRV), while allowing task-equivalent variability (TEV) to occur. During unperturbed bipedal standing, it has previously been observed that, for task variables such as the whole-body center of mass (CoM), TEV exceeds TRV in amplitude. However, selective control (and correction) of TRV should also lead to different temporal characteristics, with TEV exhibiting higher temporal persistence compared to TRV. The present study was specifically designed to test this prediction. Kinematics of prolonged quiet standing (5 minutes) was measured in fourteen healthy young participants, with eyes closed. Using the uncontrolled manifold analysis, postural variability in six sagittal joint angles was decomposed into TEV and TRV with respect to four task variables: (1) center of mass (CoM) position, (2) head position, (3) trunk orientation and (4) head orientation. Persistence of fluctuations within the two variability components was quantified by the time-lagged auto-correlation, with eight time lags between 1 and 128 seconds. The pattern of results differed between task variables. For three of the four task variables (CoM position, head position, trunk orientation), TEV significantly exceeded TRV over the entire 300 s-period.The autocorrelation analysis confirmed our main hypothesis for CoM position and head position: at intermediate and longer time delays, TEV exhibited higher persistence than TRV. Trunk orientation showed a similar trend, while head orientation did not show a systematic difference between TEV and TRV persistence. The combination of temporal and task-equivalent analyses in the present study allow a refined characterization of the dynamic control processes underlying the stabilization of upright standing. The results confirm the prediction, derived from computational motor control, that task

  12. A theory on the evolution of the habitual orthograde human bipedalism--the "Amphibische Generalistentheorie".

    PubMed

    Niemitz, Carsten

    2002-03-01

    The theory is formulated that ubiquitous scarcity of energy is one of the main motors of evolution. It is concluded that our primate ancestors never came down from the trees, but rather they have always been (semi-)terrestrial. This habit is probably an old symplesiomorph trait, older than primates themselves. Terrestrial habits in primates correlate to body weight in small systematic groups (e.g., large genera, families) but are, overall, completely independent from individual body mass. An omnivorous, semiterrestrial quadrupedal locomotor generalist seems to be the most probable morpho- and eco-type for our ancestor at the threshold of a hominoid stage of our evolution. The theory presented here suggests that our hominoid ancestor lived in gallery forests and changed strata in order also to inhabit the savannah habitat as well as the shallow water of the rivers or coasts. Foraging in a wading manner was extremely favourable for an effective and, especially, seasonally independent, animal protein supply. Anatomical adaptations to orthogradism and proportions of the extremities are discussed in relation to the necessary and frequent change of habitat strata. Ultimately, human bipedalism is seen here to be derived as a consequence of the centre of body mass, which is, in primates, near the hind extremities. By contrast to other mammals entering the water, wading primates sink back on their hind limbs. Selective forces for habitat use, limb proportions and wading habits are discussed, as well as the phylogenetic origin of human affinity to water and shores in all peoples through all times, from australopithecine times through the Paleolithic until today. PMID:12058577

  13. Autonomous exoskeleton reduces metabolic cost of walking.

    PubMed

    Mooney, Luke M; Rouse, Elliott J; Herr, Hugh M

    2014-01-01

    We developed an autonomous powered leg exoskeleton capable of providing large amounts of positive mechanical power to the wearer during powered plantarflexion phase of walking. The autonomous exoskeleton consisted of a winch actuator fasted to the shin which pulled on fiberglass struts attached to a boot. The fiberglass struts formed a rigid extension of the foot when the proximal end of the strut was pulled in forward by the winch actuator. This lightweight, geometric transmission allowed the electric winch actuator to efficiently produce biological levels of power at the ankle joint. The exoskeleton was powered and controlled by lithium polymer batteries and motor controller worn around the waist. Preliminary testing on two subjects walking at 1.4 m/s resulted in the exoskeleton reducing the metabolic cost of walking by 6-11% as compared to not wearing the device. The exoskeleton provided a peak mechanical power of over 180 W at each ankle (mean standard ± deviation) and an average positive mechanical power of 27 ± 1 W total to both ankles, while electrically using 75-89 W of electricity. The batteries (800 g) used in this experiment are estimated to be capable of providing this level of assistance for up to 7 km of walking. PMID:25570638

  14. Autonomous exoskeleton reduces metabolic cost of walking.

    PubMed

    Mooney, Luke M; Rouse, Elliott J; Herr, Hugh M

    2014-01-01

    We developed an autonomous powered leg exoskeleton capable of providing large amounts of positive mechanical power to the wearer during powered plantarflexion phase of walking. The autonomous exoskeleton consisted of a winch actuator fasted to the shin which pulled on fiberglass struts attached to a boot. The fiberglass struts formed a rigid extension of the foot when the proximal end of the strut was pulled in forward by the winch actuator. This lightweight, geometric transmission allowed the electric winch actuator to efficiently produce biological levels of power at the ankle joint. The exoskeleton was powered and controlled by lithium polymer batteries and motor controller worn around the waist. Preliminary testing on two subjects walking at 1.4 m/s resulted in the exoskeleton reducing the metabolic cost of walking by 6-11% as compared to not wearing the device. The exoskeleton provided a peak mechanical power of over 180 W at each ankle (mean standard ± deviation) and an average positive mechanical power of 27 ± 1 W total to both ankles, while electrically using 75-89 W of electricity. The batteries (800 g) used in this experiment are estimated to be capable of providing this level of assistance for up to 7 km of walking.

  15. Homeothermy and primate bipedalism: is water shortage or solar radiation the main threat to baboon (Papio hamadryas) homeothermy?

    PubMed

    Mitchell, Duncan; Fuller, Andrea; Maloney, Shane K

    2009-05-01

    Other than the hominin lineage, baboons are the diurnally active primates that have colonized the arid plains of Africa most successfully. While the hominin lineage adopted bipedalism before colonizing the open, dry plains, baboons retained a quadrupedal mode of locomotion. Because bipedalism has been considered to reduce the thermoregulatory stress of inhabiting open dry plains, we investigated how baboons cope with thermal loads and water restriction. Using implanted data loggers, we measured abdominal temperature every 5 min in six unrestrained baboons while they were exposed to simulated desert conditions (15 degrees C at night rising to 35 degrees C during the day, with and without extra radiant heating), or an ambient temperature of 22 degrees C. At 22 degrees C, core temperature averaged 37.9 degrees C and cycled nychthemerally by 1.7 degrees C. Mean, minimum, and maximum daily core temperatures in euhydrated baboons in the simulated desert environments did not differ from the temperatures displayed in the 22 degrees C environment, even when radiant heating was applied. At 22 degrees C, restricting water intake did not affect core temperature. During the desert simulations, maximum core temperature increased significantly on each day of water deprivation, with the highest temperatures (>40 degrees C) on the third day in the simulation that included radiant heat. When drinking water heated to 38 degrees C was returned, core temperature decreased rapidly to a level lower than normal for that time of day. We conclude that baboons with access to water can maintain homeothermy in the face of high air temperatures and radiant heat loads, but that a lack of access to drinking water poses a major threat to baboon homeothermy. We speculate that any competitive thermoregulatory advantage of bipedalism in early hominins was related to coping with water shortage in hot environments, and that their freed hands might have enabled them to transport enough water to avoid

  16. Phytomolecule icaritin incorporated PLGA/TCP scaffold for steroid-associated osteonecrosis: Proof-of-concept for prevention of hip joint collapse in bipedal emus and mechanistic study in quadrupedal rabbits.

    PubMed

    Qin, Ling; Yao, Dong; Zheng, Lizhen; Liu, Wai-Ching; Liu, Zhong; Lei, Ming; Huang, Le; Xie, Xinhui; Wang, Xinluan; Chen, Yang; Yao, Xinsheng; Peng, Jiang; Gong, He; Griffith, James F; Huang, Yanping; Zheng, Yongping; Feng, Jian Q; Liu, Ying; Chen, Shihui; Xiao, Deming; Wang, Daping; Xiong, Jiangyi; Pei, Duanqing; Zhang, Peng; Pan, Xiaohua; Wang, Xiaohong; Lee, Kwong-Man; Cheng, Chun-Yiu

    2015-08-01

    Steroid-associated osteonecrosis (SAON) may lead to joint collapse and subsequent joint replacement. Poly lactic-co-glycolic acid/tricalcium phosphate (P/T) scaffold providing sustained release of icaritin (a metabolite of Epimedium-derived flavonoids) was investigated as a bone defect filler after surgical core-decompression (CD) to prevent femoral head collapse in a bipedal SAON animal model using emu (a large flightless bird). The underlying mechanism on SAON was evaluated using a well-established quadrupedal rabbit model. Fifteen emus were established with SAON, and CD was performed along the femoral neck for the efficacy study. In this CD bone defect, a P/T scaffold with icaritin (P/T/I group) or without icaritin (P/T group) was implanted while no scaffold implantation was used as a control. For the mechanistic study in rabbits, the effects of icaritin and composite scaffolds on bone mesenchymal stem cells (BMSCs) recruitment, osteogenesis, and anti-adipogenesis were evaluated. Our efficacy study showed that P/T/I group had the significantly lowest incidence of femoral head collapse, better preserved cartilage and mechanical properties supported by more new bone formation within the bone tunnel. For the mechanistic study, our in vitro tests suggested that icaritin enhanced the expression of osteogenesis related genes COL1α, osteocalcin, RUNX2, and BMP-2 while inhibited adipogenesis related genes C/EBP-ß, PPAR-γ, and aP2 of rabbit BMSCs. Both P/T and P/T/I scaffolds were demonstrated to recruit BMSCs both in vitro and in vivo but a higher expression of migration related gene VCAM1 was only found in P/T/I group in vitro. In conclusion, both efficacy and mechanistic studies show the potential of a bioactive composite porous P/T scaffold incorporating icaritin to enhance bone defect repair after surgical CD and prevent femoral head collapse in a bipedal SAON emu model. PMID:25968462

  17. Relativistic Weierstrass random walks.

    PubMed

    Saa, Alberto; Venegeroles, Roberto

    2010-08-01

    The Weierstrass random walk is a paradigmatic Markov chain giving rise to a Lévy-type superdiffusive behavior. It is well known that special relativity prevents the arbitrarily high velocities necessary to establish a superdiffusive behavior in any process occurring in Minkowski spacetime, implying, in particular, that any relativistic Markov chain describing spacetime phenomena must be essentially Gaussian. Here, we introduce a simple relativistic extension of the Weierstrass random walk and show that there must exist a transition time t{c} delimiting two qualitative distinct dynamical regimes: the (nonrelativistic) superdiffusive Lévy flights, for tt{c} . Implications of this crossover between different diffusion regimes are discussed for some explicit examples. The study of such an explicit and simple Markov chain can shed some light on several results obtained in much more involved contexts. PMID:20866862

  18. Relativistic Weierstrass random walks.

    PubMed

    Saa, Alberto; Venegeroles, Roberto

    2010-08-01

    The Weierstrass random walk is a paradigmatic Markov chain giving rise to a Lévy-type superdiffusive behavior. It is well known that special relativity prevents the arbitrarily high velocities necessary to establish a superdiffusive behavior in any process occurring in Minkowski spacetime, implying, in particular, that any relativistic Markov chain describing spacetime phenomena must be essentially Gaussian. Here, we introduce a simple relativistic extension of the Weierstrass random walk and show that there must exist a transition time t{c} delimiting two qualitative distinct dynamical regimes: the (nonrelativistic) superdiffusive Lévy flights, for tt{c} . Implications of this crossover between different diffusion regimes are discussed for some explicit examples. The study of such an explicit and simple Markov chain can shed some light on several results obtained in much more involved contexts.

  19. The walk and jump of Equisetum spores.

    PubMed

    Marmottant, Philippe; Ponomarenko, Alexandre; Bienaimé, Diane

    2013-11-01

    Equisetum plants (horsetails) reproduce by producing tiny spherical spores that are typically 50 µm in diameter. The spores have four elaters, which are flexible ribbon-like appendages that are initially wrapped around the main spore body and that deploy upon drying or fold back in humid air. If elaters are believed to help dispersal, the exact mechanism for spore motion remains unclear in the literature. In this manuscript, we present observations of the 'walks' and 'jumps' of Equisetum spores, which are novel types of spore locomotion mechanisms compared to the ones of other spores. Walks are driven by humidity cycles, each cycle inducing a small step in a random direction. The dispersal range from the walk is limited, but the walk provides key steps to either exit the sporangium or to reorient and refold. Jumps occur when the spores suddenly thrust themselves after being tightly folded. They result in a very efficient dispersal: even spores jumping from the ground can catch the wind again, whereas non-jumping spores stay on the ground. The understanding of these movements, which are solely driven by humidity variations, conveys biomimetic inspiration for a new class of self-propelled objects. PMID:24026816

  20. Running for Exercise Mitigates Age-Related Deterioration of Walking Economy

    PubMed Central

    Ortega, Justus D.; Beck, Owen N.; Roby, Jaclyn M.; Turney, Aria L.; Kram, Rodger

    2014-01-01

    Introduction Impaired walking performance is a key predictor of morbidity among older adults. A distinctive characteristic of impaired walking performance among older adults is a greater metabolic cost (worse economy) compared to young adults. However, older adults who consistently run have been shown to retain a similar running economy as young runners. Unfortunately, those running studies did not measure the metabolic cost of walking. Thus, it is unclear if running exercise can prevent the deterioration of walking economy. Purpose To determine if and how regular walking vs. running exercise affects the economy of locomotion in older adults. Methods 15 older adults (69±3 years) who walk ≥30 min, 3x/week for exercise, “walkers” and 15 older adults (69±5 years) who run ≥30 min, 3x/week, “runners” walked on a force-instrumented treadmill at three speeds (0.75, 1.25, and 1.75 m/s). We determined walking economy using expired gas analysis and walking mechanics via ground reaction forces during the last 2 minutes of each 5 minute trial. We compared walking economy between the two groups and to non-aerobically trained young and older adults from a prior study. Results Older runners had a 7–10% better walking economy than older walkers over the range of speeds tested (p = .016) and had walking economy similar to young sedentary adults over a similar range of speeds (p = .237). We found no substantial biomechanical differences between older walkers and runners. In contrast to older runners, older walkers had similar walking economy as older sedentary adults (p = .461) and ∼26% worse walking economy than young adults (p<.0001). Conclusion Running mitigates the age-related deterioration of walking economy whereas walking for exercise appears to have minimal effect on the age-related deterioration in walking economy. PMID:25411850

  1. On extracting design principles from biology: II. Case study-the effect of knee direction on bipedal robot running efficiency.

    PubMed

    Haberland, M; Kim, S

    2015-01-01

    Comparing the leg of an ostrich to that of a human suggests an important question to legged robot designers: should a robot's leg joint bend in the direction of running ('forwards') or opposite ('backwards')? Biological studies cannot answer this question for engineers due to significant differences between the biological and engineering domains. Instead, we investigated the inherent effect of joint bending direction on bipedal robot running efficiency by comparing energetically optimal gaits of a wide variety of robot designs sampled at random from a design space. We found that the great majority of robot designs have several locally optimal gaits with the knee bending backwards that are more efficient than the most efficient gait with the knee bending forwards. The most efficient backwards gaits do not exhibit lower touchdown losses than the most efficient forward gaits; rather, the improved efficiency of backwards gaits stems from lower torque and reduced motion at the hip. The reduced hip use of backwards gaits is enabled by the ability of the backwards knee, acting alone, to (1) propel the robot upwards and forwards simultaneously and (2) lift and protract the foot simultaneously. In the absence of other information, designers interested in building efficient bipedal robots with two-segment legs driven by electric motors should design the knee to bend backwards rather than forwards. Compared to common practices for choosing robot knee direction, application of this principle would have a strong tendency to improve robot efficiency and save design resources. PMID:25643285

  2. On extracting design principles from biology: II. Case study-the effect of knee direction on bipedal robot running efficiency.

    PubMed

    Haberland, M; Kim, S

    2015-02-02

    Comparing the leg of an ostrich to that of a human suggests an important question to legged robot designers: should a robot's leg joint bend in the direction of running ('forwards') or opposite ('backwards')? Biological studies cannot answer this question for engineers due to significant differences between the biological and engineering domains. Instead, we investigated the inherent effect of joint bending direction on bipedal robot running efficiency by comparing energetically optimal gaits of a wide variety of robot designs sampled at random from a design space. We found that the great majority of robot designs have several locally optimal gaits with the knee bending backwards that are more efficient than the most efficient gait with the knee bending forwards. The most efficient backwards gaits do not exhibit lower touchdown losses than the most efficient forward gaits; rather, the improved efficiency of backwards gaits stems from lower torque and reduced motion at the hip. The reduced hip use of backwards gaits is enabled by the ability of the backwards knee, acting alone, to (1) propel the robot upwards and forwards simultaneously and (2) lift and protract the foot simultaneously. In the absence of other information, designers interested in building efficient bipedal robots with two-segment legs driven by electric motors should design the knee to bend backwards rather than forwards. Compared to common practices for choosing robot knee direction, application of this principle would have a strong tendency to improve robot efficiency and save design resources.

  3. Quantum random walk polynomial and quantum random walk measure

    NASA Astrophysics Data System (ADS)

    Kang, Yuanbao; Wang, Caishi

    2014-05-01

    In the paper, we introduce a quantum random walk polynomial (QRWP) that can be defined as a polynomial , which is orthogonal with respect to a quantum random walk measure (QRWM) on , such that the parameters are in the recurrence relations and satisfy . We firstly obtain some results of QRWP and QRWM, in which case the correspondence between measures and orthogonal polynomial sequences is one-to-one. It shows that any measure with respect to which a quantum random walk polynomial sequence is orthogonal is a quantum random walk measure. We next collect some properties of QRWM; moreover, we extend Karlin and McGregor's representation formula for the transition probabilities of a quantum random walk (QRW) in the interacting Fock space, which is a parallel result with the CGMV method. Using these findings, we finally obtain some applications for QRWM, which are of interest in the study of quantum random walk, highlighting the role played by QRWP and QRWM.

  4. Comparative Anatomy of the Hind Limb Vessels of the Bearded Capuchins (Sapajus libidinosus) with Apes, Baboons, and Cebus capucinus: With Comments on the Vessels' Role in Bipedalism

    PubMed Central

    Aversi-Ferreira, Roqueline A. G. M. F.; de Abreu, Tainá; Pfrimer, Gabriel A.; Silva, Sylla F.; Ziermann, Janine M.; Carneiro-e-Silva, Frederico O.; Tomaz, Carlos; Tavares, Maria Clotilde H.; Maior, Rafael S.; Aversi-Ferreira, Tales A.

    2013-01-01

    Capuchin monkeys are known to exhibit sporadic bipedalism while performing specific tasks, such as cracking nuts. The bipedal posture and locomotion cause an increase in the metabolic cost and therefore increased blood supply to lower limbs is necessary. Here, we present a detailed anatomical description of the capuchin arteries and veins of the pelvic limb of Sapajus libidinosus in comparison with other primates. The arterial pattern of the bearded capuchin hind limb is more similar to other quadrupedal Cebus species. Similarities were also found to the pattern observed in the quadruped Papio, which is probably due to a comparable pelvis and the presence of the tail. Sapajus' traits show fewer similarities when compared to great apes and modern humans. Moreover, the bearded capuchin showed unique patterns for the femoral and the short saphenous veins. Although this species switches easily from quadrupedal to bipedal postures, our results indicate that the bearded capuchin has no specific or differential features that support extended bipedal posture and locomotion. Thus, the explanation for the behavioral differences found among capuchin genera probably includes other aspects of their physiology. PMID:24396829

  5. Agile Walking Robot

    NASA Technical Reports Server (NTRS)

    Larimer, Stanley J.; Lisec, Thomas R.; Spiessbach, Andrew J.; Waldron, Kenneth J.

    1990-01-01

    Proposed agile walking robot operates over rocky, sandy, and sloping terrain. Offers stability and climbing ability superior to other conceptual mobile robots. Equipped with six articulated legs like those of insect, continually feels ground under leg before applying weight to it. If leg sensed unexpected object or failed to make contact with ground at expected point, seeks alternative position within radius of 20 cm. Failing that, robot halts, examines area around foot in detail with laser ranging imager, and replans entire cycle of steps for all legs before proceeding.

  6. Perception, planning, and control for walking on rugged terrain

    NASA Technical Reports Server (NTRS)

    Simmons, Reid; Krotkov, Eric

    1991-01-01

    The CMU Planetary Rover project is developing a six-legged walking robot capable of autonomously navigating, exploring, and acquiring samples in rugged, unknown environments. To gain experience with the problems involved in walking on rugged terrain, a full-scale prototype leg was built and mounted on a carriage that rolls along overhead rails. Issues addressed in developing the software system to autonomously walk the leg through rugged terrain are described. In particular, the insights gained into perceiving and modeling rugged terrain, controlling the legged mechanism, interacting with the ground, choosing safe yet effective footfalls, and planning efficient leg moves through space are described.

  7. Solar walk-off protection

    NASA Astrophysics Data System (ADS)

    Awaya, H.; Bedard, R.

    1985-04-01

    A point-focus solar concentrator is normally pointed toward the sun during operations to direct concentrated solar flux into the aperture of the receiver. If solar-tracking control is lost, severe damage may occur when the concentrated solar beam moves, or walks off the aperture across the face of the receiver. Alternative methods of solar walk-off prevention/protection for a specific assumed generic dish module and electric plant design are identified. The cost of a baseline case (no walk-off prevention/protection) is first calculated, including initial capital; recurring operating, maintenance, and capital replacement costs; and the cost of restoring the plant to operation following a solar walk-off. The alternative cases (with walk-off prevention/protection) are then evaluated by increasing the solar plant cost as a function of specific walk-off prevention/protection design alternatives and decreasing the cost of walk-off events given the specific level of prevention or protection offered by the alternative cases. The alternative plant designs are then compared with the baseline case and against each other by annualizing all costs. No single walk-off protection solution is universally applicable. Decisions concerning solar walk-off prevention/protection for specific installations must be based on engineering evaluations that consider the alternative choices given a specific plant, dish module, and site.

  8. Solar walk-off protection

    SciTech Connect

    Awaya, H.; Bedard, R.

    1985-04-01

    A point-focus solar concentrator is normally pointed toward the sun during operations to direct concentrated solar flux into the aperture of the receiver. If solar-tracking control is lost, severe damage may occur when the concentrated solar beam moves, or ''walks off'' the aperture across the face of the receiver. Alternative methods of solar walk-off prevention/protection for a specific assumed generic dish module and electric plant design are identified. The cost of a baseline case (no walk-off prevention/protection) is first calculated, including initial capital; recurring operating, maintenance, and capital replacement costs; and the cost of restoring the plant to operation following a solar walk-off. The alternative cases (with walk-off prevention/protection) are then evaluated by increasing the solar plant cost as a function of specific walk-off prevention/protection design alternatives and decreasing the cost of walk-off events given the specific level of prevention or protection offered by the alternative cases. The alternative plant designs are then compared with the baseline case and against each other by annualizing all costs. No single walk-off protection solution is universally applicable. Decisions concerning solar walk-off prevention/protection for specific installations must be based on engineering evaluations that consider the alternative choices given a specific plant, dish module, and site.

  9. Random-walk enzymes

    NASA Astrophysics Data System (ADS)

    Mak, Chi H.; Pham, Phuong; Afif, Samir A.; Goodman, Myron F.

    2015-09-01

    Enzymes that rely on random walk to search for substrate targets in a heterogeneously dispersed medium can leave behind complex spatial profiles of their catalyzed conversions. The catalytic signatures of these random-walk enzymes are the result of two coupled stochastic processes: scanning and catalysis. Here we develop analytical models to understand the conversion profiles produced by these enzymes, comparing an intrusive model, in which scanning and catalysis are tightly coupled, against a loosely coupled passive model. Diagrammatic theory and path-integral solutions of these models revealed clearly distinct predictions. Comparison to experimental data from catalyzed deaminations deposited on single-stranded DNA by the enzyme activation-induced deoxycytidine deaminase (AID) demonstrates that catalysis and diffusion are strongly intertwined, where the chemical conversions give rise to new stochastic trajectories that were absent if the substrate DNA was homogeneous. The C →U deamination profiles in both analytical predictions and experiments exhibit a strong contextual dependence, where the conversion rate of each target site is strongly contingent on the identities of other surrounding targets, with the intrusive model showing an excellent fit to the data. These methods can be applied to deduce sequence-dependent catalytic signatures of other DNA modification enzymes, with potential applications to cancer, gene regulation, and epigenetics.

  10. Random-walk enzymes.

    PubMed

    Mak, Chi H; Pham, Phuong; Afif, Samir A; Goodman, Myron F

    2015-09-01

    Enzymes that rely on random walk to search for substrate targets in a heterogeneously dispersed medium can leave behind complex spatial profiles of their catalyzed conversions. The catalytic signatures of these random-walk enzymes are the result of two coupled stochastic processes: scanning and catalysis. Here we develop analytical models to understand the conversion profiles produced by these enzymes, comparing an intrusive model, in which scanning and catalysis are tightly coupled, against a loosely coupled passive model. Diagrammatic theory and path-integral solutions of these models revealed clearly distinct predictions. Comparison to experimental data from catalyzed deaminations deposited on single-stranded DNA by the enzyme activation-induced deoxycytidine deaminase (AID) demonstrates that catalysis and diffusion are strongly intertwined, where the chemical conversions give rise to new stochastic trajectories that were absent if the substrate DNA was homogeneous. The C→U deamination profiles in both analytical predictions and experiments exhibit a strong contextual dependence, where the conversion rate of each target site is strongly contingent on the identities of other surrounding targets, with the intrusive model showing an excellent fit to the data. These methods can be applied to deduce sequence-dependent catalytic signatures of other DNA modification enzymes, with potential applications to cancer, gene regulation, and epigenetics.

  11. Random-walk enzymes

    PubMed Central

    Mak, Chi H.; Pham, Phuong; Afif, Samir A.; Goodman, Myron F.

    2015-01-01

    Enzymes that rely on random walk to search for substrate targets in a heterogeneously dispersed medium can leave behind complex spatial profiles of their catalyzed conversions. The catalytic signatures of these random-walk enzymes are the result of two coupled stochastic processes: scanning and catalysis. Here we develop analytical models to understand the conversion profiles produced by these enzymes, comparing an intrusive model, in which scanning and catalysis are tightly coupled, against a loosely coupled passive model. Diagrammatic theory and path-integral solutions of these models revealed clearly distinct predictions. Comparison to experimental data from catalyzed deaminations deposited on single-stranded DNA by the enzyme activation-induced deoxycytidine deaminase (AID) demonstrates that catalysis and diffusion are strongly intertwined, where the chemical conversions give rise to new stochastic trajectories that were absent if the substrate DNA was homogeneous. The C → U deamination profiles in both analytical predictions and experiments exhibit a strong contextual dependence, where the conversion rate of each target site is strongly contingent on the identities of other surrounding targets, with the intrusive model showing an excellent fit to the data. These methods can be applied to deduce sequence-dependent catalytic signatures of other DNA modification enzymes, with potential applications to cancer, gene regulation, and epigenetics. PMID:26465508

  12. Random-walk enzymes.

    PubMed

    Mak, Chi H; Pham, Phuong; Afif, Samir A; Goodman, Myron F

    2015-09-01

    Enzymes that rely on random walk to search for substrate targets in a heterogeneously dispersed medium can leave behind complex spatial profiles of their catalyzed conversions. The catalytic signatures of these random-walk enzymes are the result of two coupled stochastic processes: scanning and catalysis. Here we develop analytical models to understand the conversion profiles produced by these enzymes, comparing an intrusive model, in which scanning and catalysis are tightly coupled, against a loosely coupled passive model. Diagrammatic theory and path-integral solutions of these models revealed clearly distinct predictions. Comparison to experimental data from catalyzed deaminations deposited on single-stranded DNA by the enzyme activation-induced deoxycytidine deaminase (AID) demonstrates that catalysis and diffusion are strongly intertwined, where the chemical conversions give rise to new stochastic trajectories that were absent if the substrate DNA was homogeneous. The C→U deamination profiles in both analytical predictions and experiments exhibit a strong contextual dependence, where the conversion rate of each target site is strongly contingent on the identities of other surrounding targets, with the intrusive model showing an excellent fit to the data. These methods can be applied to deduce sequence-dependent catalytic signatures of other DNA modification enzymes, with potential applications to cancer, gene regulation, and epigenetics. PMID:26465508

  13. The phylogenetic position of the musky rat-kangaroo and the evolution of bipedal hopping in kangaroos (Macropodidae: Diprotodontia).

    PubMed

    Burk, A; Westerman, M; Springer, M

    1998-09-01

    Kangaroos and their relatives (family Macropodidae) are divided into the subfamilies Macropodinae (kangaroos, wallabies, pademelons) and Potoroinae (rat-kangaroos, potoroos, bettongs). The musky rat-kangaroo, Hypsiprymnodon moschatus, is traditionally allied with other potoroines, based primarily on the basis of osteological characters and aspects of the female reproductive system. Unlike other macropodids, however, which are capable of bipedal hopping, Hypsiprymnodon is a quadrupedal bounder and lacks several derived features of the pes and tarsus that are presumably adaptations for bipedal hopping. Other derived features, such as a complex stomach, loss of P2 with the eruption of P3, and reduction of litter size to one, are also lacking in Hypsiprymnodon but occur in all other macropodids. Thus, available evidence suggests that Hypsiprymnodon either is part of a monophyletic Potoroinae or is a sister taxon to other living macropodids. To test these hypotheses, we sequenced 1,170 bp base pairs of the mitochondrial genome for 16 macropodids. Maximum parsimony, minimum evolution, maximum likelihood, and quartet puzzling all support the hypothesis that macropodines and potoroines are united to the exclusion of Hypsiprymnodon. This hypothesis implies that characters such as bipedal hopping evolved only once in macropodid evolution. Aside from Hypsiprymnodon, the remaining macropodids separate into the traditional Macropodinae and Potoroinae. Macropodines further separate into two clades: one containing the New Guinean forest wallabies Dorcopsis and Dorcopsulus, and one consisting of the genera Macropus, Setonix, Thylogale, Onychogalea, Wallabia, Dendrolagus, Peradorcas, and Lagorchestes. Among potoroines, there is moderate support for the association of Bettongia and Aepyprymnus to the exclusion of Potorous. Divergence times were estimated by using 12S ribosomal RNA transversions. At the base of the macropodid radiation, Hypsiprymnodon diverged from other macropodids

  14. Biomechanics of walking with snowshoes.

    PubMed

    Browning, Raymond C; Kurtz, Rebecca N; Kerherve, Hugo

    2012-03-01

    Snowshoeing is a popular form of winter recreation due to the development of lightweight snowshoes that provide flotation, traction, and stability. The purpose of this study was to determine the effects of snowshoes on lower extremity kinematics during level walking. Twelve adults (6 males, 6 females, body mass = 67.5 +/- 10.7kg) completed six 3-minute level walking trials. Subjects walked overground without snowshoes and on packed snow using conventional and flexible tail snowshoes. We placed lightweight inertial/gyroscopic sensors on the sacrum, thigh, shank, and foot. We recorded sensor orientation and calculated hip, knee, and ankle joint angles and angular velocities. Compared to level overground walking, subjects had greater hip and knee flexion during stance and greater hip flexion during swing while snowshoeing. Ankle plantarflexion began during late swing when snowshoeing vs. heel strike during overground walking. Lower extremity kinematics were similar across snowshoe frame designs during level walking. Our results show that snowshoeing on packed snow results in a more flexed leg compared to overground walking and may reflect a strategy to limit the effects of walking with an extended heel.

  15. Nonreversal and nonrepeating quantum walks

    NASA Astrophysics Data System (ADS)

    Proctor, T. J.; Barr, K. E.; Hanson, B.; Martiel, S.; Pavlović, V.; Bullivant, A.; Kendon, V. M.

    2014-04-01

    We introduce a variation of the discrete-time quantum walk, the nonreversal quantum walk, which does not step back onto a position that it has just occupied. This allows us to simulate a dimer and we achieve it by introducing a different type of coin operator. The nonrepeating walk, which never moves in the same direction in consecutive time steps, arises by a permutation of this coin operator. We describe the basic properties of both walks and prove that the even-order joint moments of the nonrepeating walker are independent of the initial condition, being determined by five parameters derived from the coin instead. Numerical evidence suggests that the same is the case for the nonreversal walk. This contrasts strongly with previously studied coins, such as the Grover operator, where the initial condition can be used to control the standard deviation of the walker.

  16. Walking habits in elderly widows.

    PubMed

    Grimby, Agneta; Johansson, Asa K; Sundh, Valter; Grimby, Gunnar

    2008-01-01

    Walking habits were studied in 3 groups of elderly widows. The average walking time per week was calculated from interviews or questionnaires. There was in a small studied group a tendency for walking time to be lower at 3 and 12 months after loss than at 4 or 5 years. An increased odds ratio was demonstrated in larger groups of widows for walking less than 120 minutes per week in those who "did not feel healthy," or who had "musculoskeletal health problems," or "cardiovascular health problems." Widows from a population-based study also showed increased odds ratio for not walking as long with "lack of friends" and "not being active in associations." This was not found in married women from the population study. Our results indicate that newly bereaved women may reduce their physical activity, and that the change in exercise habits may be associated with reduced perception of being healthy and a decreased social network.

  17. Design of a walking robot

    NASA Technical Reports Server (NTRS)

    Whittaker, William; Dowling, Kevin

    1994-01-01

    Carnegie Mellon University's Autonomous Planetary Exploration Program (APEX) is currently building the Daedalus robot; a system capable of performing extended autonomous planetary exploration missions. Extended autonomy is an important capability because the continued exploration of the Moon, Mars and other solid bodies within the solar system will probably be carried out by autonomous robotic systems. There are a number of reasons for this - the most important of which are the high cost of placing a man in space, the high risk associated with human exploration and communication delays that make teleoperation infeasible. The Daedalus robot represents an evolutionary approach to robot mechanism design and software system architecture. Daedalus incorporates key features from a number of predecessor systems. Using previously proven technologies, the Apex project endeavors to encompass all of the capabilities necessary for robust planetary exploration. The Ambler, a six-legged walking machine was developed by CMU for demonstration of technologies required for planetary exploration. In its five years of life, the Ambler project brought major breakthroughs in various areas of robotic technology. Significant progress was made in: mechanism and control, by introducing a novel gait pattern (circulating gait) and use of orthogonal legs; perception, by developing sophisticated algorithms for map building; and planning, by developing and implementing the Task Control Architecture to coordinate tasks and control complex system functions. The APEX project is the successor of the Ambler project.

  18. Design of a walking robot

    NASA Astrophysics Data System (ADS)

    Whittaker, William; Dowling, Kevin

    1994-03-01

    Carnegie Mellon University's Autonomous Planetary Exploration Program (APEX) is currently building the Daedalus robot; a system capable of performing extended autonomous planetary exploration missions. Extended autonomy is an important capability because the continued exploration of the Moon, Mars and other solid bodies within the solar system will probably be carried out by autonomous robotic systems. There are a number of reasons for this - the most important of which are the high cost of placing a man in space, the high risk associated with human exploration and communication delays that make teleoperation infeasible. The Daedalus robot represents an evolutionary approach to robot mechanism design and software system architecture. Daedalus incorporates key features from a number of predecessor systems. Using previously proven technologies, the Apex project endeavors to encompass all of the capabilities necessary for robust planetary exploration. The Ambler, a six-legged walking machine was developed by CMU for demonstration of technologies required for planetary exploration. In its five years of life, the Ambler project brought major breakthroughs in various areas of robotic technology. Significant progress was made in: mechanism and control, by introducing a novel gait pattern (circulating gait) and use of orthogonal legs; perception, by developing sophisticated algorithms for map building; and planning, by developing and implementing the Task Control Architecture to coordinate tasks and control complex system functions. The APEX project is the successor of the Ambler project.

  19. Quantum walks on quotient graphs

    SciTech Connect

    Krovi, Hari; Brun, Todd A.

    2007-06-15

    A discrete-time quantum walk on a graph {gamma} is the repeated application of a unitary evolution operator to a Hilbert space corresponding to the graph. If this unitary evolution operator has an associated group of symmetries, then for certain initial states the walk will be confined to a subspace of the original Hilbert space. Symmetries of the original graph, given by its automorphism group, can be inherited by the evolution operator. We show that a quantum walk confined to the subspace corresponding to this symmetry group can be seen as a different quantum walk on a smaller quotient graph. We give an explicit construction of the quotient graph for any subgroup H of the automorphism group and illustrate it with examples. The automorphisms of the quotient graph which are inherited from the original graph are the original automorphism group modulo the subgroup H used to construct it. The quotient graph is constructed by removing the symmetries of the subgroup H from the original graph. We then analyze the behavior of hitting times on quotient graphs. Hitting time is the average time it takes a walk to reach a given final vertex from a given initial vertex. It has been shown in earlier work [Phys. Rev. A 74, 042334 (2006)] that the hitting time for certain initial states of a quantum walks can be infinite, in contrast to classical random walks. We give a condition which determines whether the quotient graph has infinite hitting times given that they exist in the original graph. We apply this condition for the examples discussed and determine which quotient graphs have infinite hitting times. All known examples of quantum walks with hitting times which are short compared to classical random walks correspond to systems with quotient graphs much smaller than the original graph; we conjecture that the existence of a small quotient graph with finite hitting times is necessary for a walk to exhibit a quantum speedup.

  20. Diffraction of walking droplets

    NASA Astrophysics Data System (ADS)

    Harris, Daniel M.; Pucci, Giuseppe; Bush, John W. M.

    2014-11-01

    We present results from our revisitation of the experiment of a walking droplet passing through a single slit, originally investigated by Couder & Fort (PRL, 2006). On each passage, the walker's trajectory is deviated as a result of the spatial confinement of its guiding wave. We explore the role of the droplet size and the bath's vibration amplitude on both the dynamics and statistics. We find the behavior to be remarkably sensitive to these control parameters. A complex physical picture emerges. The authors gratefully acknowledge the financial support of the NSF through Grant CMMI-1333242, DMH through the NSF Graduate Research Fellowship Program, and GP through the Programma Operativo Regionale (POR) Calabria - FSE 2007/2013.

  1. The TUM walking machines.

    PubMed

    Pfeiffer, Friedrich

    2007-01-15

    This paper presents some aspects of walking machine design with a special emphasis on the three machines MAX, MORITZ and JOHNNIE, having been developed at the Technical University of Munich within the last 20 years. The design of such machines is discussed as an iterative process improving the layout with every iteration. The control concepts are event-driven and follow logical rules, which have largely been transferred from neurobiological findings. At least for the six-legged machine MAX, a nearly perfect autonomy could be achieved, whereas for the biped JOHNNIE, a certain degree of autonomy could be realized by a vision system with appropriate decision algorithms. This vision system was developed by the group of Prof. G. Schmidt, TU-München. A more detailed description of the design and realization is presented for the biped JOHNNIE.

  2. Walking indoors, walking outdoors: an fMRI study.

    PubMed

    Dalla Volta, Riccardo; Fasano, Fabrizio; Cerasa, Antonio; Mangone, Graziella; Quattrone, Aldo; Buccino, Giovanni

    2015-01-01

    An observation/execution matching system for walking has not been assessed yet. The present fMRI study was aimed at assessing whether, as for object-directed actions, an observation/execution matching system is active for walking and whether the spatial context of walking (open or narrow space) recruits different neural correlates. Two experimental conditions were employed. In the execution condition, while being scanned, participants performed walking on a rolling cylinder located just outside the scanner. The same action was performed also while observing a video presenting either an open space (a country field) or a narrow space (a corridor). In the observation condition, participants observed a video presenting an individual walking on the same cylinder on which the actual action was executed, the open space video and the narrow space video, respectively. Results showed common bilateral activations in the dorsal premotor/supplementary motor areas and in the posterior parietal lobe for both execution and observation of walking, thus supporting a matching system for this action. Moreover, specific sectors of the occipital-temporal cortex and the middle temporal gyrus were consistently active when processing a narrow space versus an open one, thus suggesting their involvement in the visuo-motor transformation required when walking in a narrow space. We forward that the present findings may have implications for rehabilitation of gait and sport training. PMID:26483745

  3. Walking indoors, walking outdoors: an fMRI study

    PubMed Central

    Dalla Volta, Riccardo; Fasano, Fabrizio; Cerasa, Antonio; Mangone, Graziella; Quattrone, Aldo; Buccino, Giovanni

    2015-01-01

    An observation/execution matching system for walking has not been assessed yet. The present fMRI study was aimed at assessing whether, as for object-directed actions, an observation/execution matching system is active for walking and whether the spatial context of walking (open or narrow space) recruits different neural correlates. Two experimental conditions were employed. In the execution condition, while being scanned, participants performed walking on a rolling cylinder located just outside the scanner. The same action was performed also while observing a video presenting either an open space (a country field) or a narrow space (a corridor). In the observation condition, participants observed a video presenting an individual walking on the same cylinder on which the actual action was executed, the open space video and the narrow space video, respectively. Results showed common bilateral activations in the dorsal premotor/supplementary motor areas and in the posterior parietal lobe for both execution and observation of walking, thus supporting a matching system for this action. Moreover, specific sectors of the occipital–temporal cortex and the middle temporal gyrus were consistently active when processing a narrow space versus an open one, thus suggesting their involvement in the visuo-motor transformation required when walking in a narrow space. We forward that the present findings may have implications for rehabilitation of gait and sport training. PMID:26483745

  4. The walk and jump of Equisetum spores

    PubMed Central

    Marmottant, Philippe; Ponomarenko, Alexandre; Bienaimé, Diane

    2013-01-01

    Equisetum plants (horsetails) reproduce by producing tiny spherical spores that are typically 50 µm in diameter. The spores have four elaters, which are flexible ribbon-like appendages that are initially wrapped around the main spore body and that deploy upon drying or fold back in humid air. If elaters are believed to help dispersal, the exact mechanism for spore motion remains unclear in the literature. In this manuscript, we present observations of the ‘walks’ and ‘jumps’ of Equisetum spores, which are novel types of spore locomotion mechanisms compared to the ones of other spores. Walks are driven by humidity cycles, each cycle inducing a small step in a random direction. The dispersal range from the walk is limited, but the walk provides key steps to either exit the sporangium or to reorient and refold. Jumps occur when the spores suddenly thrust themselves after being tightly folded. They result in a very efficient dispersal: even spores jumping from the ground can catch the wind again, whereas non-jumping spores stay on the ground. The understanding of these movements, which are solely driven by humidity variations, conveys biomimetic inspiration for a new class of self-propelled objects. PMID:24026816

  5. Strongly correlated quantum walks in optical lattices

    NASA Astrophysics Data System (ADS)

    Preiss, Philipp M.; Ma, Ruichao; Tai, M. Eric; Lukin, Alexander; Rispoli, Matthew; Zupancic, Philip; Lahini, Yoav; Islam, Rajibul; Greiner, Markus

    2015-03-01

    Full control over the dynamics of interacting, indistinguishable quantum particles is an important prerequisite for the experimental study of strongly correlated quantum matter and the implementation of high-fidelity quantum information processing. We demonstrate such control over the quantum walk—the quantum mechanical analog of the classical random walk—in the regime where dynamics are dominated by interparticle interactions. Using interacting bosonic atoms in an optical lattice, we directly observed fundamental effects such as the emergence of correlations in two-particle quantum walks, as well as strongly correlated Bloch oscillations in tilted optical lattices. Our approach can be scaled to larger systems, greatly extending the class of problems accessible via quantum walks.

  6. Intrinsic Lévy behaviour in organisms - searching for a mechanism. Comment on "Liberating Lévy walk research from the shackles of optimal foraging" by A.M. Reynolds

    NASA Astrophysics Data System (ADS)

    Sims, David W.

    2015-09-01

    The seminal papers by Viswanathan and colleagues in the late 1990s [1,2] proposed not only that scale-free, superdiffusive Lévy walks can describe the free-ranging movement patterns observed in animals such as the albatross [1], but that the Lévy walk was optimal for searching for sparsely and randomly distributed resource targets [2]. This distinct advantage, now shown to be present over a much broader set of conditions than originally theorised [3], implied that the Lévy walk is a search strategy that should be found very widely in organisms [4]. In the years since there have been several influential empirical studies showing that Lévy walks can indeed be detected in the movement patterns of a very broad range of taxa, from jellyfish, insects, fish, reptiles, seabirds, humans [5-10], and even in the fossilised trails of extinct invertebrates [11]. The broad optimality and apparent deep evolutionary origin of movement (search) patterns that are well approximated by Lévy walks led to the development of the Lévy flight foraging (LFF) hypothesis [12], which states that "since Lévy flights and walks can optimize search efficiencies, therefore natural selection should have led to adaptations for Lévy flight foraging".

  7. The mass-specific energy cost of human walking is set by stature

    Technology Transfer Automated Retrieval System (TEKTRAN)

    The metabolic and mechanical requirements of walking are considered to be of fundamental importance to the health, physiological function and even the evolution of modern humans. Although walking energy expenditure and gait mechanics are clearly linked, a direct quantitative relationship has not eme...

  8. Big power from walking

    NASA Astrophysics Data System (ADS)

    Illenberger, Patrin K.; Madawala, Udaya K.; Anderson, Iain A.

    2016-04-01

    Dielectric Elastomer Generators (DEG) offer an opportunity to capture the energy otherwise wasted from human motion. By integrating a DEG into the heel of standard footwear, it is possible to harness this energy to power portable devices. DEGs require substantial auxiliary systems which are commonly large, heavy and inefficient. A unique challenge for these low power generators is the combination of high voltage and low current. A void exists in the semiconductor market for devices that can meet these requirements. Until these become available, existing devices must be used in an innovative way to produce an effective DEG system. Existing systems such as the Bi-Directional Flyback (BDFB) and Self Priming Circuit (SPC) are an excellent example of this. The BDFB allows full charging and discharging of the DEG, improving power gained. The SPC allows fully passive voltage boosting, removing the priming source and simplifying the electronics. This paper outlines the drawbacks and benefits of active and passive electronic solutions for maximizing power from walking.

  9. Base Station Walk-Back

    NASA Video Gallery

    Train to improve your lung, heart, and other muscle endurance while walking a progressive, measured distance. The Train Like an Astronaut project uses the excitement of exploration to challenge stu...

  10. Quantum snake walk on graphs

    SciTech Connect

    Rosmanis, Ansis

    2011-02-15

    I introduce a continuous-time quantum walk on graphs called the quantum snake walk, the basis states of which are fixed-length paths (snakes) in the underlying graph. First, I analyze the quantum snake walk on the line, and I show that, even though most states stay localized throughout the evolution, there are specific states that most likely move on the line as wave packets with momentum inversely proportional to the length of the snake. Next, I discuss how an algorithm based on the quantum snake walk might potentially be able to solve an extended version of the glued trees problem, which asks to find a path connecting both roots of the glued trees graph. To the best of my knowledge, no efficient quantum algorithm solving this problem is known yet.

  11. The inverted pendulum model of bipedal standing cannot be stabilized through direct feedback of force and contractile element length and velocity at realistic series elastic element stiffness.

    PubMed

    van Soest, A J Knoek; Rozendaal, Leonard A

    2008-07-01

    Control of bipedal standing is typically analyzed in the context of a single-segment inverted pendulum model. The stiffness K (SE) of the series elastic element that transmits the force generated by the contractile elements of the ankle plantarflexors to the skeletal system has been reported to be smaller in magnitude than the destabilizing gravitational stiffness K ( g ). In this study, we assess, in case K (SE) + K ( g ) < 0, if bipedal standing can be locally stable under direct feedback of contractile element length, contractile element velocity (both sensed by muscle spindles) and muscle force (sensed by Golgi tendon organs) to alpha-motoneuron activity. A theoretical analysis reveals that even though positive feedback of force may increase the stiffness of the muscle-tendon complex to values well over the destabilizing gravitational stiffness, dynamic instability makes it impossible to obtain locally stable standing under the conditions assumed.

  12. The up and down bobbing of human walking: a compromise between muscle work and efficiency.

    PubMed

    Massaad, Firas; Lejeune, Thierry M; Detrembleur, Christine

    2007-07-15

    Human walking has a peculiar straight-legged style. Consequently, the body's centre of mass (CM) moves up and down with each step, which is noticeable in their up and down head bobbing while walking. This vertical CM movement enables humans to save energy via a pendulum-like mechanism but is probably a relatively recent locomotor innovation insofar as earliest bipeds may have walked flexed and flat. We investigated the mechanics, energetics, muscle efficiency and optimization of human walking by decreasing and increasing the vertical CM displacement (flat and bouncy walking) in comparison to normal walking at six speeds (1-6 km h(-1)). In both flat and bouncy walking, the pendular mechanism was reduced and the energy cost was increased. However, this increase was unexpectedly much sharper in flat walking where muscles provided normal mechanical work but with a decrease in muscle efficiency. In bouncy walking, muscles provided extra mechanical work in an efficient way. Our results showed that not only do humans bob up and down in normal walking to save energy via a pendulum-like mechanism but also to make their muscles work efficiently. Actually, walking flat makes the muscles work in unfavourable conditions that waste energy. Furthermore, we are still close to a flat CM displacement relative to our current ability to change this displacement, which suggests that reducing vertical CM displacement is indeed important but only to certain limits. Evolution may ultimately have chosen the best compromise between flat locomotion that requires little work to move and bouncy locomotion that improves muscle efficiency to minimize energy consumption.

  13. The up and down bobbing of human walking: a compromise between muscle work and efficiency

    PubMed Central

    Massaad, Firas; Lejeune, Thierry M; Detrembleur, Christine

    2007-01-01

    Human walking has a peculiar straight-legged style. Consequently, the body's centre of mass (CM) moves up and down with each step, which is noticeable in their up and down head bobbing while walking. This vertical CM movement enables humans to save energy via a pendulum-like mechanism but is probably a relatively recent locomotor innovation insofar as earliest bipeds may have walked flexed and flat. We investigated the mechanics, energetics, muscle efficiency and optimization of human walking by decreasing and increasing the vertical CM displacement (flat and bouncy walking) in comparison to normal walking at six speeds (1–6 km h−1). In both flat and bouncy walking, the pendular mechanism was reduced and the energy cost was increased. However, this increase was unexpectedly much sharper in flat walking where muscles provided normal mechanical work but with a decrease in muscle efficiency. In bouncy walking, muscles provided extra mechanical work in an efficient way. Our results showed that not only do humans bob up and down in normal walking to save energy via a pendulum-like mechanism but also to make their muscles work efficiently. Actually, walking flat makes the muscles work in unfavourable conditions that waste energy. Furthermore, we are still close to a flat CM displacement relative to our current ability to change this displacement, which suggests that reducing vertical CM displacement is indeed important but only to certain limits. Evolution may ultimately have chosen the best compromise between flat locomotion that requires little work to move and bouncy locomotion that improves muscle efficiency to minimize energy consumption. PMID:17463048

  14. Random walk through fractal environments.

    PubMed

    Isliker, H; Vlahos, L

    2003-02-01

    We analyze random walk through fractal environments, embedded in three-dimensional, permeable space. Particles travel freely and are scattered off into random directions when they hit the fractal. The statistical distribution of the flight increments (i.e., of the displacements between two consecutive hittings) is analytically derived from a common, practical definition of fractal dimension, and it turns out to approximate quite well a power-law in the case where the dimension D(F) of the fractal is less than 2, there is though, always a finite rate of unaffected escape. Random walks through fractal sets with D(F)< or =2 can thus be considered as defective Levy walks. The distribution of jump increments for D(F)>2 is decaying exponentially. The diffusive behavior of the random walk is analyzed in the frame of continuous time random walk, which we generalize to include the case of defective distributions of walk increments. It is shown that the particles undergo anomalous, enhanced diffusion for D(F)<2, the diffusion is dominated by the finite escape rate. Diffusion for D(F)>2 is normal for large times, enhanced though for small and intermediate times. In particular, it follows that fractals generated by a particular class of self-organized criticality models give rise to enhanced diffusion. The analytical results are illustrated by Monte Carlo simulations.

  15. The advantages of a rolling foot in human walking.

    PubMed

    Adamczyk, Peter G; Collins, Steven H; Kuo, Arthur D

    2006-10-01

    The plantigrade human foot rolls over the ground during each walking step, roughly analogous to a wheel. The center of pressure progresses on the ground like a wheel of radius 0.3 L (leg length). We examined the effect of varying foot curvature on the mechanics and energetics of walking. We controlled curvature by attaching rigid arc shapes of various radii to the bottoms of rigid boots restricting ankle motion. We measured mechanical work performed on the center of mass (COM), and net metabolic rate, in human subjects (N=10) walking with seven arc radii from 0.02-0.40 m. Simple models of dynamic walking predict that redirection of COM velocity requires step-to-step transition work, decreasing quadratically with arc radius. Metabolic cost would be expected to change in proportion to mechanical work. We measured the average rate of negative work performed on the COM, and found that it followed the trend well (r2=0.95), with 2.37 times as much work for small radii as for large. Net metabolic rate (subtracting quiet standing) also decreased with increasing arc radius to a minimum at 0.3 L, with a slight increase thereafter. Maximum net metabolic rate was 6.25 W kg(-1) (for small-radius arc feet), about 59% greater than the minimum rate of 3.93 W kg(-1), which in turn was about 45% greater than the rate in normal walking. Metabolic rate was fit reasonably well (r2=0.86) by a quadratic curve, but exceeded that expected from COM work for extreme arc sizes. Other factors appear to increase metabolic cost for walking on very small and very large arc feet. These factors may include effort expended to stabilize the joints (especially the knee) or to maintain balance. Rolling feet with curvature 0.3 L appear energetically advantageous for plantigrade walking, partially due to decreased work for step-to-step transitions.

  16. Hairless mutation: a driving force of humanization from a human–ape common ancestor by enforcing upright walking while holding a baby with both hands

    PubMed Central

    Sutou, Shizuyo

    2012-01-01

    Three major characteristics distinguish humans from other primates: bipedality, practical nakedness, and the family as a social unit. A hairless mutation introduced into the chimpanzee/human last common ancestor (CLCA) 6 million years ago (Mya) diverged hairless human and hairy chimpanzee lineages. All primates except humans can carry their babies without using their hands. A hairless mother would be forced to stand and walk upright. Her activities would be markedly limited. The male partner would have to collect food and carry it to her by hand to keep her and their baby from starving; irresponsible and selfish males could not have left their offspring. The mother would have sexually accepted her partner at any time as a reward for food. Sexual relations irrespective of estrus cycles might have strengthened the pair bond. Molecular and paleontological dating indicates that CLCA existed 6 Mya, and early hominin fossils show that they were bipeds, indicating that humanization from CLCA occurred rapidly. A single mutation in animals with scalp hair is known to induce hairless phenotype (ectodermal dysplasia). Bipedalism and hairlessness are disadvantageous traits; only those who could survive trials and tribulations in cooperation with family members must have been able to evolve as humans. PMID:22404045

  17. Current-reinforced random walks for constructing transport networks.

    PubMed

    Ma, Qi; Johansson, Anders; Tero, Atsushi; Nakagaki, Toshiyuki; Sumpter, David J T

    2013-03-01

    Biological systems that build transport networks, such as trail-laying ants and the slime mould Physarum, can be described in terms of reinforced random walks. In a reinforced random walk, the route taken by 'walking' particles depends on the previous routes of other particles. Here, we present a novel form of random walk in which the flow of particles provides this reinforcement. Starting from an analogy between electrical networks and random walks, we show how to include current reinforcement. We demonstrate that current-reinforcement results in particles converging on the optimal solution of shortest path transport problems, and avoids the self-reinforcing loops seen in standard density-based reinforcement models. We further develop a variant of the model that is biologically realistic, in the sense that the particles can be identified as ants and their measured density corresponds to those observed in maze-solving experiments on Argentine ants. For network formation, we identify the importance of nonlinear current reinforcement in producing networks that optimize both network maintenance and travel times. Other than ant trail formation, these random walks are also closely related to other biological systems, such as blood vessels and neuronal networks, which involve the transport of materials or information. We argue that current reinforcement is likely to be a common mechanism in a range of systems where network construction is observed.

  18. Walking on a moving surface: energy-optimal walking motions on a shaky bridge and a shaking treadmill can reduce energy costs below normal

    PubMed Central

    Joshi, Varun; Srinivasan, Manoj

    2015-01-01

    Understanding how humans walk on a surface that can move might provide insights into, for instance, whether walking humans prioritize energy use or stability. Here, motivated by the famous human-driven oscillations observed in the London Millennium Bridge, we introduce a minimal mathematical model of a biped, walking on a platform (bridge or treadmill) capable of lateral movement. This biped model consists of a point-mass upper body with legs that can exert force and perform mechanical work on the upper body. Using numerical optimization, we obtain energy-optimal walking motions for this biped, deriving the periodic body and platform motions that minimize a simple metabolic energy cost. When the platform has an externally imposed sinusoidal displacement of appropriate frequency and amplitude, we predict that body motion entrained to platform motion consumes less energy than walking on a fixed surface. When the platform has finite inertia, a mass- spring-damper with similar parameters to the Millennium Bridge, we show that the optimal biped walking motion sustains a large lateral platform oscillation when sufficiently many people walk on the bridge. Here, the biped model reduces walking metabolic cost by storing and recovering energy from the platform, demonstrating energy benefits for two features observed for walking on the Millennium Bridge: crowd synchrony and large lateral oscillations. PMID:25663810

  19. Standing, walking, running, and jumping on a force plate

    NASA Astrophysics Data System (ADS)

    Cross, Rod

    1999-04-01

    Details are given of an inexpensive force plate designed to measure ground reaction forces involved in human movement. Such measurements provide interesting demonstrations of relations between displacement, velocity, and acceleration, and illustrate aspects of mechanics that are not normally encountered in a conventional mechanics course, or that are more commonly associated with inanimate objects. When walking, the center of mass follows a curved path. The centripetal force is easily measured and it provides an upper limit to the speed at which a person can walk. When running, the legs behave like simple springs and the center of mass follows a path that is the same as that of a perfectly elastic bouncing ball.

  20. 10 CFR 431.302 - Definitions concerning walk-in coolers and walk-in freezers.

    Code of Federal Regulations, 2014 CFR

    2014-01-01

    ... cooler or walk-in freezer that are not part of its refrigeration system. K-factor means the thermal conductivity of a material. Manufacturer of a walk-in cooler or walk-in freezer means any person who:...

  1. 10 CFR 431.302 - Definitions concerning walk-in coolers and walk-in freezers.

    Code of Federal Regulations, 2013 CFR

    2013-01-01

    ... cooler or walk-in freezer that are not part of its refrigeration system. K-factor means the thermal conductivity of a material. Manufacturer of a walk-in cooler or walk-in freezer means any person who:...

  2. 10 CFR 431.302 - Definitions concerning walk-in coolers and walk-in freezers.

    Code of Federal Regulations, 2012 CFR

    2012-01-01

    ... cooler or walk-in freezer that are not part of its refrigeration system. K-factor means the thermal conductivity of a material. Manufacturer of a walk-in cooler or walk-in freezer means any person who:...

  3. Biomechanics and energetics of walking on uneven terrain.

    PubMed

    Voloshina, Alexandra S; Kuo, Arthur D; Daley, Monica A; Ferris, Daniel P

    2013-11-01

    Walking on uneven terrain is more energetically costly than walking on smooth ground, but the biomechanical factors that contribute to this increase are unknown. To identify possible factors, we constructed an uneven terrain treadmill that allowed us to record biomechanical, electromyographic and metabolic energetics data from human subjects. We hypothesized that walking on uneven terrain would increase step width and length variability, joint mechanical work and muscle co-activation compared with walking on smooth terrain. We tested healthy subjects (N=11) walking at 1.0 m s(-1), and found that, when walking on uneven terrain with up to 2.5 cm variation, subjects decreased their step length by 4% and did not significantly change their step width, while both step length and width variability increased significantly (22 and 36%, respectively; P<0.05). Uneven terrain walking caused a 28 and 62% increase in positive knee and hip work, respectively, and a 26% greater magnitude of negative knee work (0.0106, 0.1078 and 0.0425 J kg(-1), respectively; P<0.05). Mean muscle activity increased in seven muscles in the lower leg and thigh (P<0.05). These changes caused overall net metabolic energy expenditure to increase by 0.73 W kg(-1) (28%; P<0.0001). Much of that increase could be explained by the increased mechanical work observed at the knee and hip. Greater muscle co-activation could also contribute to increased energetic cost but to unknown degree. The findings provide insight into how lower limb muscles are used differently for natural terrain compared with laboratory conditions.

  4. Walking robot: A design project for undergraduate students

    NASA Technical Reports Server (NTRS)

    1991-01-01

    The objective of the University of Maryland walking robot project was to design, analyze, assemble, and test an intelligent, mobile, and terrain-adaptive system. The robot incorporates existing technologies in novel ways. The legs emulate the walking path of a human by an innovative modification of a crank-and-rocker mechanism. The body consists of two tripod frames connected by a turning mechanism. The two sets of three legs are mounted so as to allow the robot to walk with stability in its own footsteps. The computer uses a modular hardware design and distributed processing. Dual-port RAM is used to allow communication between a supervisory personal computer and seven microcontrollers. The microcontrollers provide low-level control for the motors and relieve the processing burden on the PC.

  5. Walking robot: A design project for undergraduate students

    NASA Astrophysics Data System (ADS)

    The objective of the University of Maryland walking robot project was to design, analyze, assemble, and test an intelligent, mobile, and terrain-adaptive system. The robot incorporates existing technologies in novel ways. The legs emulate the walking path of a human by an innovative modification of a crank-and-rocker mechanism. The body consists of two tripod frames connected by a turning mechanism. The two sets of three legs are mounted so as to allow the robot to walk with stability in its own footsteps. The computer uses a modular hardware design and distributed processing. Dual-port RAM is used to allow communication between a supervisory personal computer and seven microcontrollers. The microcontrollers provide low-level control for the motors and relieve the processing burden on the PC.

  6. Unitary equivalent classes of one-dimensional quantum walks

    NASA Astrophysics Data System (ADS)

    Ohno, Hiromichi

    2016-09-01

    This study investigates unitary equivalent classes of one-dimensional quantum walks. We prove that one-dimensional quantum walks are unitary equivalent to quantum walks of Ambainis type and that translation-invariant one-dimensional quantum walks are Szegedy walks. We also present a necessary and sufficient condition for a one-dimensional quantum walk to be a Szegedy walk.

  7. Bionic ankle–foot prosthesis normalizes walking gait for persons with leg amputation

    PubMed Central

    Herr, Hugh M.; Grabowski, Alena M.

    2012-01-01

    Over time, leg prostheses have improved in design, but have been incapable of actively adapting to different walking velocities in a manner comparable to a biological limb. People with a leg amputation using such commercially available passive-elastic prostheses require significantly more metabolic energy to walk at the same velocities, prefer to walk slower and have abnormal biomechanics compared with non-amputees. A bionic prosthesis has been developed that emulates the function of a biological ankle during level-ground walking, specifically providing the net positive work required for a range of walking velocities. We compared metabolic energy costs, preferred velocities and biomechanical patterns of seven people with a unilateral transtibial amputation using the bionic prosthesis and using their own passive-elastic prosthesis to those of seven non-amputees during level-ground walking. Compared with using a passive-elastic prosthesis, using the bionic prosthesis decreased metabolic cost by 8 per cent, increased trailing prosthetic leg mechanical work by 57 per cent and decreased the leading biological leg mechanical work by 10 per cent, on average, across walking velocities of 0.75–1.75 m s−1 and increased preferred walking velocity by 23 per cent. Using the bionic prosthesis resulted in metabolic energy costs, preferred walking velocities and biomechanical patterns that were not significantly different from people without an amputation. PMID:21752817

  8. Walking on ballast impacts balance.

    PubMed

    Wade, Chip; Garner, John C; Redfern, Mark S; Andres, Robert O

    2014-01-01

    Railroad workers often perform daily work activities on irregular surfaces, specifically on ballast rock. Previous research and injury epidemiology have suggested a relationship between working on irregular surfaces and postural instability. The purpose of this study was to examine the impact of walking on ballast for an extended duration on standing balance. A total of 16 healthy adult males walked on a 7.62 m × 4.57 m (25 ft × 15 ft) walking surface of no ballast (NB) or covered with ballast (B) of an average rock size of about 1 inch for 4 h. Balance was evaluated using dynamic posturography with the NeuroCom(®) Equitest System(™) prior to experiencing the NB or B surface and again every 30 min during the 4 h of ballast exposure. Dependent variables were the sway velocity and root-mean-square (RMS) sway components in the medial-lateral and anterior-posterior directions. Repeated measures ANOVA revealed statistically significant differences in RMS and sway velocity between ballast surface conditions and across exposure times. Overall, the ballast surface condition induced greater sway in all of the dynamic posturography conditions. Walking on irregular surfaces for extended durations has a deleterious effect on balance compared to walking on a surface without ballast. These findings of changes in balance during ballast exposure suggest that working on an irregular surface may impact postural control. PMID:24354716

  9. Knots in finite memory walks

    NASA Astrophysics Data System (ADS)

    Horwath, Eric; Clisby, Nathan; Virnau, Peter

    2016-09-01

    We investigate the occurrence and size of knots in a continuum polymer model with finite memory via Monte Carlo simulations. Excluded volume interactions are local and extend only to a fixed number of successive beads along the chain, ensuring that at short length scales the excluded volume effect dominates, while at longer length scales the polymer behaves like a random walk. As such, this model may be useful for understanding the behavior of polymers in a melt or semi-dilute solution, where exactly the same crossover is believed to occur. In particular, finite memory walks allow us to investigate the role of local interactions in the transition from highly knotted ideal polymers to almost unknotted self-avoiding polymers. Even though knotting decreases substantially when a few next-nearest neighbor interactions are considered, we find that the knotting probability of a polymer chain of modest length of 500 steps only decays slowly as a function of the range of the excluded volume interaction. In this context, we also find evidence that for length scales up to the interaction length the knotting behavior of the finite memory walk resembles that of a self-avoiding walk (effectively suppressing small knots), while for larger length scales it resembles that of a random walk.

  10. Walking and running at resonance.

    PubMed

    Ahlborn, Boye K; Blake, Robert W

    2002-01-01

    Humans and other animals can temporarily store mechanical energy in elastic oscillations, f(el), of body parts and in pendulum oscillations, f(p) = const sq.rt (g/L), of legs, length L, or other appendages, and thereby reduce the energy consumption of locomotion. However, energy saving only occurs if these oscillations are tuned to the leg propagation frequency f. It has long been known that f is tuned to the pendulum frequency of the free-swinging leg of walkers. During running the leg frequency increases to some new value f = f(r). We propose that in order to maintain resonance the animal, mass M, actively increases its leg pendulum frequency to the new value f(p,r) =const sq.rt (a(y)/L)=f(r), by giving its hips a vertical acceleration a(y)= F(y)/M. The pendulum frequency is increased if the impact force F(y) of the stance foot is larger than Mg, explaining the observation by Alexander and Bennet-Clark (1976) that F(v) becomes larger than Mg when animals start to run. Our model predictions of the running velocity U(r) as function of L, F(v), are in agreement with measurements of these quantities (Farley et al. 1993). The leg's longitudinal elastic oscillation frequency scales as f(el) = const sq.rt (k/M). Experiments by Ferris et al., (1998) show that runners adjust their leg's stiffness, k, when running on surfaces of different elasticity so that the total stiffness k remains constant. Our analysis of their data suggests that the longitudinal oscillations of the stance leg are indeed kept in tune with the running frequency. Therefore we conclude that humans, and by extension all animals, maintain resonance during running. Our model also predicts the Froude number of walking-running transitions, Fr = U(2)/gL approximately 0.5 in good agreement with measurements.

  11. Szegedy's quantum walk with queries

    NASA Astrophysics Data System (ADS)

    Santos, Raqueline A. M.

    2016-08-01

    When searching for a marked vertex in a graph, Szegedy's usual search operator is defined by using the transition probability matrix of the random walk with absorbing barriers at the marked vertices. Instead of using this operator, we analyze searching with Szegedy's quantum walk by using reflections around the marked vertices, that is, the standard form of quantum query. We show we can boost the probability to 1 of finding a marked vertex in the complete graph. Numerical simulations suggest that the success probability can be improved for other graphs, like the two-dimensional grid. We also prove that, for a certain class of graphs, we can express Szegedy's search operator, obtained from the absorbing walk, using the standard query model.

  12. After Talking the Talk, Now Walk the Walk

    ERIC Educational Resources Information Center

    Vukovic, Paul

    2011-01-01

    In this article, the author describes what his students are doing following the ATM Easter conference in Telford, where he was inspired by a workshop entitled "Vitamin D Maths," conducted by Jocelyn D'Arcy. He describes an activity that allows his Year 11 students to walk through angles drawn on the floors. This topic will now literally be given a…

  13. The 1991-1992 walking robot design

    NASA Technical Reports Server (NTRS)

    Azarm, Shapour; Dayawansa, Wijesurija; Tsai, Lung-Wen; Peritt, Jon

    1992-01-01

    The University of Maryland Walking Machine team designed and constructed a robot. This robot was completed in two phases with supervision and suggestions from three professors and one graduate teaching assistant. Bob was designed during the Fall Semester 1991, then machined, assembled, and debugged in the Spring Semester 1992. The project required a total of 4,300 student hours and cost under $8,000. Mechanically, Bob was an exercise in optimization. The robot was designed to test several diverse aspects of robotic potential, including speed, agility, and stability, with simplicity and reliability holding equal importance. For speed and smooth walking motion, the footpath contained a long horizontal component; a vertical aspect was included to allow clearance of obstacles. These challenges were met with a leg design that utilized a unique multi-link mechanism which traveled a modified tear-drop footpath. The electrical requirements included motor, encoder, and voice control circuitry selection, manual controller manufacture, and creation of sensors for guidance. Further, there was also a need for selection of the computer, completion of a preliminary program, and testing of the robot.

  14. Patterns of mechanical energy change in tetrapod gait: pendula, springs and work.

    PubMed

    Biewener, Andrew A

    2006-11-01

    Kinematic and center of mass (CoM) mechanical variables used to define terrestrial gaits are compared for various tetrapod species. Kinematic variables (limb phase, duty factor) provide important timing information regarding the neural control and limb coordination of various gaits. Whereas, mechanical variables (potential and kinetic energy relative phase, %Recovery, %Congruity) provide insight into the underlying mechanisms that minimize muscle work and the metabolic cost of locomotion, and also influence neural control strategies. Two basic mechanisms identified by Cavagna et al. (1977. Am J Physiol 233:R243-R261) are used broadly by various bipedal and quadrupedal species. During walking, animals exchange CoM potential energy (PE) with kinetic energy (KE) via an inverted pendulum mechanism to reduce muscle work. During the stance period of running (including trotting, hopping and galloping) gaits, animals convert PE and KE into elastic strain energy in spring elements of the limbs and trunk and regain this energy later during limb support. The bouncing motion of the body on the support limb(s) is well represented by a simple mass-spring system. Limb spring compliance allows the storage and return of elastic energy to reduce muscle work. These two distinct patterns of CoM mechanical energy exchange are fairly well correlated with kinematic distinctions of limb movement patterns associated with gait change. However, in some cases such correlations can be misleading. When running (or trotting) at low speeds many animals lack an aerial period and have limb duty factors that exceed 0.5. Rather than interpreting this as a change of gait, the underlying mechanics of the body's CoM motion indicate no fundamental change in limb movement pattern or CoM dynamics has occurred. Nevertheless, the idealized, distinctive patterns of CoM energy fluctuation predicted by an inverted pendulum for walking and a bouncing mass spring for running are often not clear cut, especially

  15. Prediction of stable walking for a toy that cannot stand

    NASA Astrophysics Data System (ADS)

    Coleman, Michael J.; Garcia, Mariano; Mombaur, Katja; Ruina, Andy

    2001-08-01

    Previous experiments [M. J. Coleman and A. Ruina, Phys. Rev. Lett. 80, 3658 (1998)] showed that a gravity-powered toy with no control and that has no statically stable near-standing configurations can walk stably. We show here that a simple rigid-body statically unstable mathematical model based loosely on the physical toy can predict stable limit-cycle walking motions. These calculations add to the repertoire of rigid-body mechanism behaviors as well as further implicating passive dynamics as a possible contributor to stability of animal motions.

  16. Dissipative quantum computing with open quantum walks

    SciTech Connect

    Sinayskiy, Ilya; Petruccione, Francesco

    2014-12-04

    An open quantum walk approach to the implementation of a dissipative quantum computing scheme is presented. The formalism is demonstrated for the example of an open quantum walk implementation of a 3 qubit quantum circuit consisting of 10 gates.

  17. On Convergent Probability of a Random Walk

    ERIC Educational Resources Information Center

    Lee, Y.-F.; Ching, W.-K.

    2006-01-01

    This note introduces an interesting random walk on a straight path with cards of random numbers. The method of recurrent relations is used to obtain the convergent probability of the random walk with different initial positions.

  18. Walk around the Block Curriculum.

    ERIC Educational Resources Information Center

    Center for Understanding the Built Environment, Prairie Village, KS.

    This curriculum packet contains two teacher-developed lesson plans for upper elementary students focusing on the built environment. The first lesson plan, "The Built Environment--An Integrating Theme" (Liesa Schroeder), offers suggestions for developing a walking tour around the school neighborhood, a historic area, or a city square. It finds that…

  19. Closed walks for community detection

    NASA Astrophysics Data System (ADS)

    Yang, Yang; Sun, Peng Gang; Hu, Xia; Li, Zhou Jun

    2014-03-01

    In this paper, we propose a novel measure that integrates both the concept of closed walks and clustering coefficients to replace the edge betweenness in the well-known divisive hierarchical clustering algorithm, the Girvan and Newman method (GN). The edges with the lowest value are removed iteratively until the network is degenerated into isolated nodes. The experimental results on computer generated networks and real-world networks showed that our method makes a better tradeoff of accuracy and runtime. Based on the analysis of the results, we observe that the nontrivial closed walks of order three and four can be considered as the basic elements in constructing community structures. Meanwhile, we discover that those nontrivial closed walks outperform trivial closed walks in the task of analyzing the structure of networks. The double peak structure problem is mentioned in the last part of the article. We find that our proposed method is a novel way to solve the double peak structure problem. Our work can provide us with a new perspective for understanding community structure in complex networks.

  20. Successful Statewide Walking Program Websites

    ERIC Educational Resources Information Center

    Teran, Bianca Maria; Hongu, Nobuko

    2012-01-01

    Statewide Extension walking programs are making an effort to increase physical activity levels in America. An investigation of all 20 of these programs revealed that 14 use websites as marketing and educational tools, which could prove useful as the popularity of Internet communities continues to grow. Website usability information and an analysis…

  1. A Walk to the Well.

    ERIC Educational Resources Information Center

    Weir, Phil

    1994-01-01

    During a walk, an outdoor education teacher reflects on the status of outdoor education in Ottawa (Canada) and importance of maintaining a close relationship with nature. He looks for signs of an old log home site, observes a hawk's flight, discovers remains of a plastic bag in an owl pellet, and realizes that everyone is working on survival. (LP)

  2. Behavior Management by Walking Around

    ERIC Educational Resources Information Center

    Boardman, Randolph M.

    2004-01-01

    An emerging concept from the field of business is to manage organizations by wandering around and engaging staff and consumers in informal interactions. The author extends these ideas to settings serving children and youth. In the best seller, In Search of Excellence, Peters and Waterman (1982) introduced Management by Walking Around (MBWA) as an…

  3. "A Walk with Robert Frost."

    ERIC Educational Resources Information Center

    Gustafson, John A.

    1984-01-01

    Describes a field exercise using nature poetry to enlarge and give emotional content to ecological ideas. The trip involves walking in silence (except during poetry readings) through a natural area where objects or situations illustrated in the poetry are found. Recommended readings on specific details and ideas are provided. (BC)

  4. A Leadership Walk across Gettysburg

    ERIC Educational Resources Information Center

    Millward, Robert E.

    2009-01-01

    School administrators find the Civil War battlefield an appropriate venue for fully appreciating the role of vision, mentoring and the power of words. The author, a professor at Indiana University of Pennsylvania, has organized leadership walks across Gettysburg for superintendents and principals for a decade. This article describes the…

  5. Listening Walks and Singing Maps

    ERIC Educational Resources Information Center

    Cardany, Audrey Berger

    2011-01-01

    The Listening Walk by Paul Showers and illustrated by Aliki, and "It's My City: A Singing Map" by April Pulley Sayre with pictures by Denis Roche, provide two examples of texts that aid in building children's phonological awareness for reading and music. The author describes each narrative and discusses its function as a springboard to composition…

  6. Quantum walks on a circle with optomechanical systems

    NASA Astrophysics Data System (ADS)

    Moqadam, Jalil Khatibi; Portugal, Renato; de Oliveira, Marcos Cesar

    2015-10-01

    We propose an implementation of a quantum walk on a circle in an optomechanical system by encoding the walker on the phase space of a radiation field and the coin on a two-level state of a mechanical resonator. The dynamics of the system is obtained by applying Suzuki-Trotter decomposition. We numerically show that the system displays typical behaviors of quantum walks, namely the probability distribution evolves ballistically and the standard deviation of the phase distribution is linearly proportional to the number of steps. We also analyze the effects of decoherence by using the phase-damping channel on the coin space, showing the possibility to implement the quantum walk with present-day technology.

  7. Walking pattern classification and walking distance estimation algorithms using gait phase information.

    PubMed

    Wang, Jeen-Shing; Lin, Che-Wei; Yang, Ya-Ting C; Ho, Yu-Jen

    2012-10-01

    This paper presents a walking pattern classification and a walking distance estimation algorithm using gait phase information. A gait phase information retrieval algorithm was developed to analyze the duration of the phases in a gait cycle (i.e., stance, push-off, swing, and heel-strike phases). Based on the gait phase information, a decision tree based on the relations between gait phases was constructed for classifying three different walking patterns (level walking, walking upstairs, and walking downstairs). Gait phase information was also used for developing a walking distance estimation algorithm. The walking distance estimation algorithm consists of the processes of step count and step length estimation. The proposed walking pattern classification and walking distance estimation algorithm have been validated by a series of experiments. The accuracy of the proposed walking pattern classification was 98.87%, 95.45%, and 95.00% for level walking, walking upstairs, and walking downstairs, respectively. The accuracy of the proposed walking distance estimation algorithm was 96.42% over a walking distance.

  8. Minimizing center of mass vertical movement increases metabolic cost in walking.

    PubMed

    Ortega, Justus D; Farley, Claire T

    2005-12-01

    A human walker vaults up and over each stance limb like an inverted pendulum. This similarity suggests that the vertical motion of a walker's center of mass reduces metabolic cost by providing a mechanism for pendulum-like mechanical energy exchange. Alternatively, some researchers have hypothesized that minimizing vertical movements of the center of mass during walking minimizes the metabolic cost, and this view remains prevalent in clinical gait analysis. We examined the relationship between vertical movement and metabolic cost by having human subjects walk normally and with minimal center of mass vertical movement ("flat-trajectory walking"). In flat-trajectory walking, subjects reduced center of mass vertical displacement by an average of 69% (P = 0.0001) but consumed approximately twice as much metabolic energy over a range of speeds (0.7-1.8 m/s) (P = 0.0001). In flat-trajectory walking, passive pendulum-like mechanical energy exchange provided only a small portion of the energy required to accelerate the center of mass because gravitational potential energy fluctuated minimally. Thus, despite the smaller vertical movements in flat-trajectory walking, the net external mechanical work needed to move the center of mass was similar in both types of walking (P = 0.73). Subjects walked with more flexed stance limbs in flat-trajectory walking (P < 0.001), and the resultant increase in stance limb force generation likely helped cause the doubling in metabolic cost compared with normal walking. Regardless of the cause, these findings clearly demonstrate that human walkers consume substantially more metabolic energy when they minimize vertical motion.

  9. Developmental Continuity? Crawling, Cruising, and Walking

    ERIC Educational Resources Information Center

    Adolph, Karen E.; Berger, Sarah E.; Leo, Andrew J.

    2011-01-01

    This research examined developmental continuity between "cruising" (moving sideways holding onto furniture for support) and walking. Because cruising and walking involve locomotion in an upright posture, researchers have assumed that cruising is functionally related to walking. Study 1 showed that most infants crawl and cruise concurrently prior…

  10. A state-space analysis of mechanical energy generation, absorption, and transfer during pedaling.

    PubMed

    Fregly, B J; Zajac, F E

    1996-01-01

    Seated ergometer pedaling is a motor task ideal for studying basic mechanisms of human bipedal coordination because, in contrast to standing and walking, fewer degrees of freedom are being controlled and upright balance is not a factor. As a step toward understanding how individual muscles coordinate pedaling, we investigated how individual net muscle joint torques and non-muscular (e.g. centripetal, coriolis, and gravity) forces of the lower limbs generate, absorb, and transfer mechanical energy in order to propel the crank and recover the limb. This was accomplished using a mechanical power analysis derived entirely from the closed-form state-space dynamical equations of a two-legged pedaling model that accounted for both the limb segmental and crank load dynamics. Based on a pedaling simulation that reproduced experimental kinematic and kinetic trajectories, we found that the net ankle and hip extensor joint torques function 'synergistically' to deliver energy to the crank during the downstroke. The net hip extensor joint torque generates energy to the limb, while the net ankle extensor joint torque transfers this energy from the limb to the crank. In contrast, net knee extensor and flexor joint torques function 'independently' by generating energy to the crank through the top and bottom of the stroke, respectively. The net ankle joint torque transfers and the net knee joint torque generates energy to the crank by contributing to the driving component of the pedal reaction force. During the upstroke, net ankle extensor joint torque transfers energy from the crank to the limb to restore the potential energy of the limb. In both halves of the crank cycle, gravity forces augment the crank-limb energy transfer performed by the net ankle extensor joint torque. PMID:8839020

  11. To Walk or Not to Walk?: The Hierarchy of Walking Needs

    ERIC Educational Resources Information Center

    Alfonzo, Mariela

    2005-01-01

    The multitude of quality of life problems associated with declining walking rates has impelled researchers from various disciplines to identify factors related to this behavior change. Currently, this body of research is in need of a transdisciplinary, multilevel theoretical model that can help explain how individual, group, regional, and…

  12. Active quantum walks: a framework for quantum walks with adiabatic quantum evolution

    NASA Astrophysics Data System (ADS)

    Wu, Nan; Song, Fangmin; Li, Xiangdong

    2016-05-01

    We study a new methodology for quantum walk based algorithms. Different from the passive quantum walk, in which a walker is guided by a quantum walk procedure, the new framework that we developed allows the walker to move by an adiabatic procedure of quantum evolution, as an active way. The use of this active quantum walk is helpful to develop new quantum walk based searching and optimization algorithms.

  13. Directed random walk with random restarts: The Sisyphus random walk

    NASA Astrophysics Data System (ADS)

    Montero, Miquel; Villarroel, Javier

    2016-09-01

    In this paper we consider a particular version of the random walk with restarts: random reset events which suddenly bring the system to the starting value. We analyze its relevant statistical properties, like the transition probability, and show how an equilibrium state appears. Formulas for the first-passage time, high-water marks, and other extreme statistics are also derived; we consider counting problems naturally associated with the system. Finally we indicate feasible generalizations useful for interpreting different physical effects.

  14. Walking dynamics are symmetric (enough)

    PubMed Central

    Ankaralı, M. Mert; Sefati, Shahin; Madhav, Manu S.; Long, Andrew; Bastian, Amy J.; Cowan, Noah J.

    2015-01-01

    Many biological phenomena such as locomotion, circadian cycles and breathing are rhythmic in nature and can be modelled as rhythmic dynamical systems. Dynamical systems modelling often involves neglecting certain characteristics of a physical system as a modelling convenience. For example, human locomotion is frequently treated as symmetric about the sagittal plane. In this work, we test this assumption by examining human walking dynamics around the steady state (limit-cycle). Here, we adapt statistical cross-validation in order to examine whether there are statistically significant asymmetries and, even if so, test the consequences of assuming bilateral symmetry anyway. Indeed, we identify significant asymmetries in the dynamics of human walking, but nevertheless show that ignoring these asymmetries results in a more consistent and predictive model. In general, neglecting evident characteristics of a system can be more than a modelling convenience—it can produce a better model.

  15. Random walk near the surface

    NASA Astrophysics Data System (ADS)

    Korneta, W.; Pytel, Z.

    1988-07-01

    The random walk of a particle on a three-dimensional semi-infinite lattice is considered. In order to study the effect of the surface on the random walk, it is assumed that the velocity of the particle depends on the distance to the surface. Moreover it is assumed that at any point the particle may be absorbed with a certain probability. The probability of the return of the particle to the starting point and the average time of eventual return are calculated. The dependence of these quantities on the distance to the surface, the probability of absorption and the properties of the surface is discussed. The method of generating functions is used.

  16. Fractional diffusion equation for an n -dimensional correlated Lévy walk

    NASA Astrophysics Data System (ADS)

    Taylor-King, Jake P.; Klages, Rainer; Fedotov, Sergei; Van Gorder, Robert A.

    2016-07-01

    Lévy walks define a fundamental concept in random walk theory that allows one to model diffusive spreading faster than Brownian motion. They have many applications across different disciplines. However, so far the derivation of a diffusion equation for an n -dimensional correlated Lévy walk remained elusive. Starting from a fractional Klein-Kramers equation here we use a moment method combined with a Cattaneo approximation to derive a fractional diffusion equation for superdiffusive short-range auto-correlated Lévy walks in the large time limit, and we solve it. Our derivation discloses different dynamical mechanisms leading to correlated Lévy walk diffusion in terms of quantities that can be measured experimentally.

  17. Fractional diffusion equation for an n-dimensional correlated Lévy walk.

    PubMed

    Taylor-King, Jake P; Klages, Rainer; Fedotov, Sergei; Van Gorder, Robert A

    2016-07-01

    Lévy walks define a fundamental concept in random walk theory that allows one to model diffusive spreading faster than Brownian motion. They have many applications across different disciplines. However, so far the derivation of a diffusion equation for an n-dimensional correlated Lévy walk remained elusive. Starting from a fractional Klein-Kramers equation here we use a moment method combined with a Cattaneo approximation to derive a fractional diffusion equation for superdiffusive short-range auto-correlated Lévy walks in the large time limit, and we solve it. Our derivation discloses different dynamical mechanisms leading to correlated Lévy walk diffusion in terms of quantities that can be measured experimentally. PMID:27575074

  18. Lively quantum walks on cycles

    NASA Astrophysics Data System (ADS)

    Sadowski, Przemysław; Miszczak, Jarosław Adam; Ostaszewski, Mateusz

    2016-09-01

    We introduce a family of quantum walks on cycles parametrized by their liveliness, defined by the ability to execute a long-range move. We investigate the behaviour of the probability distribution and time-averaged probability distribution. We show that the liveliness parameter, controlling the magnitude of the additional long-range move, has a direct impact on the periodicity of the limiting distribution. We also show that the introduced model provides a method for network exploration which is robust against trapping.

  19. Unexpected motor patterns for hindlimb muscles during slope walking in the cat.

    PubMed

    Smith, J L; Carlson-Kuhta, P

    1995-11-01

    1. Hindlimb kinematics and motor patterns were assessed from high-speed ciné film synchronized with electromyographic (EMG) data from cats trained to walk on a walkway placed at four grades (25, 50, 75, and 100%). 2. Flexor muscles of the hip (iliopsoas) and ankle (tibialis anterior) had similar activity patterns for the swing phase of up- and down-slope walking; both flexor muscles also had stance-related activity during down-slope walking and this was unexpected. Extensor muscles of the hip (anterior biceps femoris and anterior semimembranosus), knee [vastus lateralis (VL)], and ankle [lateral gastrocnemius (LG)] were active during the stance phase of up-slope walking. The VL and LG activity was reduced in duration during stance of down-slope walking and centered around paw contact. Hip extensors, however, were totally inactive during stance of down-slope walking, and this was not expected. 3. Flexor muscles at the hip and ankle (not extensor muscles) dominated the stance phase of down-slope walking, especially at the steeper slopes. This switch in motor patterns may be required to counterbalance external forces that produced extension at the hip and ankle joints during the stance phase of down-slope walking. Neural mechanisms for programming stance-related activity of flexor muscles are discussed.

  20. Quantum walks with infinite hitting times

    SciTech Connect

    Krovi, Hari; Brun, Todd A.

    2006-10-15

    Hitting times are the average time it takes a walk to reach a given final vertex from a given starting vertex. The hitting time for a classical random walk on a connected graph will always be finite. We show that, by contrast, quantum walks can have infinite hitting times for some initial states. We seek criteria to determine if a given walk on a graph will have infinite hitting times, and find a sufficient condition, which for discrete time quantum walks is that the degeneracy of the evolution operator be greater than the degree of the graph. The set of initial states which give an infinite hitting time form a subspace. The phenomenon of infinite hitting times is in general a consequence of the symmetry of the graph and its automorphism group. Using the irreducible representations of the automorphism group, we derive conditions such that quantum walks defined on this graph must have infinite hitting times for some initial states. In the case of the discrete walk, if this condition is satisfied the walk will have infinite hitting times for any choice of a coin operator, and we give a class of graphs with infinite hitting times for any choice of coin. Hitting times are not very well defined for continuous time quantum walks, but we show that the idea of infinite hitting-time walks naturally extends to the continuous time case as well.

  1. Does walking change the Romberg sign?

    PubMed

    Findlay, Gordon F G; Balain, Birender; Trivedi, Jayesh M; Jaffray, David C

    2009-10-01

    The Romberg sign helps demonstrate loss of postural control as a result of severely compromised proprioception. There is still no standard approach to applying the Romberg test in clinical neurology and the criteria for and interpretation of an abnormal result continue to be debated. The value of this sign and its adaptation when walking was evaluated. Detailed clinical examination of 50 consecutive patients of cervical myelopathy was performed prospectively. For the walking Romberg sign, patients were asked to walk 5 m with their eyes open. This was repeated with their eyes closed. Swaying, feeling of instability or inability to complete the walk with eyes closed was interpreted as a positive walking Romberg sign. This test was compared to common clinical signs to evaluate its relevance. Whilst the Hoffman's reflex (79%) was the most prevalent sign seen, the walking Romberg sign was actually present in 74.5% of the cases. The traditional Romberg test was positive in 17 cases and 16 of these had the walking Romberg positive as well. Another 21 patients had a positive walking Romberg test. Though not statistically significant, the mean 30 m walking times were slower in patients with traditional Romberg test than in those with positive walking Romberg test and fastest in those with neither of these tests positive. The combination of either Hoffman's reflex and/or walking Romberg was positive in 96% of patients. The walking Romberg sign is more useful than the traditional Romberg test as it shows evidence of a proprioceptive gait deficit in significantly more patients with cervical myelopathy than is found on conventional neurological examination. The combination of Hoffman's reflex and walking Romberg sign has a potential as useful screening tests to detect clinically significant cervical myelopathy. PMID:19387702

  2. The effect of walking speed on gait kinematics and kinetics after endoprosthetic knee replacement following bone tumor resection.

    PubMed

    Okita, Yusuke; Tatematsu, Noriatsu; Nagai, Koutatsu; Nakayama, Tomitaka; Nakamata, Takeharu; Okamoto, Takeshi; Toguchida, Junya; Ichihashi, Noriaki; Matsuda, Shuichi; Tsuboyama, Tadao

    2014-09-01

    Gait function is one of the most important components of functional outcome evaluation in patients with a tumor around the knee. In addition to walking at a preferred speed, the patients might be sometimes required to walk fast in daily life (e.g., schooling and working) because the major types of bone tumors often occur in adolescence and young adults. Therefore, recovering the ability to walk fast would increase the quality of life of these patients. To clarify which parts of the lower limb are exerted while walking fast, we investigated the kinematic and kinetic changes during fast walking in patients who underwent endoprosthetic knee replacement after bone tumor resection. Laboratory-based gait analysis was performed on eight patients who had undergone endoprosthetic knee replacement following resection of a tumor around the knee. Patients walked at a preferred and faster speed, and the gait parameters were compared between the two walking speeds for each leg. To increase walking speed, patients tended to rely on the bilateral hip, ankle, and contralateral knee to generate additional power. Kinetic analysis showed that involved-side vertical body support was not significantly increased during late stance to increase walking speed, which was associated with a small increase in ankle plantarflexion moment and concentric power. These results suggest to patients after knee reconstruction how to effectively increase their walking speed or redistribute the mechanical load on the muscles and joints to prevent excessive stress on the lower limbs.

  3. Observing a movement correction during walking affects evoked responses but not unperturbed walking.

    PubMed

    Behrendt, Frank; de Lussanet, Marc H E; Wagner, Heiko

    2014-01-01

    Seeing an action activates neurons in the premotor, motor, and somatosensory cortex. Since a significant fraction of these pyramidal neurons project to the spinal motor circuits, a central question is why we do not automatically perform the actions that we see. Indeed, seeing an action increases both cortical and spinal excitability of consistent motor patterns that correspond to the observed ones. Thus, it is believed that such imitative motor patterns are either suppressed or remain at a sub-threshold level. This would predict, however, that seeing someone make a corrective movement while one is actively involved in the same action should either suppress evoked responses or suppress or modulate the action itself. Here we tested this prediction, and found that seeing someone occasionally stepping over an obstacle while walking on a treadmill did not affect the normal walking pattern at all. However, cutaneously evoked reflexes in the anterior tibial and soleus muscles were modulated as if the subject was stepping over an obstacle. This result thus indicates that spinal activation was not suppressed and was neither at sub-threshold motor resonance. Rather, the spinal modulation from observed stepping reflects an adaptive mechanism for regulating predictive control mechanisms. We conclude that spinal excitability during action observation is not an adverse side-effect of action understanding but reflects adaptive and predictive motor control. PMID:25133714

  4. A reflexive neural network for dynamic biped walking control.

    PubMed

    Geng, Tao; Porr, Bernd; Wörgötter, Florentin

    2006-05-01

    Biped walking remains a difficult problem, and robot models can greatly facilitate our understanding of the underlying biomechanical principles as well as their neuronal control. The goal of this study is to specifically demonstrate that stable biped walking can be achieved by combining the physical properties of the walking robot with a small, reflex-based neuronal network governed mainly by local sensor signals. Building on earlier work (Taga, 1995; Cruse, Kindermann, Schumm, Dean, & Schmitz, 1998), this study shows that human-like gaits emerge without specific position or trajectory control and that the walker is able to compensate small disturbances through its own dynamical properties. The reflexive controller used here has the following characteristics, which are different from earlier approaches: (1) Control is mainly local. Hence, it uses only two signals (anterior extreme angle and ground contact), which operate at the interjoint level. All other signals operate only at single joints. (2) Neither position control nor trajectory tracking control is used. Instead, the approximate nature of the local reflexes on each joint allows the robot mechanics itself (e.g., its passive dynamics) to contribute substantially to the overall gait trajectory computation. (3) The motor control scheme used in the local reflexes of our robot is more straightforward and has more biological plausibility than that of other robots, because the outputs of the motor neurons in our reflexive controller are directly driving the motors of the joints rather than working as references for position or velocity control. As a consequence, the neural controller and the robot mechanics are closely coupled as a neuromechanical system, and this study emphasizes that dynamically stable biped walking gaits emerge from the coupling between neural computation and physical computation. This is demonstrated by different walking experiments using a real robot as well as by a Poincaré map analysis

  5. A neuromechanical strategy for mediolateral foot placement in walking humans

    PubMed Central

    Rankin, Bradford L.; Buffo, Stephanie K.

    2014-01-01

    Stability is an important concern during human walking and can limit mobility in clinical populations. Mediolateral stability can be efficiently controlled through appropriate foot placement, although the underlying neuromechanical strategy is unclear. We hypothesized that humans control mediolateral foot placement through swing leg muscle activity, basing this control on the mechanical state of the contralateral stance leg. Participants walked under Unperturbed and Perturbed conditions, in which foot placement was intermittently perturbed by moving the right leg medially or laterally during the swing phase (by ∼50–100 mm). We quantified mediolateral foot placement, electromyographic activity of frontal-plane hip muscles, and stance leg mechanical state. During Unperturbed walking, greater swing-phase gluteus medius (GM) activity was associated with more lateral foot placement. Increases in GM activity were most strongly predicted by increased mediolateral displacement between the center of mass (CoM) and the contralateral stance foot. The Perturbed walking results indicated a causal relationship between stance leg mechanics and swing-phase GM activity. Perturbations that reduced the mediolateral CoM displacement from the stance foot caused reductions in swing-phase GM activity and more medial foot placement. Conversely, increases in mediolateral CoM displacement caused increased swing-phase GM activity and more lateral foot placement. Under both Unperturbed and Perturbed conditions, humans controlled their mediolateral foot placement by modulating swing-phase muscle activity in response to the mechanical state of the contralateral leg. This strategy may be disrupted in clinical populations with a reduced ability to modulate muscle activity or sense their body's mechanical state. PMID:24790168

  6. Leg joint function during walking acceleration and deceleration.

    PubMed

    Qiao, Mu; Jindrich, Devin L

    2016-01-01

    Although constant-average-velocity walking has been extensively studied, less is known about walking maneuvers that change speed. We investigated the function of individual leg joints when humans walked at a constant speed, accelerated or decelerated. We hypothesized that leg joints make different functional contributions to maneuvers. Specifically, we hypothesized that the hip generates positive mechanical work (acting like a "motor"), the knee generates little mechanical work (acting like a "strut"), and the ankle absorbs energy during the first half of stance and generates energy during the second half (consistent with "spring"-like function). We recorded full body kinematics and kinetics, used inverse dynamics to estimate net joint moments, and decomposed joint function into strut-, motor-, damper-, and spring-like components using indices based on net joint work. Although overall leg mechanics were primarily strut-like, individual joints did not act as struts during stance. The hip functioned as a power generating "motor," and ankle function was consistent with spring-like behavior. Even though net knee work was small, the knee did not behave solely as a strut but also showed motor-, and damper-like function. Acceleration involved increased motor-like function of the hip and ankle. Deceleration involved decreased hip motor-like function and ankle spring-like function and increased damping at the knee and ankle. Changes to joint mechanical work were primarily due to changes in joint angular displacements and not net moments. Overall, joints maintain different functional roles during unsteady locomotion.

  7. Recycling Energy to Restore Impaired Ankle Function during Human Walking

    PubMed Central

    Collins, Steven H.; Kuo, Arthur D.

    2010-01-01

    Background Humans normally dissipate significant energy during walking, largely at the transitions between steps. The ankle then acts to restore energy during push-off, which may be the reason that ankle impairment nearly always leads to poorer walking economy. The replacement of lost energy is necessary for steady gait, in which mechanical energy is constant on average, external dissipation is negligible, and no net work is performed over a stride. However, dissipation and replacement by muscles might not be necessary if energy were instead captured and reused by an assistive device. Methodology/Principal Findings We developed a microprocessor-controlled artificial foot that captures some of the energy that is normally dissipated by the leg and “recycles” it as positive ankle work. In tests on subjects walking with an artificially-impaired ankle, a conventional prosthesis reduced ankle push-off work and increased net metabolic energy expenditure by 23% compared to normal walking. Energy recycling restored ankle push-off to normal and reduced the net metabolic energy penalty to 14%. Conclusions/Significance These results suggest that reduced ankle push-off contributes to the increased metabolic energy expenditure accompanying ankle impairments, and demonstrate that energy recycling can be used to reduce such cost. PMID:20174659

  8. Inference of random walk models to describe leukocyte migration

    NASA Astrophysics Data System (ADS)

    Jones, Phoebe J. M.; Sim, Aaron; Taylor, Harriet B.; Bugeon, Laurence; Dallman, Magaret J.; Pereira, Bernard; Stumpf, Michael P. H.; Liepe, Juliane

    2015-12-01

    While the majority of cells in an organism are static and remain relatively immobile in their tissue, migrating cells occur commonly during developmental processes and are crucial for a functioning immune response. The mode of migration has been described in terms of various types of random walks. To understand the details of the migratory behaviour we rely on mathematical models and their calibration to experimental data. Here we propose an approximate Bayesian inference scheme to calibrate a class of random walk models characterized by a specific, parametric particle re-orientation mechanism to observed trajectory data. We elaborate the concept of transition matrices (TMs) to detect random walk patterns and determine a statistic to quantify these TM to make them applicable for inference schemes. We apply the developed pipeline to in vivo trajectory data of macrophages and neutrophils, extracted from zebrafish that had undergone tail transection. We find that macrophage and neutrophils exhibit very distinct biased persistent random walk patterns, where the strengths of the persistence and bias are spatio-temporally regulated. Furthermore, the movement of macrophages is far less persistent than that of neutrophils in response to wounding.

  9. Gaitography applied to prosthetic walking.

    PubMed

    Roerdink, Melvyn; Cutti, Andrea G; Summa, Aurora; Monari, Davide; Veronesi, Davide; van Ooijen, Mariëlle W; Beek, Peter J

    2014-11-01

    During walking on an instrumented treadmill with an embedded force platform or grid of pressure sensors, center-of-pressure (COP) trajectories exhibit a characteristic butterfly-like shape, reflecting the medio-lateral and anterior-posterior weight shifts associated with alternating steps. We define "gaitography" as the analysis of such COP trajectories during walking (the "gaitograms"). It is currently unknown, however, if gaitography can be employed to characterize pathological gait, such as lateralized gait impairments. We therefore registered gaitograms for a heterogeneous sample of persons with a trans-femoral and trans-tibial amputation during treadmill walking at a self-selected comfortable speed. We found that gaitograms directly visualize between-person differences in prosthetic gait in terms of step width and the relative duration of prosthetic and non-prosthetic single-support stance phases. We further demonstrated that one should not only focus on the gaitogram's shape but also on the time evolution along that shape, given that the COP evolves much slower in the single-support phase than in the double-support phase. Finally, commonly used temporal and spatial prosthetic gait characteristics were derived, revealing both individual and systematic differences in prosthetic and non-prosthetic step lengths, step times, swing times, and double-support durations. Because gaitograms can be rapidly collected in an unobtrusive and markerless manner over multiple gait cycles without constraining foot placement, clinical application of gaitography seems both expedient and appealing. Studies examining the repeatability of gaitograms and evaluating gaitography-based gait characteristics against a gold standard with known validity and reliability are required before gaitography can be clinically applied.

  10. 10 CFR 431.302 - Definitions concerning walk-in coolers and walk-in freezers.

    Code of Federal Regulations, 2011 CFR

    2011-01-01

    ... FOR CERTAIN COMMERCIAL AND INDUSTRIAL EQUIPMENT Walk-in Coolers and Walk-in Freezers § 431.302...; however the terms do not include products designed and marketed exclusively for medical, scientific,...

  11. Visual Acuity During Treadmill Walking

    NASA Technical Reports Server (NTRS)

    Peters, B. T.; Brady, R.; vanEmmerik, R. E. A.; Bloomberg, Jacob J.

    2006-01-01

    An awareness of the physical world is essential for successful navigation through the environment. Vision is the means by which this awareness is made possible for most people. However, without adequate compensation, the movements of the body during walking could impair vision. Previous research has shown how the eyes, head and trunk movements are coordinated to provide the compensation necessary for clear vision, but the overall effectiveness of these coordinated movements is unknown. The goal of the research presented here was to provide a direct measure of visual performance during locomotion, while also investigating the degree to which coordinated head and body movements can be altered to facilitate the goal of seeing clearly.

  12. Cell phones change the way we walk.

    PubMed

    Lamberg, Eric M; Muratori, Lisa M

    2012-04-01

    Cell phone use among pedestrians leads to increased cognitive distraction, reduced situation awareness and increases in unsafe behavior. Performing a dual-task, such as talking or texting with a cell phone while walking, may interfere with working memory and result in walking errors. At baseline, thirty-three participants visually located a target 8m ahead; then vision was occluded and they were instructed to walk to the remembered target. One week later participants were assigned to either walk, walk while talking on a cell phone, or walk while texting on a cell phone toward the target with vision occluded. Duration and final location of the heel were noted. Linear distance traveled, lateral angular deviation from the start line, and gait velocity were derived. Changes from baseline to testing were analyzed with paired t-tests. Participants engaged in cell phone use presented with significant reductions in gait velocity (texting: 33% reduction, p=0.01; talking: 16% reduction, p=0.02). Moreover, participants who were texting while walking demonstrated a 61% increase in lateral deviation (p=0.04) and 13% increase in linear distance traveled (p=0.03). These results suggest that the dual-task of walking while using a cell phone impacts executive function and working memory and influences gait to such a degree that it may compromise safety. Importantly, comparison of the two cell phone conditions demonstrates texting creates a significantly greater interference effect on walking than talking on a cell phone.

  13. Motor modules in robot-aided walking

    PubMed Central

    2012-01-01

    Background It is hypothesized that locomotion is achieved by means of rhythm generating networks (central pattern generators) and muscle activation generating networks. This modular organization can be partly identified from the analysis of the muscular activity by means of factorization algorithms. The activity of rhythm generating networks is described by activation signals whilst the muscle intervention generating network is represented by motor modules (muscle synergies). In this study, we extend the analysis of modular organization of walking to the case of robot-aided locomotion, at varying speed and body weight support level. Methods Non Negative Matrix Factorization was applied on surface electromyographic signals of 8 lower limb muscles of healthy subjects walking in gait robotic trainer at different walking velocities (1 to 3km/h) and levels of body weight support (0 to 30%). Results The muscular activity of volunteers could be described by low dimensionality (4 modules), as for overground walking. Moreover, the activation signals during robot-aided walking were bursts of activation timed at specific phases of the gait cycle, underlying an impulsive controller, as also observed in overground walking. This modular organization was consistent across the investigated speeds, body weight support level, and subjects. Conclusions These results indicate that walking in a Lokomat robotic trainer is achieved by similar motor modules and activation signals as overground walking and thus supports the use of robotic training for re-establishing natural walking patterns. PMID:23043818

  14. How Well Do Random Walks Parallelize?

    NASA Astrophysics Data System (ADS)

    Efremenko, Klim; Reingold, Omer

    A random walk on a graph is a process that explores the graph in a random way: at each step the walk is at a vertex of the graph, and at each step it moves to a uniformly selected neighbor of this vertex. Random walks are extremely useful in computer science and in other fields. A very natural problem that was recently raised by Alon, Avin, Koucky, Kozma, Lotker, and Tuttle (though it was implicit in several previous papers) is to analyze the behavior of k independent walks in comparison with the behavior of a single walk. In particular, Alon et al. showed that in various settings (e.g., for expander graphs), k random walks cover the graph (i.e., visit all its nodes), Ω(k)-times faster (in expectation) than a single walk. In other words, in such cases k random walks efficiently “parallelize” a single random walk. Alon et al. also demonstrated that, depending on the specific setting, this “speedup” can vary from logarithmic to exponential in k.

  15. Random walks with similar transition probabilities

    NASA Astrophysics Data System (ADS)

    Schiefermayr, Klaus

    2003-04-01

    We consider random walks on the nonnegative integers with a possible absorbing state at -1. A random walk is called [alpha]-similar to a random walk if there exist constants Cij such that for the corresponding n-step transition probabilities , i,j[greater-or-equal, slanted]0, hold. We give necessary and sufficient conditions for the [alpha]-similarity of two random walks both in terms of the parameters and in terms of the corresponding spectral measures which appear in the spectral representation of the n-step transition probabilities developed by Karlin and McGregor.

  16. Effects of walking velocity on vertical head and body movements during locomotion

    NASA Technical Reports Server (NTRS)

    Hirasaki, E.; Moore, S. T.; Raphan, T.; Cohen, B.

    1999-01-01

    Trunk and head movements were characterized over a wide range of walking speeds to determine the relationship between stride length, stepping frequency, vertical head translation, pitch rotation of the head, and pitch trunk rotation as a function of gait velocity. Subjects (26-44 years old) walked on a linear treadmill at velocities of 0.6-2.2 m/s. The head and trunk were modeled as rigid bodies, and rotation and translation were determined using a video-based motion analysis system. At walking speeds up to 1.2 m/s there was little head pitch movement in space, and the head pitch relative to the trunk was compensatory for trunk pitch. As walking velocity increased, trunk pitch remained approximately invariant, but a significant head translation developed. This head translation induced compensatory head pitch in space, which tended to point the head at a fixed point in front of the subject that remained approximately invariant with regard to walking speed. The predominant frequency of head translation and rotation was restricted to a narrow range from 1.4 Hz at 0.6 m/s to 2.5 Hz at 2.2 m/s. Within the range of 0.8-1.8 m/s, subjects tended to increase their stride length rather than step frequency to walk faster, maintaining the predominant frequency of head movement at close to 2.0 Hz. At walking speeds above 1.2 m/s, head pitch in space was highly coherent with, and compensatory for, vertical head translation. In the range 1.2-1.8 m/s, the power spectrum of vertical head translation was the most highly tuned, and the relationship between walking speed and head and trunk movements was the most linear. We define this as an optimal range of walking velocity with regard to head-trunk coordination. The coordination of head and trunk movement was less coherent at walking velocities below 1.2 m/s and above 1.8 m/s. These results suggest that two mechanisms are utilized to maintain a stable head fixation distance over the optimal range of walking velocities. The relative

  17. Molecular motors: thermodynamics and the random walk.

    PubMed Central

    Thomas, N.; Imafuku, Y.; Tawada, K.

    2001-01-01

    The biochemical cycle of a molecular motor provides the essential link between its thermodynamics and kinetics. The thermodynamics of the cycle determine the motor's ability to perform mechanical work, whilst the kinetics of the cycle govern its stochastic behaviour. We concentrate here on tightly coupled, processive molecular motors, such as kinesin and myosin V, which hydrolyse one molecule of ATP per forward step. Thermodynamics require that, when such a motor pulls against a constant load f, the ratio of the forward and backward products of the rate constants for its cycle is exp [-(DeltaG + u(0)f)/kT], where -DeltaG is the free energy available from ATP hydrolysis and u(0) is the motor's step size. A hypothetical one-state motor can therefore act as a chemically driven ratchet executing a biased random walk. Treating this random walk as a diffusion problem, we calculate the forward velocity v and the diffusion coefficient D and we find that its randomness parameter r is determined solely by thermodynamics. However, real molecular motors pass through several states at each attachment site. They satisfy a modified diffusion equation that follows directly from the rate equations for the biochemical cycle and their effective diffusion coefficient is reduced to D-v(2)tau, where tau is the time-constant for the motor to reach the steady state. Hence, the randomness of multistate motors is reduced compared with the one-state case and can be used for determining tau. Our analysis therefore demonstrates the intimate relationship between the biochemical cycle, the force-velocity relation and the random motion of molecular motors. PMID:11600075

  18. Continuous-time quantum walks in phase space

    SciTech Connect

    Muelken, Oliver; Blumen, Alexander

    2006-01-15

    We formulate continuous time quantum walks (CTQW) in a discrete quantum mechanical phase space. We define and calculate the Wigner function (WF) and its marginal distributions for CTQWs on circles of arbitrary length N. The WF of the CTQW shows characteristic features in phase space. Revivals of the probability distributions found for continuous and for discrete quantum carpets do manifest themselves as characteristic patterns in phase space.

  19. Flyception: imaging brain activity in freely walking fruit flies.

    PubMed

    Grover, Dhruv; Katsuki, Takeo; Greenspan, Ralph J

    2016-07-01

    Genetically encoded calcium sensors have enabled monitoring of neural activity in vivo using optical imaging techniques. Linking neural activity to complex behavior remains challenging, however, as most imaging systems require tethering the animal, which can impact the animal's behavioral repertoire. Here, we report a method for monitoring the brain activity of untethered, freely walking Drosophila melanogaster during sensorially and socially evoked behaviors to facilitate the study of neural mechanisms that underlie naturalistic behaviors. PMID:27183441

  20. IMU-based ambulatory walking speed estimation in constrained treadmill and overground walking.

    PubMed

    Yang, Shuozhi; Li, Qingguo

    2012-01-01

    This study evaluated the performance of a walking speed estimation system based on using an inertial measurement unit (IMU), a combination of accelerometers and gyroscopes. The walking speed estimation algorithm segments the walking sequence into individual stride cycles (two steps) based on the inverted pendulum-like behaviour of the stance leg during walking and it integrates the angular velocity and linear accelerations of the shank to determine the displacement of each stride. The evaluation was performed in both treadmill and overground walking experiments with various constraints on walking speed, step length and step frequency to provide a relatively comprehensive assessment of the system. Promising results were obtained in providing accurate and consistent walking speed/step length estimation in different walking conditions. An overall percentage root mean squared error (%RMSE) of 4.2 and 4.0% was achieved in treadmill and overground walking experiments, respectively. With an increasing interest in understanding human walking biomechanics, the IMU-based ambulatory system could provide a useful walking speed/step length measurement/control tool for constrained walking studies.

  1. Spatial search by quantum walk

    SciTech Connect

    Childs, Andrew M.; Goldstone, Jeffrey

    2004-08-01

    Grover's quantum search algorithm provides a way to speed up combinatorial search, but is not directly applicable to searching a physical database. Nevertheless, Aaronson and Ambainis showed that a database of N items laid out in d spatial dimensions can be searched in time of order {radical}(N) for d>2, and in time of order {radical}(N) poly(log N) for d=2. We consider an alternative search algorithm based on a continuous-time quantum walk on a graph. The case of the complete graph gives the continuous-time search algorithm of Farhi and Gutmann, and other previously known results can be used to show that {radical}(N) speedup can also be achieved on the hypercube. We show that full {radical}(N) speedup can be achieved on a d-dimensional periodic lattice for d>4. In d=4, the quantum walk search algorithm takes time of order {radical}(N) poly(log N), and in d<4, the algorithm does not provide substantial speedup.

  2. Does walking explain associations between access to greenspace and lower mortality?

    PubMed Central

    Lachowycz, Kate; Jones, Andy P.

    2014-01-01

    Despite emerging evidence that access to greenspace is associated with longer life expectancy, little is understood about what causal mechanisms may explain this relationship. Based on social-ecological theories of health, greenspace has multifaceted potential to influence mortality but the potential alternative mediating pathways have not been empirically tested. This study evaluates relationships between access to greenspace, walking and mortality. Firstly, we test for an association between access to greenspace and self-reported levels of walking using a survey of 165,424 adults across England collected during 2007 and 2008. Negative binomial regression multilevel models were used to examine associations between greenspace access and self reported number of days walked in the last month, in total and for recreational and health purposes, after controlling for relevant confounders. Secondly we use an area level analysis of 6781 middle super output areas across England to examine if recreational walking mediates relationships between greenspace access and reduced premature mortality from circulatory disease. Results show clear evidence of better greenspace access being associated with higher reported recreational walking. There were between 13% and 18% more days of recreational walking in the greenest quintile compared with the least green after adjustment for confounders. Tests for mediation found no evidence that recreational walking explain the associations between greenspace and mortality. Futhermore, whilst the relationship between greenspace access and walking was observed for all areas, the relationship between greenspace access and reduced mortality was only apparent in the most deprived areas. These findings indicate that the association between greenspace and mortality, if causal, may be explained by mediators other than walking, such as psychosocial factors. Future research should concentrate on understanding the causal mechanisms underlying observed

  3. Continuous detection of the self-initiated walking pre-movement state from EEG correlates without session-to-session recalibration

    NASA Astrophysics Data System (ADS)

    Ioana Sburlea, Andreea; Montesano, Luis; Minguez, Javier

    2015-06-01

    Objective. Brain-computer interfaces (BCI) as a rehabilitation tool have been used to restore functions in patients with motor impairments by actively involving the central nervous system and triggering prosthetic devices according to the detected pre-movement state. However, since EEG signals are highly variable between subjects and recording sessions, typically a BCI is calibrated at the beginning of each session. This process is inconvenient especially for patients suffering locomotor disabilities in maintaining a bipedal position for a longer time. This paper presents a continuous EEG decoder of a pre-movement state in self-initiated walking and the usage of this decoder from session to session without recalibrating. Approach. Ten healthy subjects performed a self-initiated walking task during three sessions, with an intersession interval of one week. The implementation of our continuous decoder is based on the combination of movement-related cortical potential (MRCP) and event-related desynchronization (ERD) features with sparse classification models. Main results. During intrasession our technique detects the pre-movement state with 70% accuracy. Moreover this decoder can be applied from session to session without recalibration, with a decrease in performance of about 4% on a one- or two-week intersession interval. Significance. Our detection model operates in a continuous manner, which makes it a straightforward asset for rehabilitation scenarios. By using both temporal and spectral information we attained higher detection rates than the ones obtained with the MRCP and ERD detection models, both during the intrasession and intersession conditions.

  4. Inverse dynamic analysis of the lower extremities during nordic walking, walking, and running.

    PubMed

    Stief, Felix; Kleindienst, Frank I; Wiemeyer, Josef; Wedel, Florian; Campe, Sebastian; Krabbe, Berthold

    2008-11-01

    Compared with walking (W), Nordic walking (NW) exhibits greater cardiopulmonary and cardiovascular benefits. Some authors conjecture that compared with W or running (R), NW imposes smaller mechanical loads on the musculoskeletal system. The purpose of the current study was to quantify any differences in joint loading of the lower extremities among NW, W, and R. Fifteen experienced adults participated. Kinematic and force measurements were combined using an inverse dynamics approach to yield joint moments. The results showed no biomechanical benefit of NW. Instead, NW involved greater knee joint loading just after heel strike compared with W. This was due to the longer steps and the higher sole angle during the first part of the stance phase. The sagittal and frontal plane moments were smaller for NW compared with R, but in the transverse plane, the ankle moments were greater in NW than in W or R. Based on these results, NW is not recommended as an exercise for persons who seek to reduce biomechanical loading of the lower extremities.

  5. Web-Based Walk-Throughs

    ERIC Educational Resources Information Center

    Granada, Janet; Vriesenga, Michael

    2008-01-01

    Walk-through classroom observations are an effective way for principals to learn about and shape instruction and culture in their schools. But many principals don't use walk-throughs to their potential because of the time it takes to store, process, analyze, and give feedback. To facilitate the use of this valuable observation tool, the Kentucky…

  6. Open Quantum Walks: a short introduction

    NASA Astrophysics Data System (ADS)

    Sinayskiy, Ilya; Petruccione, Francesco

    2013-06-01

    The concept of open quantum walks (OQW), quantum walks exclusively driven by the interaction with the external environment, is reviewed. OQWs are formulated as discrete completely positive maps on graphs. The basic properties of OQWs are summarised and new examples of OQWs on Bbb Z and their simulation by means of quantum trajectories are presented.

  7. Brownian Optimal Stopping and Random Walks

    SciTech Connect

    Lamberton, D.

    2002-06-05

    One way to compute the value function of an optimal stopping problem along Brownian paths consists of approximating Brownian motion by a random walk. We derive error estimates for this type of approximation under various assumptions on the distribution of the approximating random walk.

  8. Welly-Walks for Science Learning

    ERIC Educational Resources Information Center

    Fradley, Carol

    2006-01-01

    This article discusses how a regular walk in the wind or the rain can help develop science knowledge and skills. The author describes one "welly-walk" and links it to National Curriculum for England requirements so that readers can see how easy it is. (Contains 1 figure and 1 box.)

  9. Cognitive Resource Demands of Redirected Walking.

    PubMed

    Bruder, Gerd; Lubas, Paul; Steinicke, Frank

    2015-04-01

    Redirected walking allows users to walk through a large-scale immersive virtual environment (IVE) while physically remaining in a reasonably small workspace. Therefore, manipulations are applied to virtual camera motions so that the user's self-motion in the virtual world differs from movements in the real world. Previous work found that the human perceptual system tolerates a certain amount of inconsistency between proprioceptive, vestibular and visual sensation in IVEs, and even compensates for slight discrepancies with recalibrated motor commands. Experiments showed that users are not able to detect an inconsistency if their physical path is bent with a radius of at least 22 meters during virtual straightforward movements. If redirected walking is applied in a smaller workspace, manipulations become noticeable, but users are still able to move through a potentially infinitely large virtual world by walking. For this semi-natural form of locomotion, the question arises if such manipulations impose cognitive demands on the user, which may compete with other tasks in IVEs for finite cognitive resources. In this article we present an experiment in which we analyze the mutual influence between redirected walking and verbal as well as spatial working memory tasks using a dual-tasking method. The results show an influence of redirected walking on verbal as well as spatial working memory tasks, and we also found an effect of cognitive tasks on walking behavior. We discuss the implications and provide guidelines for using redirected walking in virtual reality laboratories. PMID:26357104

  10. The excited random walk in one dimension

    NASA Astrophysics Data System (ADS)

    Antal, T.; Redner, S.

    2005-03-01

    We study the excited random walk, in which a walk that is at a site that contains cookies eats one cookie and then hops to the right with probability p and to the left with probability q = 1 - p. If the walk hops onto an empty site, there is no bias. For the 1-excited walk on the half-line (one cookie initially at each site), the probability of first returning to the starting point at time t scales as t-(2-p). Although the average return time to the origin is infinite for all p, the walk eats, on average, only a finite number of cookies until this first return when p < 1/2. For the infinite line, the probability distribution for the 1-excited walk has an unusual anomaly at the origin. The positions of the leftmost and rightmost uneaten cookies can be accurately estimated by probabilistic arguments and their corresponding distributions have power-law singularities. The 2-excited walk on the infinite line exhibits peculiar features in the regime p > 3/4, where the walk is transient, including a mean displacement that grows as tν, with \

  11. Excited Random Walk in One Dimension

    NASA Astrophysics Data System (ADS)

    Antal, Tibor

    2005-03-01

    We study the k-excited random walk, in which each site initially contains k cookies, and a random walk that is at a site that contains at least one cookie eats a cookie and then hops to the right with probability p and to the left with probability q=1-p. If the walk hops from an empty site, there is no bias. For the 1-excited walk on the half-line (each site initially contains one cookie), the probability of first returning to the starting point at time t scales as t-1-q. We also derive the probability distribution of the position of the leftmost uneaten cookie in the large time limit. For the infinite line, the probability distribution of the position of the 1-excited walk has an unusual anomaly at the origin and the distributions of positions for the leftmost and rightmost uneaten cookie develop a power-law singularity at the origin. The 2-excited walk on the infinite line exhibits peculiar features in the regime p>3/4, where the walk is transient, including a mean displacement that grows as t^ν, with ν>12 dependent on p, and a breakdown of scaling for the probability distribution of the walk.

  12. Cognitive Resource Demands of Redirected Walking.

    PubMed

    Bruder, Gerd; Lubas, Paul; Steinicke, Frank

    2015-04-01

    Redirected walking allows users to walk through a large-scale immersive virtual environment (IVE) while physically remaining in a reasonably small workspace. Therefore, manipulations are applied to virtual camera motions so that the user's self-motion in the virtual world differs from movements in the real world. Previous work found that the human perceptual system tolerates a certain amount of inconsistency between proprioceptive, vestibular and visual sensation in IVEs, and even compensates for slight discrepancies with recalibrated motor commands. Experiments showed that users are not able to detect an inconsistency if their physical path is bent with a radius of at least 22 meters during virtual straightforward movements. If redirected walking is applied in a smaller workspace, manipulations become noticeable, but users are still able to move through a potentially infinitely large virtual world by walking. For this semi-natural form of locomotion, the question arises if such manipulations impose cognitive demands on the user, which may compete with other tasks in IVEs for finite cognitive resources. In this article we present an experiment in which we analyze the mutual influence between redirected walking and verbal as well as spatial working memory tasks using a dual-tasking method. The results show an influence of redirected walking on verbal as well as spatial working memory tasks, and we also found an effect of cognitive tasks on walking behavior. We discuss the implications and provide guidelines for using redirected walking in virtual reality laboratories.

  13. [Development of the gravity vector in normal walking. Muscular and kinetic correlations].

    PubMed

    Frain, P

    1985-01-01

    The vertical vector P which represents the body weight in a standing subject undergoes variations in the course of walking which merits study. This is the subject of this article. It is based on the numerical findings derived from work published on walking and is concerned with its displacement, the ground contact forces, muscular activity and expenditure of energy. A study using pressure transducers makes it possible to trace the progressive area of the gravity vector in the horizontal plane in the course of walking. At the same time, the progressive position of the centre of gravity in space can be registered and timed. The resulting trace is analogous to that obtained by a study of plantar pressures. The gravity vector is displaced in the course of walking like the clapper of a clock, suspended at the centre of gravity and passing successively in diagonal form in the four sectors of the horizontal plane defined by the axis of the walking and the frontal plane. In this displacement, its value varies steadily and cyclically. The trunk muscles, whose contraction has been studied clinically and by electromyography at the time of the different phases of walking are exactly those which can provide the mechanical compensation necessary for the displacement of the body weight vector. As to the time factor, it seems to show that, for a given subject, there exists, in relation to his weight and the height of the centre of gravity a speed of walking that corresponds to the minimum expenditure of energy.

  14. Effect of reduced gravity on the preferred walk-run transition speed.

    PubMed

    Kram, R; Domingo, A; Ferris, D P

    1997-02-01

    We investigated the effect of reduced gravity on the human walk-run gait transition speed and interpreted the results using an inverted-pendulum mechanical model. We simulated reduced gravity using an apparatus that applied a nearly constant upward force at the center of mass, and the subjects walked and ran on a motorized treadmill. In the inverted pendulum model for walking, gravity provides the centripetal force needed to keep the pendulum in contact with the ground. The ratio of the centripetal and gravitational forces (mv2/L)/(mg) reduces to the dimensionless Froude number (v2/gL). Applying this model to a walking human, m is body mass, v is forward velocity, L is leg length and g is gravity. In normal gravity, humans and other bipeds with different leg lengths all choose to switch from a walk to a run at different absolute speeds but at approximately the same Froude number (0.5). We found that, at lower levels of gravity, the walk-run transition occurred at progressively slower absolute speeds but at approximately the same Froude number. This supports the hypothesis that the walk-run transition is triggered by the dynamics of an inverted-pendulum system. PMID:9076966

  15. In vivo behavior of the human soleus muscle with increasing walking and running speeds.

    PubMed

    Lai, Adrian; Lichtwark, Glen A; Schache, Anthony G; Lin, Yi-Chung; Brown, Nicholas A T; Pandy, Marcus G

    2015-05-15

    The interaction between the muscle fascicle and tendon components of the human soleus (SO) muscle influences the capacity of the muscle to generate force and mechanical work during walking and running. In the present study, ultrasound-based measurements of in vivo SO muscle fascicle behavior were combined with an inverse dynamics analysis to investigate the interaction between the muscle fascicle and tendon components over a broad range of steady-state walking and running speeds: slow-paced walking (0.7 m/s) through to moderate-paced running (5.0 m/s). Irrespective of a change in locomotion mode (i.e., walking vs. running) or an increase in steady-state speed, SO muscle fascicles were found to exhibit minimal shortening compared with the muscle-tendon unit (MTU) throughout stance. During walking and running, the muscle fascicles contributed only 35 and 20% of the overall MTU length change and shortening velocity, respectively. Greater levels of muscle activity resulted in increasingly shorter SO muscle fascicles as locomotion speed increased, both of which facilitated greater tendon stretch and recoil. Thus the elastic tendon contributed the majority of the MTU length change during walking and running. When transitioning from walking to running near the preferred transition speed (2.0 m/s), greater, more economical ankle torque development is likely explained by the SO muscle fascicles shortening more slowly and operating on a more favorable portion (i.e., closer to the plateau) of the force-length curve.

  16. Lower limb joint kinetics in walking: the role of industry recommended footwear.

    PubMed

    Keenan, Geoffrey S; Franz, Jason R; Dicharry, Jay; Della Croce, Ugo; Kerrigan, D Casey

    2011-03-01

    The effects of current athletic footwear on lower extremity biomechanics are unknown. The aim of this study was to examine the changes, if any, that occur in peak lower extremity net joint moments while walking in industry recommended athletic footwear. Sixty-eight healthy young adults underwent kinetic evaluation of lower extremity extrinsic joint moments while walking barefoot and while walking in current standard athletic footwear matched to the foot mechanics of each subject while controlling for speed. A secondary analysis was performed comparing peak knee joint extrinsic moments during barefoot walking to those while walking in three different standard footwear types: stability, motion control, and cushion. 3-D motion capture data were collected in synchrony with ground reaction force data collected from an instrumented treadmill. The shod condition was associated with a 9.7% increase in the first peak knee varus moment, and increases in the hip flexion and extension moments. These increases may be largely related to a 6.5% increase in stride length with shoes associated with increases in the ground reaction forces in all three axes. The changes from barefoot walking observed in the peak knee joint moments were similar when subjects walked in all three footwear types. It is unclear to what extent these increased joint moments may be clinically relevant, or potentially adverse. Nonetheless, these differences should be considered in the recommendation as well as the design of footwear in the future.

  17. Land Use, Residential Density, and Walking

    PubMed Central

    Rodríguez, Daniel A.; Evenson, Kelly R.; Diez Roux, Ana V.; Brines, Shannon J.

    2009-01-01

    Background The neighborhood environment may play a role in encouraging sedentary patterns, especially for middle-aged and older adults. Purpose Associations between walking and neighborhood population density, retail availability, and land use distribution were examined using data from a cohort of adults aged 45 to 84 years old. Methods Data from a multi-ethnic sample of 5529 adult residents of Baltimore MD, Chicago IL, Forsyth County NC, Los Angeles CA, New York NY, and St. Paul MN, enrolled in the Multi-Ethnic Study of Atherosclerosis in 2000–2002 were linked to secondary land use and population data. Participant reports of access to destinations and stores and objective measures of the percentage of land area in parcels devoted to retail land uses, the population divided by land area in parcels, and the mixture of uses for areas within 200m of each participant's residence were examined. Multinomial logistic regression was used to investigate associations of self-reported and objective neighborhood characteristics with walking. All analyses were conducted in 2008 and 2009. Results After adjustment for individual-level characteristics and neighborhood connectivity, higher density, greater land area devoted to retail uses, and self-reported measures of proximity of destinations and ease of walking to places were each related to walking. In models including all land use measures, population density was positively associated with walking to places and with walking for exercise for more than 90 min/wk both relative to no walking. Availability of retail was associated with walking to places relative to not walking, having a more proportional mix of land uses was associated with walking for exercise for more than 90 min/wk, while self-reported ease of access to places was related to higher levels of exercise walking both relative to not walking. Conclusions Residential density and the presence of retail uses are related to various walking behaviors. Efforts to

  18. Efficient quantum walk on a quantum processor.

    PubMed

    Qiang, Xiaogang; Loke, Thomas; Montanaro, Ashley; Aungskunsiri, Kanin; Zhou, Xiaoqi; O'Brien, Jeremy L; Wang, Jingbo B; Matthews, Jonathan C F

    2016-01-01

    The random walk formalism is used across a wide range of applications, from modelling share prices to predicting population genetics. Likewise, quantum walks have shown much potential as a framework for developing new quantum algorithms. Here we present explicit efficient quantum circuits for implementing continuous-time quantum walks on the circulant class of graphs. These circuits allow us to sample from the output probability distributions of quantum walks on circulant graphs efficiently. We also show that solving the same sampling problem for arbitrary circulant quantum circuits is intractable for a classical computer, assuming conjectures from computational complexity theory. This is a new link between continuous-time quantum walks and computational complexity theory and it indicates a family of tasks that could ultimately demonstrate quantum supremacy over classical computers. As a proof of principle, we experimentally implement the proposed quantum circuit on an example circulant graph using a two-qubit photonics quantum processor. PMID:27146471

  19. Efficient quantum walk on a quantum processor

    NASA Astrophysics Data System (ADS)

    Qiang, Xiaogang; Loke, Thomas; Montanaro, Ashley; Aungskunsiri, Kanin; Zhou, Xiaoqi; O'Brien, Jeremy L.; Wang, Jingbo B.; Matthews, Jonathan C. F.

    2016-05-01

    The random walk formalism is used across a wide range of applications, from modelling share prices to predicting population genetics. Likewise, quantum walks have shown much potential as a framework for developing new quantum algorithms. Here we present explicit efficient quantum circuits for implementing continuous-time quantum walks on the circulant class of graphs. These circuits allow us to sample from the output probability distributions of quantum walks on circulant graphs efficiently. We also show that solving the same sampling problem for arbitrary circulant quantum circuits is intractable for a classical computer, assuming conjectures from computational complexity theory. This is a new link between continuous-time quantum walks and computational complexity theory and it indicates a family of tasks that could ultimately demonstrate quantum supremacy over classical computers. As a proof of principle, we experimentally implement the proposed quantum circuit on an example circulant graph using a two-qubit photonics quantum processor.

  20. Efficient quantum walk on a quantum processor.

    PubMed

    Qiang, Xiaogang; Loke, Thomas; Montanaro, Ashley; Aungskunsiri, Kanin; Zhou, Xiaoqi; O'Brien, Jeremy L; Wang, Jingbo B; Matthews, Jonathan C F

    2016-05-05

    The random walk formalism is used across a wide range of applications, from modelling share prices to predicting population genetics. Likewise, quantum walks have shown much potential as a framework for developing new quantum algorithms. Here we present explicit efficient quantum circuits for implementing continuous-time quantum walks on the circulant class of graphs. These circuits allow us to sample from the output probability distributions of quantum walks on circulant graphs efficiently. We also show that solving the same sampling problem for arbitrary circulant quantum circuits is intractable for a classical computer, assuming conjectures from computational complexity theory. This is a new link between continuous-time quantum walks and computational complexity theory and it indicates a family of tasks that could ultimately demonstrate quantum supremacy over classical computers. As a proof of principle, we experimentally implement the proposed quantum circuit on an example circulant graph using a two-qubit photonics quantum processor.

  1. Go naked: diapers affect infant walking.

    PubMed

    Cole, Whitney G; Lingeman, Jesse M; Adolph, Karen E

    2012-11-01

    In light of cross-cultural and experimental research highlighting effects of childrearing practices on infant motor skill, we asked whether wearing diapers, a seemingly innocuous childrearing practice, affects infant walking. Diapers introduce bulk between the legs, potentially exacerbating infants' poor balance and wide stance. We show that walking is adversely affected by old-fashioned cloth diapers, and that even modern disposable diapers - habitually worn by most infants in the sample - incur a cost relative to walking naked. Infants displayed less mature gait patterns and more missteps and falls while wearing diapers. Thus, infants' own diapers constitute an ongoing biomechanical perturbation while learning to walk. Furthermore, shifts in diapering practices may have contributed to historical and cross-cultural differences in infant walking. PMID:23106732

  2. Efficient quantum walk on a quantum processor

    PubMed Central

    Qiang, Xiaogang; Loke, Thomas; Montanaro, Ashley; Aungskunsiri, Kanin; Zhou, Xiaoqi; O'Brien, Jeremy L.; Wang, Jingbo B.; Matthews, Jonathan C. F.

    2016-01-01

    The random walk formalism is used across a wide range of applications, from modelling share prices to predicting population genetics. Likewise, quantum walks have shown much potential as a framework for developing new quantum algorithms. Here we present explicit efficient quantum circuits for implementing continuous-time quantum walks on the circulant class of graphs. These circuits allow us to sample from the output probability distributions of quantum walks on circulant graphs efficiently. We also show that solving the same sampling problem for arbitrary circulant quantum circuits is intractable for a classical computer, assuming conjectures from computational complexity theory. This is a new link between continuous-time quantum walks and computational complexity theory and it indicates a family of tasks that could ultimately demonstrate quantum supremacy over classical computers. As a proof of principle, we experimentally implement the proposed quantum circuit on an example circulant graph using a two-qubit photonics quantum processor. PMID:27146471

  3. Quantum walks on a random environment

    SciTech Connect

    Yin Yue; Katsanos, D. E.; Evangelou, S. N.

    2008-02-15

    Quantum walks are considered in a one-dimensional random medium characterized by static or dynamic disorder. Quantum interference for static disorder can lead to Anderson localization which completely hinders the quantum walk and it is contrasted with the decoherence effect of dynamic disorder having strength W, where a quantum to classical crossover at time t{sub c}{proportional_to}W{sup -2} transforms the quantum walk into an ordinary random walk with diffusive spreading. We demonstrate these localization and decoherence phenomena in quantum carpets of the observed time evolution, we relate our results to previously studied models of decoherence for quantum walks, and examine in detail a dimer lattice which corresponds to a single qubit subject to randomness.

  4. Segment lengths influence hill walking strategies.

    PubMed

    Sheehan, Riley C; Gottschall, Jinger S

    2014-08-22

    Segment lengths are known to influence walking kinematics and muscle activity patterns. During level walking at the same speed, taller individuals take longer, slower strides than shorter individuals. Based on this, we sought to determine if segment lengths also influenced hill walking strategies. We hypothesized that individuals with longer segments would display more joint flexion going uphill and more extension going downhill as well as greater lateral gastrocnemius and vastus lateralis activity in both directions. Twenty young adults of varying heights (below 155 cm to above 188 cm) walked at 1.25 m/s on a level treadmill as well as 6° and 12° up and downhill slopes while we collected kinematic and muscle activity data. Subsequently, we ran linear regressions for each of the variables with height, leg, thigh, and shank length. Despite our population having twice the anthropometric variability, the level and hill walking patterns matched closely with previous studies. While there were significant differences between level and hill walking, there were few hill walking variables that were correlated with segment length. In support of our hypothesis, taller individuals had greater knee and ankle flexion during uphill walking. However, the majority of the correlations were between tibialis anterior and lateral gastrocnemius activities and shank length. Contrary to our hypothesis, relative step length and muscle activity decreased with segment length, specifically shank length. In summary, it appears that individuals with shorter segments require greater propulsion and toe clearance during uphill walking as well as greater braking and stability during downhill walking. PMID:24968942

  5. Walking Capacity of Bariatric Surgery Candidates

    PubMed Central

    King, WC; Engel, SG; Elder, KA; Chapman, WH; Eid, GM; Wolfe, BM; Belle, SH

    2011-01-01

    Background This study characterizes the walking limitations of bariatric surgery candidates by age and body mass index (BMI) and determines factors independently associated with walking capacity. Setting Multi-institutional at research university hospitals in the United States. Methods 2458 participants of the Longitudinal Assessment of Bariatric Surgery study (age: 18-78 y, BMI: 33-94 kg/m2) attended a pre-operative research visit. Walking capacity was measured via self-report and the 400 meter Long Distance Corridor Walk (LDCW). Results Almost two-thirds (64%) of subjects reported limitations walking several blocks, 48% had an objectively-defined mobility deficit, and 16% reported at least some walking aid use. In multivariable analysis, BMI, older age, lower income and greater bodily pain were independently associated (p<.05) with walking aid use, physical discomfort during the LDCW, inability to complete the LDCW, and slower time to complete the LDCW. Female sex, Hispanic ethnicity (but not race), higher resting heart rate, history of smoking, several comoribidities (history of stroke, ischemic heart disease, diabetes, asthma, sleep apnea, venous edema with ulcerations), and depressive symptoms were also independently related (p<.05) to at least one measure of reduced walking capacity. Conclusions Walking limitations are common in bariatric surgery candidates, even among the least severely obese and youngest patients. Physical activity counseling must be tailored to individuals' abilities. While several factors identified in this study (e.g., BMI, age, pain, comorbidities) should be considered, directly assessing walking capacity will facilitate appropriate goal-setting. PMID:21937285

  6. Quantum walking in curved spacetime

    NASA Astrophysics Data System (ADS)

    Arrighi, Pablo; Facchini, Stefano; Forets, Marcelo

    2016-08-01

    A discrete-time quantum walk (QW) is essentially a unitary operator driving the evolution of a single particle on the lattice. Some QWs admit a continuum limit, leading to familiar PDEs (e.g., the Dirac equation). In this paper, we study the continuum limit of a wide class of QWs and show that it leads to an entire class of PDEs, encompassing the Hamiltonian form of the massive Dirac equation in (1+1) curved spacetime. Therefore, a certain QW, which we make explicit, provides us with a unitary discrete toy model of a test particle in curved spacetime, in spite of the fixed background lattice. Mathematically, we have introduced two novel ingredients for taking the continuum limit of a QW, but which apply to any quantum cellular automata: encoding and grouping.

  7. Medical Aspects of Space Walking

    NASA Technical Reports Server (NTRS)

    Musgrave, Story

    1999-01-01

    Dr. Musgrave has acquired extensive experience during a distinguished and impressive career that includes flying as an astronaut on six Shuttle missions, participating in many hours of extravehicular activity, and contributing his myriad talents toward great public service, especially in the area of education. He has a unique perspective as a physician, scientist, engineer, pilot, and scholar. His interests and breadth of knowledge, which astound even the seasoned space enthusiast, have provided the space program an extraordinary scientific and technical expertise. Dr. Musgrave presented a personal perspective on space flight with particular emphasis on extravehicular activity (EVA or space walking), which was copiously illustrated with photographs from many space missions. His theme was two fold: the exacting and detailed preparations required for successful execution of a mission plan and a cosmic view of mankind's place in the greater scheme of things.

  8. Symbolic walk in regular networks

    NASA Astrophysics Data System (ADS)

    Ermann, Leonardo; Carlo, Gabriel G.

    2015-01-01

    We find that a symbolic walk (SW)—performed by a walker with memory given by a Bernoulli shift—is able to distinguish between the random or chaotic topology of a given network. We show this result by means of studying the undirected baker network, which is defined by following the Ulam approach for the baker transformation in order to introduce the effect of deterministic chaos into its structure. The chaotic topology is revealed through the central role played by the nodes associated with the positions corresponding to the shortest periodic orbits of the generating map. They are the overwhelmingly most visited nodes in the limit cycles at which the SW asymptotically arrives. Our findings contribute to linking deterministic chaotic dynamics with the properties of networks constructed using the Ulam approach.

  9. Interventions for coordination of walking following stroke: systematic review.

    PubMed

    Hollands, Kristen L; Pelton, Trudy A; Tyson, Sarah F; Hollands, Mark A; van Vliet, Paulette M

    2012-03-01

    Impairments in gait coordination may be a factor in falls and mobility limitations after stroke. Therefore, rehabilitation targeting gait coordination may be an effective way to improve walking post-stroke. This review sought to examine current treatments that target impairments of gait coordination, the theoretical basis on which they are derived and the effects of such interventions. Few high quality RCTs with a low risk of bias specifically targeting and measuring restoration of coordinated gait were found. Consequently, we took a pragmatic approach to describing and quantifying the available evidence and included non-randomised study designs and limited the influence of heterogeneity in experimental design and control comparators by restricting meta-analyses to pre- and post-test comparisons of experimental interventions only. Results show that physiotherapy interventions significantly improved gait function and coordination. Interventions involving repetitive task-specific practice and/or auditory cueing appeared to be the most promising approaches to restore gait coordination. The fact that overall improvements in gait coordination coincided with increased walking speed lends support to the hypothesis that targeting gait coordination gait may be a way of improving overall walking ability post-stroke. However, establishing the mechanism for improved locomotor control requires a better understanding of the nature of both neuroplasticity and coordination deficits in functional tasks after stroke. Future research requires the measurement of impairment, activity and cortical activation in an effort to establish the mechanism by which functional gains are achieved.

  10. Learning to walk with a robotic ankle exoskeleton.

    PubMed

    Gordon, Keith E; Ferris, Daniel P

    2007-01-01

    We used a lower limb robotic exoskeleton controlled by the wearer's muscle activity to study human locomotor adaptation to disrupted muscular coordination. Ten healthy subjects walked while wearing a pneumatically powered ankle exoskeleton on one limb that effectively increased plantar flexor strength of the soleus muscle. Soleus electromyography amplitude controlled plantar flexion assistance from the exoskeleton in real time. We hypothesized that subjects' gait kinematics would be initially distorted by the added exoskeleton power, but that subjects would reduce soleus muscle recruitment with practice to return to gait kinematics more similar to normal. We also examined the ability of subjects to recall their adapted motor pattern for exoskeleton walking by testing subjects on two separate sessions, 3 days apart. The mechanical power added by the exoskeleton greatly perturbed ankle joint movements at first, causing subjects to walk with significantly increased plantar flexion during stance. With practice, subjects reduced soleus recruitment by approximately 35% and learned to use the exoskeleton to perform almost exclusively positive work about the ankle. Subjects demonstrated the ability to retain the adapted locomotor pattern between testing sessions as evidenced by similar muscle activity, kinematic and kinetic patterns between the end of the first test day and the beginning of the second. These results demonstrate that robotic exoskeletons controlled by muscle activity could be useful tools for testing neural mechanisms of human locomotor adaptation. PMID:17275829

  11. Body stability and muscle and motor cortex activity during walking with wide stance

    PubMed Central

    Farrell, Brad J.; Bulgakova, Margarita A.; Beloozerova, Irina N.; Sirota, Mikhail G.

    2014-01-01

    Biomechanical and neural mechanisms of balance control during walking are still poorly understood. In this study, we examined the body dynamic stability, activity of limb muscles, and activity of motor cortex neurons [primarily pyramidal tract neurons (PTNs)] in the cat during unconstrained walking and walking with a wide base of support (wide-stance walking). By recording three-dimensional full-body kinematics we found for the first time that during unconstrained walking the cat is dynamically unstable in the forward direction during stride phases when only two diagonal limbs support the body. In contrast to standing, an increased lateral between-paw distance during walking dramatically decreased the cat's body dynamic stability in double-support phases and prompted the cat to spend more time in three-legged support phases. Muscles contributing to abduction-adduction actions had higher activity during stance, while flexor muscles had higher activity during swing of wide-stance walking. The overwhelming majority of neurons in layer V of the motor cortex, 82% and 83% in the forelimb and hindlimb representation areas, respectively, were active differently during wide-stance walking compared with unconstrained condition, most often by having a different depth of stride-related frequency modulation along with a different mean discharge rate and/or preferred activity phase. Upon transition from unconstrained to wide-stance walking, proximal limb-related neuronal groups subtly but statistically significantly shifted their activity toward the swing phase, the stride phase where most of body instability occurs during this task. The data suggest that the motor cortex participates in maintenance of body dynamic stability during locomotion. PMID:24790167

  12. Effects of walking speed on asymmetry and bilateral coordination of gait

    PubMed Central

    Plotnik, Meir; Bartsch, Ronny P.; Zeev, Aviva; Giladi, Nir; Hausdorff, Jeffery M.

    2013-01-01

    The mechanisms regulating the bilateral coordination of gait in humans are largely unknown. Our objective was to study how bilateral coordination changes as a result of gait speed modifications during over ground walking. 15 young adults wore force sensitive insoles that measured vertical forces used to determine the timing of the gait cycle events under three walking conditions (i.e., usual-walking, fast and slow). Ground reaction force impact (GRFI) associated with heel-strikes was also quantified, representing the potential contribution of sensory feedback to the regulation of gait. Gait asymmetry (GA) was quantified based on the differences between right and left swing times and the bilateral coordination of gait was assessed using the phase coordination index (PCI), a metric that quantifies the consistency and accuracy of the anti-phase stepping pattern. GA was preserved in the three different gait speeds. PCI was higher (reduced coordination) in the slow gait condition, compared to usual-walking (3.51% vs. 2.47%, respectively, p=0.002), but was not significantly affected in the fast condition. GRFI values were lower in the slow walking as compared to usual-walking and higher in the fast walking condition (p<0.001). Stepwise regression revealed that slowed gait related changes in PCI were not associated with the slowed gait related changes in GRFI. The present findings suggest that left-right anti-phase stepping is similar in normal and fast walking, but altered during slowed walking. This behavior might reflect a relative increase in attention resources required to regulate a slow gait speed, consistent with the possibility that cortical function and supraspinal input influences the bilateral coordination of gait. PMID:23680424

  13. Effects of walking speed on asymmetry and bilateral coordination of gait.

    PubMed

    Plotnik, Meir; Bartsch, Ronny P; Zeev, Aviva; Giladi, Nir; Hausdorff, Jeffery M

    2013-09-01

    The mechanisms regulating the bilateral coordination of gait in humans are largely unknown. Our objective was to study how bilateral coordination changes as a result of gait speed modifications during over ground walking. 15 young adults wore force sensitive insoles that measured vertical forces used to determine the timing of the gait cycle events under three walking conditions (i.e., usual-walking, fast and slow). Ground reaction force impact (GRFI) associated with heel-strikes was also quantified, representing the potential contribution of sensory feedback to the regulation of gait. Gait asymmetry (GA) was quantified based on the differences between right and left swing times and the bilateral coordination of gait was assessed using the phase coordination index (PCI), a metric that quantifies the consistency and accuracy of the anti-phase stepping pattern. GA was preserved in the three different gait speeds. PCI was higher (reduced coordination) in the slow gait condition, compared to usual-walking (3.51% vs. 2.47%, respectively, p=0.002), but was not significantly affected in the fast condition. GRFI values were lower in the slow walking as compared to usual-walking and higher in the fast walking condition (p<0.001). Stepwise regression revealed that slow gait related changes in PCI were not associated with the slow gait related changes in GRFI. The present findings suggest that left-right anti-phase stepping is similar in normal and fast walking, but altered during slow walking. This behavior might reflect a relative increase in attention resources required to regulate a slow gait speed, consistent with the possibility that cortical function and supraspinal input influences the bilateral coordination of gait.

  14. Body stability and muscle and motor cortex activity during walking with wide stance.

    PubMed

    Farrell, Brad J; Bulgakova, Margarita A; Beloozerova, Irina N; Sirota, Mikhail G; Prilutsky, Boris I

    2014-08-01

    Biomechanical and neural mechanisms of balance control during walking are still poorly understood. In this study, we examined the body dynamic stability, activity of limb muscles, and activity of motor cortex neurons [primarily pyramidal tract neurons (PTNs)] in the cat during unconstrained walking and walking with a wide base of support (wide-stance walking). By recording three-dimensional full-body kinematics we found for the first time that during unconstrained walking the cat is dynamically unstable in the forward direction during stride phases when only two diagonal limbs support the body. In contrast to standing, an increased lateral between-paw distance during walking dramatically decreased the cat's body dynamic stability in double-support phases and prompted the cat to spend more time in three-legged support phases. Muscles contributing to abduction-adduction actions had higher activity during stance, while flexor muscles had higher activity during swing of wide-stance walking. The overwhelming majority of neurons in layer V of the motor cortex, 82% and 83% in the forelimb and hindlimb representation areas, respectively, were active differently during wide-stance walking compared with unconstrained condition, most often by having a different depth of stride-related frequency modulation along with a different mean discharge rate and/or preferred activity phase. Upon transition from unconstrained to wide-stance walking, proximal limb-related neuronal groups subtly but statistically significantly shifted their activity toward the swing phase, the stride phase where most of body instability occurs during this task. The data suggest that the motor cortex participates in maintenance of body dynamic stability during locomotion.

  15. Aggregation is the key to succeed in random walks.

    PubMed

    Hernandez-Suarez, Carlos M

    2016-09-01

    In a random walk (RW) in Z an individual starts at 0 and moves at discrete unitary steps to the right or left with respective probabilities p and 1-p. Assuming p > 1/2 and finite a, a > 1, the probability that state a will be reached before -a is Q(a, p) where Q(a, p) > p. Here we introduce the cooperative random walk (CRW) involving two individuals that move independently according to a RW each but dedicate a fraction of time θ to approach the other one unit. This simple strategy seems to be effective in increasing the expected number of individuals arriving to a first. We conjecture that this is a possible underlying mechanism for efficient animal migration under noisy conditions. PMID:27404210

  16. A generalized model via random walks for information filtering

    NASA Astrophysics Data System (ADS)

    Ren, Zhuo-Ming; Kong, Yixiu; Shang, Ming-Sheng; Zhang, Yi-Cheng

    2016-08-01

    There could exist a simple general mechanism lurking beneath collaborative filtering and interdisciplinary physics approaches which have been successfully applied to online E-commerce platforms. Motivated by this idea, we propose a generalized model employing the dynamics of the random walk in the bipartite networks. Taking into account the degree information, the proposed generalized model could deduce the collaborative filtering, interdisciplinary physics approaches and even the enormous expansion of them. Furthermore, we analyze the generalized model with single and hybrid of degree information on the process of random walk in bipartite networks, and propose a possible strategy by using the hybrid degree information for different popular objects to toward promising precision of the recommendation.

  17. Aggregation is the key to succeed in random walks.

    PubMed

    Hernandez-Suarez, Carlos M

    2016-09-01

    In a random walk (RW) in Z an individual starts at 0 and moves at discrete unitary steps to the right or left with respective probabilities p and 1-p. Assuming p > 1/2 and finite a, a > 1, the probability that state a will be reached before -a is Q(a, p) where Q(a, p) > p. Here we introduce the cooperative random walk (CRW) involving two individuals that move independently according to a RW each but dedicate a fraction of time θ to approach the other one unit. This simple strategy seems to be effective in increasing the expected number of individuals arriving to a first. We conjecture that this is a possible underlying mechanism for efficient animal migration under noisy conditions.

  18. Statistical Modeling of Robotic Random Walks on Different Terrain

    NASA Astrophysics Data System (ADS)

    Naylor, Austin; Kinnaman, Laura

    Issues of public safety, especially with crowd dynamics and pedestrian movement, have been modeled by physicists using methods from statistical mechanics over the last few years. Complex decision making of humans moving on different terrains can be modeled using random walks (RW) and correlated random walks (CRW). The effect of different terrains, such as a constant increasing slope, on RW and CRW was explored. LEGO robots were programmed to make RW and CRW with uniform step sizes. Level ground tests demonstrated that the robots had the expected step size distribution and correlation angles (for CRW). The mean square displacement was calculated for each RW and CRW on different terrains and matched expected trends. The step size distribution was determined to change based on the terrain; theoretical predictions for the step size distribution were made for various simple terrains. It's Dr. Laura Kinnaman, not sure where to put the Prefix.

  19. Non-random walks in monkeys and humans

    PubMed Central

    Boyer, Denis; Crofoot, Margaret C.; Walsh, Peter D.

    2012-01-01

    Principles of self-organization play an increasingly central role in models of human activity. Notably, individual human displacements exhibit strongly recurrent patterns that are characterized by scaling laws and can be mechanistically modelled as self-attracting walks. Recurrence is not, however, unique to human displacements. Here we report that the mobility patterns of wild capuchin monkeys are not random walks, and they exhibit recurrence properties similar to those of cell phone users, suggesting spatial cognition mechanisms shared with humans. We also show that the highly uneven visitation patterns within monkey home ranges are not entirely self-generated but are forced by spatio-temporal habitat heterogeneities. If models of human mobility are to become useful tools for predictive purposes, they will need to consider the interaction between memory and environmental heterogeneities. PMID:22031731

  20. Indirect evidence for Levy walks in squeeze film damping

    SciTech Connect

    Schlamminger, S.; Hagedorn, C. A.; Gundlach, J. H.

    2010-06-15

    Molecular flow gas damping of mechanical motion in confined geometries, and its associated noise, is important in a variety of fields, including precision measurement, gravitational wave detection, and microelectromechanical systems devices. We used two torsion balance instruments to measure the strength and distance-dependence of 'squeeze film' damping. Measured quality factors derived from free decay of oscillation are consistent with gas particle superdiffusion in Levy walks and inconsistent with those expected from traditional Gaussian random walk particle motion. The distance-dependence of squeeze film damping observed in our experiments is in agreement with a parameter-free Monte Carlo simulation. The squeeze film damping of the motion of a plate suspended a distance d away from a parallel surface scales with a fractional power between d{sup -1} and d{sup -2}.

  1. Walking dreams in congenital and acquired paraplegia.

    PubMed

    Saurat, Marie-Thérèse; Agbakou, Maité; Attigui, Patricia; Golmard, Jean-Louis; Arnulf, Isabelle

    2011-12-01

    To test if dreams contain remote or never-experienced motor skills, we collected during 6 weeks dream reports from 15 paraplegics and 15 healthy subjects. In 9/10 subjects with spinal cord injury and in 5/5 with congenital paraplegia, voluntary leg movements were reported during dream, including feelings of walking (46%), running (8.6%), dancing (8%), standing up (6.3%), bicycling (6.3%), and practicing sports (skiing, playing basketball, swimming). Paraplegia patients experienced walking dreams (38.2%) just as often as controls (28.7%). There was no correlation between the frequency of walking dreams and the duration of paraplegia. In contrast, patients were rarely paraplegic in dreams. Subjects who had never walked or stopped walking 4-64 years prior to this study still experience walking in their dreams, suggesting that a cerebral walking program, either genetic or more probably developed via mirror neurons (activated when observing others performing an action) is reactivated during sleep.

  2. Walking dreams in congenital and acquired paraplegia.

    PubMed

    Saurat, Marie-Thérèse; Agbakou, Maité; Attigui, Patricia; Golmard, Jean-Louis; Arnulf, Isabelle

    2011-12-01

    To test if dreams contain remote or never-experienced motor skills, we collected during 6 weeks dream reports from 15 paraplegics and 15 healthy subjects. In 9/10 subjects with spinal cord injury and in 5/5 with congenital paraplegia, voluntary leg movements were reported during dream, including feelings of walking (46%), running (8.6%), dancing (8%), standing up (6.3%), bicycling (6.3%), and practicing sports (skiing, playing basketball, swimming). Paraplegia patients experienced walking dreams (38.2%) just as often as controls (28.7%). There was no correlation between the frequency of walking dreams and the duration of paraplegia. In contrast, patients were rarely paraplegic in dreams. Subjects who had never walked or stopped walking 4-64 years prior to this study still experience walking in their dreams, suggesting that a cerebral walking program, either genetic or more probably developed via mirror neurons (activated when observing others performing an action) is reactivated during sleep. PMID:21704532

  3. Factors influencing whether children walk to school.

    PubMed

    Su, Jason G; Jerrett, Michael; McConnell, Rob; Berhane, Kiros; Dunton, Genevieve; Shankardass, Ketan; Reynolds, Kim; Chang, Roger; Wolch, Jennifer

    2013-07-01

    Few studies have simultaneously evaluated multiple levels of influence on whether children walk to school. A large cohort of 4338 subjects from 10 communities was used to identify the determinants of walking through (1) a one-level logistic regression model for individual-level variables and (2) a two-level mixed regression model for individual and school-level variables. Walking rates were positively associated with home-to-school proximity, greater age, and living in neighborhoods characterized by lower traffic density. Greater land use mix around the home was, however, associated with lower rates of walking. Rates of walking to school were also higher amongst recipients of the Free and Reduced Price Meals Program and attendees of schools with higher percentage of English language learners. Designing schools in the same neighborhood as residential districts should be an essential urban planning strategy to reduce walking distance to school. Policy interventions are needed to encourage children from higher socioeconomic status families to participate in active travel to school and to develop walking infrastructures and other measures that protect disadvantaged children. PMID:23707968

  4. Factors Influencing Whether Children Walk to School

    PubMed Central

    Su, Jason G.; Jerrett, Michael; Mcconnell, Rob; Berhane, Kiros; Dunton, Genevieve; Shankardass, Ketan; Reynolds, Kim; Chang, Roger; Wolch, Jennifer

    2015-01-01

    Few studies have evaluated multiple levels of influence simultaneously on whether children walk to school. A large cohort of 4,338 subjects from ten communities was used to identify the determinants of walking through (1) a one-level logistic regression model for individual-level variables and (2) a two-level mixed regression model for individual and school-level variables. Walking rates were positively associated with home-to-school proximity, greater age, and living in neighborhoods characterized by lower traffic density. Greater land use mix around the home was, however, associated with lower rates of walking. Rates of walking to school were also higher amongst recipients of the Free and Reduced Price Meals Program and attendees of schools with higher percentage of English language learners. Designing schools in the same neighborhood as residential districts should be an essential urban planning strategy to reduce walking distance to school. Policy interventions are needed to encourage children from higher socioeconomic status families to participate in active travel to school and to develop walking infrastructures and other measures that protect disadvantaged children. PMID:23707968

  5. Effects of a Flexibility and Relaxation Programme, Walking, and Nordic Walking on Parkinson's Disease

    PubMed Central

    Reuter, I.; Mehnert, S.; Leone, P.; Kaps, M.; Oechsner, M.; Engelhardt, M.

    2011-01-01

    Symptoms of Parkinson's disease (PD) progress despite optimized medical treatment. The present study investigated the effects of a flexibility and relaxation programme, walking, and Nordic walking (NW) on walking speed, stride length, stride length variability, Parkinson-specific disability (UPDRS), and health-related quality of life (PDQ 39). 90 PD patients were randomly allocated to the 3 treatment groups. Patients participated in a 6-month study with 3 exercise sessions per week, each lasting 70 min. Assessment after completion of the training showed that pain was reduced in all groups, and balance and health-related quality of life were improved. Furthermore, walking, and Nordic walking improved stride length, gait variability, maximal walking speed, exercise capacity at submaximal level, and PD disease-specific disability on the UPDRS in addition. Nordic walking was superior to the flexibility and relaxation programme and walking in improving postural stability, stride length, gait pattern and gait variability. No significant injuries occurred during the training. All patients of the Nordic walking group continued Nordic walking after completing the study. PMID:21603199

  6. [Walking assist robot and its clinical application].

    PubMed

    Kakou, Hiroaki; Shitama, Hideo; Kimura, Yoshiko; Nakamoto, Yoko; Furuta, Nami; Honda, Kanae; Wada, Futoshi; Hachisuka, Kenji

    2009-06-01

    The walking assist robot was developed to improve gait disturbance in patients with severe disabilities. The robot had a trunk supporter, power generator and operating arms which held patient's lower extremities and simulated walking, a control unit, biofeedback system, and a treadmill. We applied the robot-aided gait training to three patients with severe gait disturbance induced by stroke, axonal Guillan-Barré syndrome or spinal cord injury, and the walking assist robot turned out to be effective in improving the gait disturbance.

  7. An experimental analysis of human straight walking

    NASA Astrophysics Data System (ADS)

    Li, Tao; Ceccarelli, Marco

    2013-03-01

    In this paper, an experimental analysis of human straight walking has been presented. Experiments on human walking were carried out by using Cassino tracking system which is a passive cable-based measuring system. This system is adopted because it is capable of both pose and wrench measurements with fairly simple monitoring of operation. By using experimental results, trajectories of a human limb extremity and its posture have been analyzed; forces that are exerted against cables by the limb of a person under test have been measured by force sensors as well. Furthermore, by using experimental tests, modeling and characterization of the human straight walking gait have been proposed.

  8. High Point Walking for Health: Creating Built and Social Environments That Support Walking in a Public Housing Community

    PubMed Central

    Rabkin, Janice; Sharify, Denise; Song, Lin

    2009-01-01

    Objectives. We implemented and evaluated multiple interventions to increase walking activity at a multicultural public housing site. Methods. A community-based participatory research partnership and community action teams assessed assets and barriers related to walking and developed multiple interventions to promote walking activity. Interventions included sponsoring walking groups, improving walking routes, providing information about walking options, and advocating for pedestrian safety. A pre–post study design was used to assess the changes in walking activity. Results. Self-reported walking activity increased among walking group participants from 65 to 109 minutes per day (P = .001). The proportion that reported being at least moderately active for at least 150 minutes per week increased from 62% to 81% (P = .018). Conclusions. A multicomponent intervention developed through participatory research methods that emphasized walking groups and included additional strategies to change the built and social environments increased walking activity at a public housing site in Seattle. PMID:19890163

  9. A feasibility study on the design and walking operation of a biped locomotor via dynamic simulation

    NASA Astrophysics Data System (ADS)

    Wang, Mingfeng; Ceccarelli, Marco; Carbone, Giuseppe

    2016-06-01

    A feasibility study on the mechanical design and walking operation of a Cassino biped locomotor is presented in this paper. The biped locomotor consists of two identical 3 degrees-of-freedom tripod leg mechanisms with a parallel manipulator architecture. Planning of the biped walking gait is performed by coordinating the motions of the two leg mechanisms and waist. A threedimensional model is elaborated in SolidWorks® environment in order to characterize a feasible mechanical design. Dynamic simulation is carried out in MSC.ADAMS® environment with the aims of characterizing and evaluating the dynamic walking performance of the proposed design. Simulation results show that the proposed biped locomotor with proper input motions of linear actuators performs practical and feasible walking on flat surfaces with limited actuation and reaction forces between its feet and the ground. A preliminary prototype of the biped locomotor is built for the purpose of evaluating the operation performance of the biped walking gait of the proposed locomotor.

  10. Walking capabilities of Gregor controlled through Walknet

    NASA Astrophysics Data System (ADS)

    Arena, Paolo; Patané, Luca; Schilling, Malte; Schmitz, Josef

    2007-05-01

    Locomotion control of legged robots is nowadays a field in continuous evolution. In this work a bio-inspired control architecture based on the stick insect is applied to control the hexapod robot Gregor. The control scheme is an extension of Walknet, a decentralized network inspired by the stick insect, that on the basis of local reflexes generates the control signals needed to coordinate locomotion in hexapod robots. Walknet has been adapted to the specific mechanical structure of Gregor that is characterized by specialized legs and a sprawled posture. In particular an innovative hind leg geometry, inspired by the cockroach, has been considered to improve climbing capabilities. The performances of the new control architecture have been evaluated in dynamic simulation environments. The robot has been endowed with distance and contact sensors for obstacle detection. A heading control is used to avoid large obstacles, and an avoidance reflex, as can be found in stick insects, has been introduced to further improve climbing capabilities of the structure. The reported results, obtained in different environmental configurations, stress the adaptive capabilities of the Walknet approach: Even in unpredictable and cluttered environments the walking behaviour of the simulated robot and the robot prototype, controlled through a FPGA based board, remained stable.

  11. Selection pressures give composite correlated random walks Lévy walk characteristics.

    PubMed

    Reynolds, A M

    2013-09-01

    Composite correlated random walks have been posited as a strong alternative to Lévy walks as models of multi-scale forager movement patterns. Here it is shown that if plastic then intrinsic composite correlated random walks will, under selection pressures, evolve to resemble optimal Lévy walks when foraging is non-destructive. The fittest composite correlated random walkers are found to be those that come closest to being optimal Lévy walkers. This may explain why such a diverse range of foragers have movement patterns that can be approximated by optimal Lévy walks and shows that the 'Lévy-flight foraging' hypothesis has a broad hinterland. The new findings are consistent with recent observations of mussels Mytilus edulis and the Australian desert ant Melophorus bagoti which suggest that animals approximate a Lévy walk by adopting an intrinsic composite movement strategy with different modes.

  12. How do environmental factors influence walking in groups? A walk-along study.

    PubMed

    Kassavou, Aikaterini; French, David P; Chamberlain, Kerry

    2015-10-01

    Insufficient attention has been given to the influence of context on health-related behaviour change. This article reports on walk-along interviews conducted with 10 leaders of walking groups while leading their groups to investigate the influence of contextual factors on walking behaviours in groups. Data analysis used ideas from thematic analysis and grounded theory, approaching the data inductively. We identified that characteristics of place influenced the type of walking that people do in groups and the processes used by walkers to make sense of their behaviours in the places they walk. This research provides insight into how place influences walking in groups. It also suggests recommendations for co-ordinators and policymakers that could be used to facilitate behaviour change, when designing interventions targeting public health within the community. PMID:24296734

  13. Adaptive Walking in Alzheimer's Disease

    PubMed Central

    Orcioli-Silva, Diego; Simieli, Lucas; Barbieri, Fabio Augusto; Stella, Florindo; Gobbi, Lilian Teresa Bucken

    2012-01-01

    The aim of this study is to analyze dual-task effects on free and adaptive gait in Alzheimer's disease (AD) patients. Nineteen elders with AD participated in the study. A veteran neuropsychiatrist established the degree of AD in the sample. To determine dual-task effects on free and adaptive gait, patients performed five trials for each experimental condition: free and adaptive gait with and without a dual-task (regressive countdown). Spatial and temporal parameters were collected through an optoelectronic tridimensional system. The central stride was analyzed in free gait, and the steps immediately before (approaching phase) and during the obstacle crossing were analyzed in adaptive gait. Results indicated that AD patients walked more slowly during adaptive gait and free gait, using conservative strategies when confronted either with an obstacle or a secondary task. Furthermore, patients sought for stability to perform the tasks, particularly for adaptive gait with dual task, who used anticipatory and online adjustments to perform the task. Therefore, the increase of task complexity enhances cognitive load and risk of falls for AD patients. PMID:22991684

  14. Adaptive walking in Alzheimer's disease.

    PubMed

    Orcioli-Silva, Diego; Simieli, Lucas; Barbieri, Fabio Augusto; Stella, Florindo; Gobbi, Lilian Teresa Bucken

    2012-01-01

    The aim of this study is to analyze dual-task effects on free and adaptive gait in Alzheimer's disease (AD) patients. Nineteen elders with AD participated in the study. A veteran neuropsychiatrist established the degree of AD in the sample. To determine dual-task effects on free and adaptive gait, patients performed five trials for each experimental condition: free and adaptive gait with and without a dual-task (regressive countdown). Spatial and temporal parameters were collected through an optoelectronic tridimensional system. The central stride was analyzed in free gait, and the steps immediately before (approaching phase) and during the obstacle crossing were analyzed in adaptive gait. Results indicated that AD patients walked more slowly during adaptive gait and free gait, using conservative strategies when confronted either with an obstacle or a secondary task. Furthermore, patients sought for stability to perform the tasks, particularly for adaptive gait with dual task, who used anticipatory and online adjustments to perform the task. Therefore, the increase of task complexity enhances cognitive load and risk of falls for AD patients.

  15. Time to prioritise safe walking.

    PubMed

    Toroyan, Tami; Khayesi, Meleckidzedeck; Peden, Margie

    2013-01-01

    This study draws on information from two recently published documents on pedestrian safety and global status of road safety to draw attention to the need to prioritize safe walking in planning and policy at local, national and international levels. The study shows that each year, more than 270 000 pedestrians lose their lives on the world's roads. The study argues that this situation need not persist because proven pedestrian safety interventions exist but do not attract the merit they deserve in many locations. The study further shows that the key risk factors for pedestrian road traffic injury such as vehicle speed, alcohol use by drivers and pedestrians, lack of infrastructure facilities for pedestrians and inadequate visibility of pedestrians are fairly well documented. The study concludes that pedestrian collisions, like all road traffic crashes, should not be accepted as inevitable because they are, in fact, both predictable and preventable. While stressing that reduction or elimination of risks faced by pedestrians is an important and achievable policy goal, the study emphasizes the importance of a comprehensive, holistic approach that includes engineering, enforcement and education measures. PMID:23701478

  16. Measuring Oscillating Walking Paths with a LIDAR

    PubMed Central

    Teixidó, Mercè; Pallejà, Tomàs; Tresanchez, Marcel; Nogués, Miquel; Palacín, Jordi

    2011-01-01

    This work describes the analysis of different walking paths registered using a Light Detection And Ranging (LIDAR) laser range sensor in order to measure oscillating trajectories during unsupervised walking. The estimate of the gait and trajectory parameters were obtained with a terrestrial LIDAR placed 100 mm above the ground with the scanning plane parallel to the floor to measure the trajectory of the legs without attaching any markers or modifying the floor. Three different large walking experiments were performed to test the proposed measurement system with straight and oscillating trajectories. The main advantages of the proposed system are the possibility to measure several steps and obtain average gait parameters and the minimum infrastructure required. This measurement system enables the development of new ambulatory applications based on the analysis of the gait and the trajectory during a walk. PMID:22163891

  17. Walking and serum cholesterol in adults.

    PubMed Central

    Tucker, L A; Friedman, G M

    1990-01-01

    We measured the association between walking for exercise and the ratio of total cholesterol/HDL cholesterol in 3,621 adults. After controlling for age, gender, income, body fat, alcohol use, exercise other than walking, and cigarette smoking, adults in the high, moderate, and low duration walking categories were compared to those in the no walking-no exercise category. The relative risk for total/HDL ratios of 5.0 or more were .46 (95% CI = .27, .80), .48 (95% total/HDL ratios of 5.0 or more were .46 (95% CI = .27, .80), .48 (95% CI = .30, .76), and 1.11 (95% CI = .81, 1.53) respectively. PMID:2382750

  18. Walking (Gait), Balance, and Coordination Problems

    MedlinePlus

    ... tizanidine are generally effective in treating this symptom. Balance : Balance problems typically result in a swaying and “drunken” ... factors for falls are complex and include: poor balance and slowed walking reduced proprioception (the sensation of ...

  19. Quantum walks with nonorthogonal position states.

    PubMed

    Matjeschk, R; Ahlbrecht, A; Enderlein, M; Cedzich, Ch; Werner, A H; Keyl, M; Schaetz, T; Werner, R F

    2012-12-14

    Quantum walks have by now been realized in a large variety of different physical settings. In some of these, particularly with trapped ions, the walk is implemented in phase space, where the corresponding position states are not orthogonal. We develop a general description of such a quantum walk and show how to map it into a standard one with orthogonal states, thereby making available all the tools developed for the latter. This enables a variety of experiments, which can be implemented with smaller step sizes and more steps. Tuning the nonorthogonality allows for an easy preparation of extended states such as momentum eigenstates, which travel at a well-defined speed with low dispersion. We introduce a method to adjust their velocity by momentum shifts, which allows us to experimentally probe the dispersion relation, providing a benchmarking tool for the quantum walk, and to investigate intriguing effects such as the analog of Bloch oscillations.

  20. Energy Expenditure During Walking with Hand Weights.

    ERIC Educational Resources Information Center

    Makalous, Susan L.; And Others

    1988-01-01

    A study of 11 obese adults who exercised with hand weights concludes that using the weights increases the energy demands of walking but only slightly. Research and results are presented and analyzed. (JL)

  1. Parent Safety Perceptions of Child Walking Routes

    PubMed Central

    Boles, Shawn; Johnson-Shelton, Deb; Schlossberg, Marc; Richey, David

    2014-01-01

    Walking rates to school remain low for U.S. children in large part due to parent concern for child safety. Little research has investigated the specific features of streets and intersection networks that parents associate with safe walking networks for children. To investigate which aspects of the child walking environment lead to parental concern, parent volunteers conducted an audit of streets leading to seven elementary schools in a suburban school district. Parents were most likely to feel concern about streets that lacked sidewalks or had sidewalks with obstructions. Wheelchair-accessible routes were seen as appropriate for walking children. Parents expressed concern over safety at intersections, particularly those involving large streets; traffic controls did not mollify their concern. PMID:25664239

  2. Database of Standardized Questionnaires About Walking & Bicycling

    Cancer.gov

    This database contains questionnaire items and a list of validation studies for standardized items related to walking and biking. The items come from multiple national and international physical activity questionnaires.

  3. 'Walking Meetings' May Boost Employee Health, Productivity

    MedlinePlus

    ... New research suggests you walk while you talk business. The small study found that converting a single ... management with the Donald R. Tapia School of Business at Saint Leo University in Florida. Clayton, who ...

  4. Quantum random walks with decoherent coins

    SciTech Connect

    Brun, Todd A.; Ambainis, Andris; Carteret, H.A.

    2003-03-01

    The quantum random walk has been much studied recently, largely due to its highly nonclassical behavior. In this paper, we study one possible route to classical behavior for the discrete quantum walk on the line: the presence of decoherence in the quantum ''coin'' which drives the walk. We find exact analytical expressions for the time dependence of the first two moments of position, and show that in the long-time limit the variance grows linearly with time, unlike the unitary walk. We compare this to the results of direct numerical simulation, and see how the form of the position distribution changes from the unitary to the usual classical result as we increase the strength of the decoherence.

  5. Real time visualization of quantum walk

    SciTech Connect

    Miyazaki, Akihide; Hamada, Shinji; Sekino, Hideo

    2014-02-20

    Time evolution of quantum particles like electrons is described by time-dependent Schrödinger equation (TDSE). The TDSE is regarded as the diffusion equation of electrons with imaginary diffusion coefficients. And the TDSE is solved by quantum walk (QW) which is regarded as a quantum version of a classical random walk. The diffusion equation is solved in discretized space/time as in the case of classical random walk with additional unitary transformation of internal degree of freedom typical for quantum particles. We call the QW for solution of the TDSE a Schrödinger walk (SW). For observation of one quantum particle evolution under a given potential in atto-second scale, we attempt a successive computation and visualization of the SW. Using Pure Data programming, we observe the correct behavior of a probability distribution under the given potential in real time for observers of atto-second scale.

  6. Measuring oscillating walking paths with a LIDAR.

    PubMed

    Teixidó, Mercè; Pallejà, Tomàs; Tresanchez, Marcel; Nogués, Miquel; Palacín, Jordi

    2011-01-01

    This work describes the analysis of different walking paths registered using a Light Detection And Ranging (LIDAR) laser range sensor in order to measure oscillating trajectories during unsupervised walking. The estimate of the gait and trajectory parameters were obtained with a terrestrial LIDAR placed 100 mm above the ground with the scanning plane parallel to the floor to measure the trajectory of the legs without attaching any markers or modifying the floor. Three different large walking experiments were performed to test the proposed measurement system with straight and oscillating trajectories. The main advantages of the proposed system are the possibility to measure several steps and obtain average gait parameters and the minimum infrastructure required. This measurement system enables the development of new ambulatory applications based on the analysis of the gait and the trajectory during a walk. PMID:22163891

  7. Nordic Walking Practice Might Improve Plantar Pressure Distribution

    ERIC Educational Resources Information Center

    Perez-Soriano, Pedro; Llana-Belloch, Salvador; Martinez-Nova, Alfonso; Morey-Klapsing, G.; Encarnacion-Martinez, Alberto

    2011-01-01

    Nordic walking (NW), characterized by the use of two walking poles, is becoming increasingly popular (Morgulec-Adamowicz, Marszalek, & Jagustyn, 2011). We studied walking pressure patterns of 20 experienced and 30 beginner Nordic walkers. Plantar pressures from nine foot zones were measured during trials performed at two walking speeds (preferred…

  8. Walking after Stroke: Comfortable versus Maximum Safe Speed.

    ERIC Educational Resources Information Center

    Bohannon, Richard W.

    1992-01-01

    This study attempted to (1) determine whether stroke patients (n=20) can safely increase their walking speed above that of comfortable walking; (2) describe the relationship between comfortable and maximum safe walking speed; and (3) examine correlations between maximum and comfortable speeds and a functional walking score. Subjects were able to…

  9. Urban Walking and the Pedagogies of the Street

    ERIC Educational Resources Information Center

    Bairner, Alan

    2011-01-01

    Drawing upon the extensive literature on urban walking and also on almost 60 years' experience of walking the streets, this article argues that there is a pressing need to re-assert the educational value of going for a walk. After a brief discussion of the social significance of the "flaneur," the historic pioneer of urban walking, the article…

  10. Walking and Eating Behavior of Toddlers at 12 Months Old

    ERIC Educational Resources Information Center

    Koda, Naoko; Akimoto, Yuko; Hirose, Toshiya; Hinobayashi, Toshihiko; Minami, Tetsuhiro

    2004-01-01

    Locomotive and eating behavior of 52 toddlers was observed at 12 months old in a nursery school and investigated in relation to the acquisition of independent walking. The toddlers who acquired walking ate more by themselves using the hands than the toddlers who did not start walking. This suggested that acquisition of walking was associated with…

  11. Walking as a social practice: dispersed walking and the organisation of everyday practices.

    PubMed

    Harries, Tim; Rettie, Ruth

    2016-07-01

    This paper uses social practice theory to study the interweaving of walking into everyday practices and considers how greater awareness of everyday walking can influence its position within the organisation and scheduling of everyday life. Walking is of policy interest because of its perceived benefits for health. This paper asserts that increased awareness of everyday walking allows users to become more active without having to reschedule existing activities. Using Schatzki's distinction between dispersed and integrative practices, it argues that increasing awareness of dispersed walking can enlist walking into the teleoaffective organisation of some social practices and prompt the performance of new 'health practices' within everyday domains of life such as shopping and employment. While this analysis offers useful insights for the design of behaviour change strategies, it also points to some unintended consequences of using digital feedback to increase walking awareness. In directing the gaze of participants at one particular element of their daily practices, the paper suggests, digital walking feedback provides a 'partial' view of practices: by highlighting the exercise value of walking at the expense of other values it can prompt feedback recipients to pass moral judgements on themselves based on this partial view. A Virtual Abstract of this paper can be found at: https://youtu.be/WV7DUnKD5Mw. PMID:26853086

  12. Quantum Walks: Theory, Application, and Implementation

    NASA Astrophysics Data System (ADS)

    Schmitz, Albert Thomas

    The quantum walk is a method for conceptualizing and designing quantum computing algorithms and it comes in two forms: the continuous-time and discrete-time quantum walk. The thesis is organized into three parts, each of which looks to develop the concept and uses of the quantum walk. The first part is the theory of the quantum walk. This includes definitions and considerations for the various incarnations of the discrete-time quantum walk and a discussion on the general method for connecting the continuous-time and discrete-time versions. As a result, it is shown that most versions of the discrete-time quantum walk can be put into a general form and this can be used to simulate any continuous-time quantum walk. The second part uses these results for a hypothetical application. The application presented is a search algorithm that appears to scale in the time for completion independent of the size of the search space. This behavior is then elaborated upon and shown to have general qualitative agreement with simulations to within the approximations that are made. The third part introduces a method of implementation. Given a universal quantum computer, the method is discussed and shown to simulate an arbitrary discrete-time quantum walk. Some of the benefits of this method are that half the unitary evolution can be achieved without the use of any gates and there may be some possibility for error detection. The three parts combined suggest a possible experiment, given a quantum computing scheme of sufficient robustness.

  13. Balancing of the anthropomorphous robot walking

    NASA Astrophysics Data System (ADS)

    Devaev, V. M.; Nikitina, D. V.; Fadeev, A. Y.

    2016-06-01

    Anthropomorphic robots are designed a human environment operates: buildings and structures, cabs and etc. The movement of these robots is carried out by walking which provides high throughput to overcome natural and manmade obstacles. The article presents some algorithm results for dynamic walking on the anthropomorphic robot AR601 example. The work is performed according to the Russian Government Program of Competitive Growth of Kazan Federal University.

  14. Quantum random walks using quantum accelerator modes

    SciTech Connect

    Ma, Z.-Y.; Burnett, K.; D'Arcy, M. B.; Gardiner, S. A.

    2006-01-15

    We discuss the use of high-order quantum accelerator modes to achieve an atom optical realization of a biased quantum random walk. We first discuss how one can create coexistent quantum accelerator modes, and hence how momentum transfer that depends on the atoms' internal state can be achieved. When combined with microwave driving of the transition between the states, a different type of atomic beam splitter results. This permits the realization of a biased quantum random walk through quantum accelerator modes.

  15. DNA sequencing technology, walking with modular primers. Final report

    SciTech Connect

    Ulanovsky, L.

    1996-12-31

    The success of the Human Genome Project depends on the development of adequate technology for rapid and inexpensive DNA sequencing, which will also benefit biomedical research in general. The authors are working on DNA technologies that eliminate primer synthesis, the main bottleneck in sequencing by primer walking. They have developed modular primers that are assembled from three 5-mer, 6-mer or 7-mer modules selected from a presynthesized library of as few as 1,000 oligonucleotides ({double_bond}4, {double_bond}5, {double_bond}7). The three modules anneal contiguously at the selected template site and prime there uniquely, even though each is not unique for the most part when used alone. This technique is expected to speed up primer walking 30 to 50 fold, and reduce the sequencing cost by a factor of 5 to 15. Time and expensive will be saved on primer synthesis itself and even more so due to closed-loop automation of primer walking, made possible by the instant availability of primers. Apart from saving time and cost, closed-loop automation would also minimize the errors and complications associated with human intervention between the walks. The author has also developed two additional approaches to primer-library based sequencing. One involves a branched structure of modular primers which has a distinctly different mechanism of achieving priming specificity. The other introduces the concept of ``Differential Extension with Nucleotide Subsets`` as an approach increasing priming specificity, priming strength and allowing cycle sequencing. These approaches are expected to be more robust than the original version of the modular primer technique.

  16. Social aggregation in pea aphids: experiment and random walk modeling.

    PubMed

    Nilsen, Christa; Paige, John; Warner, Olivia; Mayhew, Benjamin; Sutley, Ryan; Lam, Matthew; Bernoff, Andrew J; Topaz, Chad M

    2013-01-01

    From bird flocks to fish schools and ungulate herds to insect swarms, social biological aggregations are found across the natural world. An ongoing challenge in the mathematical modeling of aggregations is to strengthen the connection between models and biological data by quantifying the rules that individuals follow. We model aggregation of the pea aphid, Acyrthosiphon pisum. Specifically, we conduct experiments to track the motion of aphids walking in a featureless circular arena in order to deduce individual-level rules. We observe that each aphid transitions stochastically between a moving and a stationary state. Moving aphids follow a correlated random walk. The probabilities of motion state transitions, as well as the random walk parameters, depend strongly on distance to an aphid's nearest neighbor. For large nearest neighbor distances, when an aphid is essentially isolated, its motion is ballistic with aphids moving faster, turning less, and being less likely to stop. In contrast, for short nearest neighbor distances, aphids move more slowly, turn more, and are more likely to become stationary; this behavior constitutes an aggregation mechanism. From the experimental data, we estimate the state transition probabilities and correlated random walk parameters as a function of nearest neighbor distance. With the individual-level model established, we assess whether it reproduces the macroscopic patterns of movement at the group level. To do so, we consider three distributions, namely distance to nearest neighbor, angle to nearest neighbor, and percentage of population moving at any given time. For each of these three distributions, we compare our experimental data to the output of numerical simulations of our nearest neighbor model, and of a control model in which aphids do not interact socially. Our stochastic, social nearest neighbor model reproduces salient features of the experimental data that are not captured by the control.

  17. Social aggregation in pea aphids: experiment and random walk modeling.

    PubMed

    Nilsen, Christa; Paige, John; Warner, Olivia; Mayhew, Benjamin; Sutley, Ryan; Lam, Matthew; Bernoff, Andrew J; Topaz, Chad M

    2013-01-01

    From bird flocks to fish schools and ungulate herds to insect swarms, social biological aggregations are found across the natural world. An ongoing challenge in the mathematical modeling of aggregations is to strengthen the connection between models and biological data by quantifying the rules that individuals follow. We model aggregation of the pea aphid, Acyrthosiphon pisum. Specifically, we conduct experiments to track the motion of aphids walking in a featureless circular arena in order to deduce individual-level rules. We observe that each aphid transitions stochastically between a moving and a stationary state. Moving aphids follow a correlated random walk. The probabilities of motion state transitions, as well as the random walk parameters, depend strongly on distance to an aphid's nearest neighbor. For large nearest neighbor distances, when an aphid is essentially isolated, its motion is ballistic with aphids moving faster, turning less, and being less likely to stop. In contrast, for short nearest neighbor distances, aphids move more slowly, turn more, and are more likely to become stationary; this behavior constitutes an aggregation mechanism. From the experimental data, we estimate the state transition probabilities and correlated random walk parameters as a function of nearest neighbor distance. With the individual-level model established, we assess whether it reproduces the macroscopic patterns of movement at the group level. To do so, we consider three distributions, namely distance to nearest neighbor, angle to nearest neighbor, and percentage of population moving at any given time. For each of these three distributions, we compare our experimental data to the output of numerical simulations of our nearest neighbor model, and of a control model in which aphids do not interact socially. Our stochastic, social nearest neighbor model reproduces salient features of the experimental data that are not captured by the control. PMID:24376691

  18. Social Aggregation in Pea Aphids: Experiment and Random Walk Modeling

    PubMed Central

    Nilsen, Christa; Paige, John; Warner, Olivia; Mayhew, Benjamin; Sutley, Ryan; Lam, Matthew; Bernoff, Andrew J.; Topaz, Chad M.

    2013-01-01

    From bird flocks to fish schools and ungulate herds to insect swarms, social biological aggregations are found across the natural world. An ongoing challenge in the mathematical modeling of aggregations is to strengthen the connection between models and biological data by quantifying the rules that individuals follow. We model aggregation of the pea aphid, Acyrthosiphon pisum. Specifically, we conduct experiments to track the motion of aphids walking in a featureless circular arena in order to deduce individual-level rules. We observe that each aphid transitions stochastically between a moving and a stationary state. Moving aphids follow a correlated random walk. The probabilities of motion state transitions, as well as the random walk parameters, depend strongly on distance to an aphid's nearest neighbor. For large nearest neighbor distances, when an aphid is essentially isolated, its motion is ballistic with aphids moving faster, turning less, and being less likely to stop. In contrast, for short nearest neighbor distances, aphids move more slowly, turn more, and are more likely to become stationary; this behavior constitutes an aggregation mechanism. From the experimental data, we estimate the state transition probabilities and correlated random walk parameters as a function of nearest neighbor distance. With the individual-level model established, we assess whether it reproduces the macroscopic patterns of movement at the group level. To do so, we consider three distributions, namely distance to nearest neighbor, angle to nearest neighbor, and percentage of population moving at any given time. For each of these three distributions, we compare our experimental data to the output of numerical simulations of our nearest neighbor model, and of a control model in which aphids do not interact socially. Our stochastic, social nearest neighbor model reproduces salient features of the experimental data that are not captured by the control. PMID:24376691

  19. Uphill and Downhill Walking in Multiple Sclerosis

    PubMed Central

    Samaei, Afshin; Hajihasani, Abdolhamid; Fatemi, Elham; Motaharinezhad, Fatemeh

    2016-01-01

    Background: Various exercise protocols have been recommended for patients with multiple sclerosis (MS). We investigated the effects of uphill and downhill walking exercise on mobility, functional activities, and muscle strength in MS patients. Methods: Thirty-four MS patients were randomly allocated to either the downhill or uphill treadmill walking group for 12 sessions (3 times/wk) of 30 minutes' walking on a 10% negative slope (n = 17) or a 10% positive slope (n = 17), respectively. Measurements were taken before and after the intervention and after 4-week follow-up and included fatigue by Modified Fatigue Impact Scale; mobility by Modified Rivermead Mobility Index; disability by Guy's Neurological Disability Scale; functional activities by 2-Minute Walk Test, Timed 25-Foot Walk test, and Timed Up and Go test; balance indices by Biodex Balance System; and quadriceps and hamstring isometric muscles by torque of left and right knee joints. Analysis of variance with repeated measures was used to investigate the intervention effects on the measurements. Results: After the intervention, significant improvement was found in the downhill group versus the uphill group in terms of fatigue, mobility, and disability indices; functional activities; balance indices; and quadriceps isometric torque (P < .05). The results were stable at 4-week follow-up. Conclusions: Downhill walking on a treadmill may improve muscle performance, functional activity, and balance control in MS patients. These findings support the idea of using eccentric exercise training in MS rehabilitation protocols. PMID:26917996

  20. Winding angles of long lattice walks

    NASA Astrophysics Data System (ADS)

    Hammer, Yosi; Kantor, Yacov

    2016-07-01

    We study the winding angles of random and self-avoiding walks (SAWs) on square and cubic lattices with number of steps N ranging up to 107. We show that the mean square winding angle <θ2> of random walks converges to the theoretical form when N → ∞. For self-avoiding walks on the square lattice, we show that the ratio <θ4>/<θ2>2 converges slowly to the Gaussian value 3. For self-avoiding walks on the cubic lattice, we find that the ratio <θ4>/<θ2>2 exhibits non-monotonic dependence on N and reaches a maximum of 3.73(1) for N ≈ 104. We show that to a good approximation, the square winding angle of a self-avoiding walk on the cubic lattice can be obtained from the summation of the square change in the winding angles of lnN independent segments of the walk, where the ith segment contains 2i steps. We find that the square winding angle of the ith segment increases approximately as i0.5, which leads to an increase of the total square winding angle proportional to (lnN)1.5.

  1. Calcaneal loading during walking and running

    NASA Technical Reports Server (NTRS)

    Giddings, V. L.; Beaupre, G. S.; Whalen, R. T.; Carter, D. R.

    2000-01-01

    PURPOSE: This study of the foot uses experimentally measured kinematic and kinetic data with a numerical model to evaluate in vivo calcaneal stresses during walking and running. METHODS: External ground reaction forces (GRF) and kinematic data were measured during walking and running using cineradiography and force plate measurements. A contact-coupled finite element model of the foot was developed to assess the forces acting on the calcaneus during gait. RESULTS: We found that the calculated force-time profiles of the joint contact, ligament, and Achilles tendon forces varied with the time-history curve of the moment about the ankle joint. The model predicted peak talocalcaneal and calcaneocuboid joint loads of 5.4 and 4.2 body weights (BW) during walking and 11.1 and 7.9 BW during running. The maximum predicted Achilles tendon forces were 3.9 and 7.7 BW for walking and running. CONCLUSIONS: Large magnitude forces and calcaneal stresses are generated late in the stance phase, with maximum loads occurring at approximately 70% of the stance phase during walking and at approximately 60% of the stance phase during running, for the gait velocities analyzed. The trajectories of the principal stresses, during both walking and running, corresponded to each other and qualitatively to the calcaneal trabecular architecture.

  2. Convergence of quantum random walks with decoherence

    SciTech Connect

    Fan Shimao; Feng Zhiyong; Yang, Wei-Shih; Xiong Sheng

    2011-10-15

    In this paper, we study the discrete-time quantum random walks on a line subject to decoherence. The convergence of the rescaled position probability distribution p(x,t) depends mainly on the spectrum of the superoperator L{sub kk}. We show that if 1 is an eigenvalue of the superoperator with multiplicity one and there is no other eigenvalue whose modulus equals 1, then P(({nu}/{radical}(t)),t) converges to a convex combination of normal distributions. In terms of position space, the rescaled probability mass function p{sub t}(x,t){identical_to}p({radical}(t)x,t), x is an element of Z/{radical}(t), converges in distribution to a continuous convex combination of normal distributions. We give a necessary and sufficient condition for a U(2) decoherent quantum walk that satisfies the eigenvalue conditions. We also give a complete description of the behavior of quantum walks whose eigenvalues do not satisfy these assumptions. Specific examples such as the Hadamard walk and walks under real and complex rotations are illustrated. For the O(2) quantum random walks, an explicit formula is provided for the scaling limit of p(x,t) and their moments. We also obtain exact critical exponents for their moments at the critical point and show universality classes with respect to these critical exponents.

  3. Winding angles of long lattice walks.

    PubMed

    Hammer, Yosi; Kantor, Yacov

    2016-07-01

    We study the winding angles of random and self-avoiding walks (SAWs) on square and cubic lattices with number of steps N ranging up to 10(7). We show that the mean square winding angle 〈θ(2)〉 of random walks converges to the theoretical form when N → ∞. For self-avoiding walks on the square lattice, we show that the ratio 〈θ(4)〉/〈θ(2)〉(2) converges slowly to the Gaussian value 3. For self-avoiding walks on the cubic lattice, we find that the ratio 〈θ(4)〉/〈θ(2)〉(2) exhibits non-monotonic dependence on N and reaches a maximum of 3.73(1) for N ≈ 10(4). We show that to a good approximation, the square winding angle of a self-avoiding walk on the cubic lattice can be obtained from the summation of the square change in the winding angles of lnN independent segments of the walk, where the ith segment contains 2(i) steps. We find that the square winding angle of the ith segment increases approximately as i(0.5), which leads to an increase of the total square winding angle proportional to (lnN)(1.5). PMID:27394124

  4. Influence of treadmill acceleration on actual walk-to-run transition.

    PubMed

    Van Caekenberghe, I; Segers, V; De Smet, K; Aerts, P; De Clercq, D

    2010-01-01

    When accelerating continuously, humans spontaneously change from a walking to a running pattern by means of a walk-to-run transition (WRT). Results of previous studies indicate that when higher treadmill accelerations are imposed, higher WRT-speeds can be expected. By studying the kinematics of the WRT at different accelerations, the underlying mechanisms can be unravelled. 19 young, healthy female subjects performed walk-to-run transitions on a constantly accelerating treadmill (0.1, 0.2 and 0.5 m s(-2)). A higher acceleration induced a higher WRT-speed, by effecting the preparation of transition, as well as the actual transition step. Increasing the acceleration caused a higher WRT-speed as a result of a greater step length during the transition step, which was mainly a consequence of a prolonged airborne phase. Besides this effect on the transition step, the direct preparation phase of transition (i.e. the last walking step before transition) appeared to fulfil specific constraints required to execute the transition regardless of the acceleration imposed. This highlights an important role for this step in the debate regarding possible determinants of WRT. In addition spatiotemporal and kinematical data confirmed that WRT remains a discontinuous change of gait pattern in all accelerations imposed. It is concluded that the walk-to-run transition is a discontinuous switch from walking to running which depends on the magnitude of treadmill belt acceleration.

  5. The Effects of Walking or Walking-with-Poles Training on Tissue Oxygenation in Patients with Peripheral Arterial Disease

    PubMed Central

    Collins, Eileen G.; McBurney, Conor; Butler, Jolene; Jelinek, Christine; O'Connell, Susan; Fritschi, Cynthia; Reda, Domenic

    2012-01-01

    This randomized trial proposed to determine if there were differences in calf muscle StO2 parameters in patients before and after 12 weeks of a traditional walking or walking-with-poles exercise program. Data were collected on 85 patients who were randomized to a traditional walking program (n = 40) or walking-with-poles program (n = 45) of exercise training. Patients walked for 3 times weekly for 12 weeks. Seventy-one patients completed both the baseline and the 12-week follow-up progressive treadmill tests (n = 36 traditional walking and n = 35 walking-with-poles). Using the near-infrared spectroscopy measures, StO2 was measured prior to, during, and after exercise. At baseline, calf muscle oxygenation decreased from 56 ± 17% prior to the treadmill test to 16 ± 18% at peak exercise. The time elapsed prior to reaching nadir StO2 values increased more in the traditional walking group when compared to the walking-with-poles group. Likewise, absolute walking time increased more in the traditional walking group than in the walking-with-poles group. Tissue oxygenation decline during treadmill testing was less for patients assigned to a 12-week traditional walking program when compared to those assigned to a 12-week walking-with-poles program. In conclusion, the 12-week traditional walking program was superior to walking-with-poles in improving tissue deoxygenation in patients with PAD. PMID:23050152

  6. Experimental implementation of the quantum random-walk algorithm

    SciTech Connect

    Du Jiangfeng; Li Hui; Shi Mingjun; Zhou Xianyi; Han Rongdian; Xu Xiaodong; Wu Jihui

    2003-04-01

    The quantum random walk is a possible approach to construct quantum algorithms. Several groups have investigated the quantum random walk and experimental schemes were proposed. In this paper, we present the experimental implementation of the quantum random-walk algorithm on a nuclear-magnetic-resonance quantum computer. We observe that the quantum walk is in sharp contrast to its classical counterpart. In particular, the properties of the quantum walk strongly depends on the quantum entanglement.

  7. A Simple State-Determined Model Reproduces Entrainment and Phase-Locking of Human Walking

    PubMed Central

    Ahn, Jooeun; Hogan, Neville

    2012-01-01

    Theoretical studies and robotic experiments have shown that asymptotically stable periodic walking may emerge from nonlinear limit-cycle oscillators in the neuro-mechanical periphery. We recently reported entrainment of human gait to periodic mechanical perturbations with two essential features: 1) entrainment occurred only when the perturbation period was close to the original (preferred) walking period, and 2) entrainment was always accompanied by phase locking so that the perturbation occurred at the end of the double-stance phase. In this study, we show that a highly-simplified state-determined walking model can reproduce several salient nonlinear limit-cycle behaviors of human walking: 1) periodic gait that is 2) asymptotically stable; 3) entrainment to periodic mechanical perturbations only when the perturbation period is close to the model's unperturbed period; and 4) phase-locking to locate the perturbation at the end of double stance. Importantly, this model requires neither supra-spinal control nor an intrinsic self-sustaining neural oscillator such as a rhythmic central pattern generator. Our results suggest that several prominent limit-cycle features of human walking may stem from simple afferent feedback processes without significant involvement of supra-spinal control or a self-sustaining oscillatory neural network. PMID:23152761

  8. Biomechanics and muscle coordination of human walking: part II: lessons from dynamical simulations and clinical implications.

    PubMed

    Zajac, Felix E; Neptune, Richard R; Kautz, Steven A

    2003-02-01

    Principles of muscle coordination in gait have been based largely on analyses of body motion, ground reaction force and EMG measurements. However, data from dynamical simulations provide a cause-effect framework for analyzing these measurements; for example, Part I (Gait Posture, in press) of this two-part review described how force generation in a muscle affects the acceleration and energy flow among the segments. This Part II reviews the mechanical and coordination concepts arising from analyses of simulations of walking. Simple models have elucidated the basic multisegmented ballistic and passive mechanics of walking. Dynamical models driven by net joint moments have provided clues about coordination in healthy and pathological gait. Simulations driven by muscle excitations have highlighted the partial stability afforded by muscles with their viscoelastic-like properties and the predictability of walking performance when minimization of metabolic energy per unit distance is assumed. When combined with neural control models for exciting motoneuronal pools, simulations have shown how the integrative properties of the neuro-musculo-skeletal systems maintain a stable gait. Other analyses of walking simulations have revealed how individual muscles contribute to trunk support and progression. Finally, we discuss how biomechanical models and simulations may enhance our understanding of the mechanics and muscle function of walking in individuals with gait impairments.

  9. Angular momentum in human walking.

    PubMed

    Herr, Hugh; Popovic, Marko

    2008-02-01

    Angular momentum is a conserved physical quantity for isolated systems where no external moments act about a body's center of mass (CM). However, in the case of legged locomotion, where the body interacts with the environment (ground reaction forces), there is no a priori reason for this relationship to hold. A key hypothesis in this paper is that angular momentum is highly regulated throughout the walking cycle about all three spatial directions [|Lt| approximately 0], and therefore horizontal ground reaction forces and the center of pressure trajectory can be explained predominantly through an analysis that assumes zero net moment about the body's CM. Using a 16-segment human model and gait data for 10 study participants, we found that calculated zero-moment forces closely match experimental values (Rx2=0.91; Ry2=0.90). Additionally, the centroidal moment pivot (point where a line parallel to the ground reaction force, passing through the CM, intersects the ground) never leaves the ground support base, highlighting how closely the body regulates angular momentum. Principal component analysis was used to examine segmental contributions to whole-body angular momentum. We found that whole-body angular momentum is small, despite substantial segmental momenta, indicating large segment-to-segment cancellations ( approximately 95% medio-lateral, approximately 70% anterior-posterior and approximately 80% vertical). Specifically, we show that adjacent leg-segment momenta are balanced in the medio-lateral direction (left foot momentum cancels right foot momentum, etc.). Further, pelvis and abdomen momenta are balanced by leg, chest and head momenta in the anterior-posterior direction, and leg momentum is balanced by upper-body momentum in the vertical direction. Finally, we discuss the determinants of gait in the context of these segment-to-segment cancellations of angular momentum.

  10. Understanding walking activity in multiple sclerosis: step count, walking intensity and uninterrupted walking activity duration related to degree of disability.

    PubMed

    Neven, An; Vanderstraeten, Annelien; Janssens, Davy; Wets, Geert; Feys, Peter

    2016-09-01

    In multiple sclerosis (MS), physical activity (PA) is most commonly measured as number of steps, while also walking intensity and walking activity duration are keys for a healthy lifestyle. The aim of this study was to investigate (1) the number of steps persons with MS (PwMS) take; (2) the number of steps they take at low and moderate intensity; and (3) their walking activity duration for 2, 3, 6, 10, 12 and 14 uninterrupted minutes; all related to the degree of disability. 64 PwMS participated, distinguished in a mild (n = 31) and moderate MS subgroup (n = 34) based on their ambulatory dysfunction (Disease Steps). Standardized clinical tests were performed, and step data from the StepWatch Activity Monitor were collected for seven consecutive days. The results showed that (1) step count in PwMS was lower than PA recommendations, and is negatively influenced by a higher disability degree. (2) No walking was registered during 77 % of the day. PwMS are making steps for 22 % at low and only 1 % at moderate intensity. (3) Both MS subgroups rarely walk for more than six uninterrupted minutes, especially not at moderate intensity. PwMS need to be encouraged to make steps at moderate intensity, and to make steps for longer periods of time (minimal ten uninterrupted minutes).

  11. Kinematic evaluation of virtual walking trajectories.

    PubMed

    Cirio, Gabriel; Olivier, Anne-Hélène; Marchal, Maud; Pettré, Julien

    2013-04-01

    Virtual walking, a fundamental task in Virtual Reality (VR), is greatly influenced by the locomotion interface being used, by the specificities of input and output devices, and by the way the virtual environment is represented. No matter how virtual walking is controlled, the generation of realistic virtual trajectories is absolutely required for some applications, especially those dedicated to the study of walking behaviors in VR, navigation through virtual places for architecture, rehabilitation and training. Previous studies focused on evaluating the realism of locomotion trajectories have mostly considered the result of the locomotion task (efficiency, accuracy) and its subjective perception (presence, cybersickness). Few focused on the locomotion trajectory itself, but in situation of geometrically constrained task. In this paper, we study the realism of unconstrained trajectories produced during virtual walking by addressing the following question: did the user reach his destination by virtually walking along a trajectory he would have followed in similar real conditions? To this end, we propose a comprehensive evaluation framework consisting on a set of trajectographical criteria and a locomotion model to generate reference trajectories. We consider a simple locomotion task where users walk between two oriented points in space. The travel path is analyzed both geometrically and temporally in comparison to simulated reference trajectories. In addition, we demonstrate the framework over a user study which considered an initial set of common and frequent virtual walking conditions, namely different input devices, output display devices, control laws, and visualization modalities. The study provides insight into the relative contributions of each condition to the overall realism of the resulting virtual trajectories. PMID:23428452

  12. Kinematic evaluation of virtual walking trajectories.

    PubMed

    Cirio, Gabriel; Olivier, Anne-Hélène; Marchal, Maud; Pettré, Julien

    2013-04-01

    Virtual walking, a fundamental task in Virtual Reality (VR), is greatly influenced by the locomotion interface being used, by the specificities of input and output devices, and by the way the virtual environment is represented. No matter how virtual walking is controlled, the generation of realistic virtual trajectories is absolutely required for some applications, especially those dedicated to the study of walking behaviors in VR, navigation through virtual places for architecture, rehabilitation and training. Previous studies focused on evaluating the realism of locomotion trajectories have mostly considered the result of the locomotion task (efficiency, accuracy) and its subjective perception (presence, cybersickness). Few focused on the locomotion trajectory itself, but in situation of geometrically constrained task. In this paper, we study the realism of unconstrained trajectories produced during virtual walking by addressing the following question: did the user reach his destination by virtually walking along a trajectory he would have followed in similar real conditions? To this end, we propose a comprehensive evaluation framework consisting on a set of trajectographical criteria and a locomotion model to generate reference trajectories. We consider a simple locomotion task where users walk between two oriented points in space. The travel path is analyzed both geometrically and temporally in comparison to simulated reference trajectories. In addition, we demonstrate the framework over a user study which considered an initial set of common and frequent virtual walking conditions, namely different input devices, output display devices, control laws, and visualization modalities. The study provides insight into the relative contributions of each condition to the overall realism of the resulting virtual trajectories.

  13. 10 CFR 431.302 - Definitions concerning walk-in coolers and walk-in freezers.

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ... 10 Energy 3 2010-01-01 2010-01-01 false Definitions concerning walk-in coolers and walk-in freezers. 431.302 Section 431.302 Energy DEPARTMENT OF ENERGY ENERGY CONSERVATION ENERGY EFFICIENCY PROGRAM... enclosed storage space refrigerated to temperatures, respectively, above, and at or below 32...

  14. Framework for discrete-time quantum walks and a symmetric walk on a binary tree

    SciTech Connect

    Dimcovic, Zlatko; Rockwell, Daniel; Milligan, Ian; Burton, Robert M.; Kovchegov, Yevgeniy; Nguyen, Thinh

    2011-09-15

    We formulate a framework for discrete-time quantum walks, motivated by classical random walks with memory. We present a specific representation of the classical walk with memory 2, on which this is based. The framework has no need for coin spaces, it imposes no constraints on the evolution operator other than unitarity, and is unifying of other approaches. As an example we construct a symmetric discrete-time quantum walk on the semi-infinite binary tree. The generating function of the amplitude at the root is computed in closed form, as a function of time and the initial level n in the tree, and we find the asymptotic and a full numerical solution for the amplitude. It exhibits a sharp interference peak and a power-law tail, as opposed to the exponentially decaying tail of a broadly peaked distribution of the classical symmetric random walk on a binary tree. The probability peak is orders of magnitude larger than it is for the classical walk (already at small n). The quantum walk shows a polynomial algorithmic speedup in n over the classical walk, which we conjecture to be of the order 2/3, based on strong trends in data.

  15. Activating and Relaxing Music Entrains the Speed of Beat Synchronized Walking

    PubMed Central

    Leman, Marc; Moelants, Dirk; Varewyck, Matthias; Styns, Frederik; van Noorden, Leon; Martens, Jean-Pierre

    2013-01-01

    Inspired by a theory of embodied music cognition, we investigate whether music can entrain the speed of beat synchronized walking. If human walking is in synchrony with the beat and all musical stimuli have the same duration and the same tempo, then differences in walking speed can only be the result of music-induced differences in stride length, thus reflecting the vigor or physical strength of the movement. Participants walked in an open field in synchrony with the beat of 52 different musical stimuli all having a tempo of 130 beats per minute and a meter of 4 beats. The walking speed was measured as the walked distance during a time interval of 30 seconds. The results reveal that some music is ‘activating’ in the sense that it increases the speed, and some music is ‘relaxing’ in the sense that it decreases the speed, compared to the spontaneous walked speed in response to metronome stimuli. Participants are consistent in their observation of qualitative differences between the relaxing and activating musical stimuli. Using regression analysis, it was possible to set up a predictive model using only four sonic features that explain 60% of the variance. The sonic features capture variation in loudness and pitch patterns at periods of three, four and six beats, suggesting that expressive patterns in music are responsible for the effect. The mechanism may be attributed to an attentional shift, a subliminal audio-motor entrainment mechanism, or an arousal effect, but further study is needed to figure this out. Overall, the study supports the hypothesis that recurrent patterns of fluctuation affecting the binary meter strength of the music may entrain the vigor of the movement. The study opens up new perspectives for understanding the relationship between entrainment and expressiveness, with the possibility to develop applications that can be used in domains such as sports and physical rehabilitation. PMID:23874469

  16. Activating and relaxing music entrains the speed of beat synchronized walking.

    PubMed

    Leman, Marc; Moelants, Dirk; Varewyck, Matthias; Styns, Frederik; van Noorden, Leon; Martens, Jean-Pierre

    2013-01-01

    Inspired by a theory of embodied music cognition, we investigate whether music can entrain the speed of beat synchronized walking. If human walking is in synchrony with the beat and all musical stimuli have the same duration and the same tempo, then differences in walking speed can only be the result of music-induced differences in stride length, thus reflecting the vigor or physical strength of the movement. Participants walked in an open field in synchrony with the beat of 52 different musical stimuli all having a tempo of 130 beats per minute and a meter of 4 beats. The walking speed was measured as the walked distance during a time interval of 30 seconds. The results reveal that some music is 'activating' in the sense that it increases the speed, and some music is 'relaxing' in the sense that it decreases the speed, compared to the spontaneous walked speed in response to metronome stimuli. Participants are consistent in their observation of qualitative differences between the relaxing and activating musical stimuli. Using regression analysis, it was possible to set up a predictive model using only four sonic features that explain 60% of the variance. The sonic features capture variation in loudness and pitch patterns at periods of three, four and six beats, suggesting that expressive patterns in music are responsible for the effect. The mechanism may be attributed to an attentional shift, a subliminal audio-motor entrainment mechanism, or an arousal effect, but further study is needed to figure this out. Overall, the study supports the hypothesis that recurrent patterns of fluctuation affecting the binary meter strength of the music may entrain the vigor of the movement. The study opens up new perspectives for understanding the relationship between entrainment and expressiveness, with the possibility to develop applications that can be used in domains such as sports and physical rehabilitation.

  17. Dirac equation with an ultraviolet cutoff and a quantum walk

    SciTech Connect

    Sato, Fumihito; Katori, Makoto

    2010-01-15

    The weak convergence theorems of the one- and two-dimensional simple quantum walks, SQW{sup (d)},d=1,2, show a striking contrast to the classical counterparts, the simple random walks, SRW{sup (d)}. In the SRW{sup (d)}, the distribution of position X(t) of the particle starting from the origin converges to the Gaussian distribution in the diffusion scaling limit, in which the time scale T and spatial scale L both go to infinity as the ratio L/sq root(T) is kept finite. On the other hand, in the SQW{sup (d)}, the ratio L/T is kept to define the pseudovelocity V(t)=X(t)/t, and then all joint moments of the components V{sub j}(t),1<=j<=d, of V(t) converge in the T=L->infinity limit. The limit distributions have novel structures such that they are inverted-bell shaped and their supports are bounded. In the present paper we claim that these properties of the SQW{sup (d)} can be explained by the theory of relativistic quantum mechanics. We show that the Dirac equation with a proper ultraviolet cutoff can provide a quantum walk model in three dimensions, where the walker has a four-component qubit. We clarify that the pseudovelocity V(t) of the quantum walker, which solves the Dirac equation, is identified with the relativistic velocity. Since the quantum walker should be a tardyon, not a tachyon, |V(t)|walk models. By reducing the number of components of momentum in the Dirac equation, we obtain the limit distributions of pseudovelocities for the lower dimensional quantum walks. We show that the obtained limit distributions for the one- and two-dimensional systems have common features with those of SQW{sup (1)} and SQW{sup (2)}.

  18. Learning to walk changes infants' social interactions.

    PubMed

    Clearfield, Melissa W

    2011-02-01

    The onset of crawling marks a motor, cognitive and social milestone. The present study investigated whether independent walking marks a second milestone for social behaviors. In Experiment 1, the social and exploratory behaviors of crawling infants were observed while crawling and in a baby-walker, resulting in no differences based on posture. In Experiment 2, the social behaviors of independently walking infants were compared to age-matched crawling infants in a baby-walker. Independently walking infants spent significantly more time interacting with the toys and with their mothers, and also made more vocalizations and more directed gestures compared to infants in the walker. Experiment 3 tracked infants' social behaviors longitudinally across the transition from crawling and walking. Even when controlled for age, the transition to independent walking marked increased interaction time with mothers, as well as more sophisticated interactions, including directing mothers' attention to particular objects. The results suggest a developmental progression linking social interactions with milestones in locomotor development. PMID:20478619

  19. Modality-specific communication enabling gait synchronization during over-ground side-by-side walking.

    PubMed

    Zivotofsky, Ari Z; Gruendlinger, Leor; Hausdorff, Jeffrey M

    2012-10-01

    An attentive observer will notice that unintentional synchronization of gait between two walkers on the street seems to occur frequently. Nonetheless, the rate of occurrence and motor-sensory mechanisms underlying this phase-locking of gait have only recently begun to be investigated. Previous studies have either been qualitative or carried out under non-natural conditions, e.g., treadmill walking. The present study quantitatively examined the potential sensory mechanisms that contribute to the gait synchronization that occurs when two people walk side by side along a straight, over-ground, pathway. Fourteen pairs of subjects walked 70 m under five conditions that manipulated the available sensory feedback. The modalities studied were visual, auditory, and tactile. Movement was quantified using a trunk-mounted tri-axial accelerometer. A gait synchronization index (GSI) was calculated to quantify the phase synchronization of the gait rhythms. Overall, 36% of the walks exhibited synchrony. Tactile and auditory feedback showed the greatest ability to synchronize, while visual feedback was the least effective. The results show that gait synchronization during natural walking is common, quantifiable, and has modality-specific properties.

  20. Quantum Walks on Two Kinds of Two-Dimensional Models

    NASA Astrophysics Data System (ADS)

    Li, Dan; Mc Gettrick, Michael; Zhang, Wei-Wei; Zhang, Ke-Jia

    2015-08-01

    In this paper, we numerically study quantum walks on two kinds of two-dimensional graphs: cylindrical strip and Mobius strip. The two kinds of graphs are typical two-dimensional topological graph. We study the crossing property of quantum walks on these two models. Also, we study its dependence on the initial state, size of the model. At the same time, we compare the quantum walk and classical walk on these two models to discuss the difference of quantum walk and classical walk.