Roy Müller

Running on uneven ground: Leg adjustments by muscle pre-activation control

In locomotion, humans have to deal with irregularities of the ground, i.e., pathways covered with stones, grass, or roots. When they encounter ground with changes in terrain height they seem to use spring-mass dynamics to help passively stabilize their locomotory trajectory. With increasing step heights humans reduce their leg stiffness, but it is as of yet unclear whether these leg adjustments are purely passively achieved or actively in a feed-forward manner. For this, we investigated the stiffness regulation in the ankle and knee joint and analyzed the correlation between EMG, kinematic, and dynamic parameters. Nine healthy participants were running along a 17m runway with a force plate of adjustable height (steps of 0, +5, +10, and +15cm). Whole body kinematics was monitored along with surface electromyography of three selected bilateral lower limb muscles. We found that the stiffness of the ankle joint is adjusted to the vertical height of a step, in a manner similar to global leg stiffness. Furthermore, the integrated 100ms pre-activation of the m. gastrocnemius medialis (GM) depends on the vertical height of a step and correlates highly significantly with the activation of the GM but also with kinematics and dynamics. Consequently, we identified the pre-activation control as a key for altering the leg posture in preparation for altered ground properties (e.g., the height of a step or an obstacle). During the stance phase the control of activation plays a minor role since geometry and the initial conditions (e.g., leg length, landing angle, and landing velocity) ensure an adequate adjustment of joint stiffness as well as leg stiffness.

Running on uneven ground: leg adjustments to altered ground level.

In locomotion, humans have to deal with changes in ground level like pavement or stairs. When they encounter uneven ground with changes in terrain height, they reduce their angle of attack and leg stiffness on a step. This strategy was found for the single step upward movement. However, are these adjustments the result of a general strategy? In our study we focused on leg adjustments while running up and down, implying permanent adaptation to a new track level. To investigate this, we measured ten healthy participants as they ran along a runway with 10 cm increased and 10 cm lowered steps. We found that ground reaction force, leg length, leg stiffness, and angle of attack were adjusted to the direction of the vertical disturbance (up or down) but also to its length. When running upwards, leg stiffness decreased by about 20.4% on the single step and by about 9.3% on the permanently elevated track step. In addition to that - when running downwards - leg stiffness decreased in preparation for the downward step by about 18.8%. We also observed that the angle of attack diminished on elevated contact from 61 degrees to 59 degrees, and increased on lowered contact from 61 degrees to 65 degrees. The adjustment of leg stiffness seemed to be actively achieved, whereas the angle of attack appeared to be passively adjusted, consistent with a running model that includes leg retraction in late swing phase.

Low back pain affects trunk as well as lower limb movements during walking and running.

Up to now, most gait analyses on low back pain concentrate on changes in trunk coordination during walking on a treadmill. Locomotion on uneven ground as well as lower limb changes receives little attention in association with low back pain. The present study focuses on how chronic non-specific low back pain causes modifications in lower limb and trunk movements, in level and uneven walking and running. We found that trunk as well as lower limb movement was influenced by chronic non-specific low back pain. A consistent finding across all gaits and ground level changes is that patients with chronic non-specific low back pain show less pelvis and unchanged thorax rotation as compared to healthy controls. Furthermore, in chronic non-specific low back pain patients the trunk rotation decreased only during level and uneven running whereas the sagittal trunk inclination at touchdown increased only during uneven walking as compared to healthy controls. Besides significant changes in the upper body, in chronic non-specific low back pain patients the knee joint angle at touchdown was more extended during level walking but also during uneven walking and running as compared to healthy controls. We assume that trunk movements interact with lower limb movements or vice versa. Therefore, we recommend that further investigations on low back pain should consider both trunk (primarily pelvis) and lower limb (primarily knee) movements.

Leg adjustments during running across visible and camouflaged incidental changes in ground level

SUMMARY During running in a natural environment, humans must routinely negotiate varied and unpredictable changes in ground level. To prevent a fall, changes in ground level, especially those that are invisible, require a quick response of the movement system within a short time. For 11 subjects we investigated two consecutive contacts during running across visible (drop of 0, 5 and 10 cm) and camouflaged (drop of 0 and 10 cm) changes in ground level. For both situations, we found significant variances in their leg parameters and ground reaction forces (GRFs) during the perturbed second contact but also one step ahead, in the unperturbed first contact. At visible first contact, humans linearly adapt their GRF to lower and smooth their centre of mass. During the camouflaged situation, the GRF also decreased, but it seems that the runners anticipate a drop of approximately 5–10 cm. The GRF increased with drop height during the visible perturbed second contact. At the camouflaged second contact, GRFs differed noticeably from the observed reaction when crossing a similar visible drop, whereas the contact time decreased and the initial impact peak increased. This increased impact can be interpreted as a purely mechanical contribution to cope with the event. Furthermore, we observed an increased angle of attack and leg length with drop height for both situations. This is in accordance with results observed in birds running over a track with an unexpected drop, and suggests that adaptations in swing leg retraction form part of the strategy for running across uneven ground.

Kinetic and kinematic adjustments during perturbed walking across visible and camouflaged drops in ground level

Walking in even the most familiar environment posesses a challenge to humans due to continuously changing surface conditions such as compliance, slip, or level. These changes can be visible or invisible due to camouflage. In order to prevent falling, camouflaged changes in the ground level in particular require a quick response of the locomotor system. For ten subjects we investigated kinematics and ground reaction forces of two consecutive contacts while they were walking across visible (drops of 0, -5 and -10 cm at second contact) and camouflaged (drops of 0 or -5 cm, and drops of 0 or -10 cm at second contact) changes in the ground level. For both situations we found significant kinetic and kinematic adjustments during the perturbed second contact but also one step earlier, in the preparatory first contact. During walking across visible changes in the ground level, second peak ground reaction force at first contact decreased whereas the drop height increased at the second contact. In addition, at the end of this first contact the ankle and knee were more flexed and the trunk was more erect compared to level walking. During the perturbed second contact, first peak ground reaction force increased with drop height, whereas kinematic adjustments at touchdown were less. The visual perception of the perturbation facilitated prior adaptations. During walking across camouflaged changes in ground level such a visually guided preadaptation was not possible and the adaptations prior to the perturbation were less than those observed during walking across visible changes in the ground. However, when stepping into a camouflaged drop, the kinetic and kinematic adjustments became more obvious and they increased with increasing camouflaged drop height.

Positioning the hip with respect to the COM: Consequences for leg operation

In bipedal runners and hoppers the hip is not located at the center of mass in the sagittal projection. This displacement influences operation and energetics of the leg attached to the hip. To investigate this influence in a first step a simple conservative bouncing template is developed in which a heavy trunk is suspended to a massless spring at a pivot point above the center of mass. This model describes the orientation of the ground reaction forces observed in experiments on running birds. In a second step it is assumed that an effective telescope leg with its hip fixed to the trunk remote from the COM generates the same ground reaction forces as those predicted by the template. For this effective leg the influence of hip placement on leg operation and energetics is investigated. Placing the hip directly below, at, or above the pivot point results in high axial energy storage. Posterior placement increases axial losses and hip work whereas anterior placement would require axial work and absorption at the hip. Shifting the hip far posteriorly as observed in some birds can lead to the production of pure extension torques throughout the stance phase. It is proposed that the relative placement of the hip with respect to the center of mass is an important measure to modify effective leg operation with possible implications for balancing the trunk and the control of legged motion systems.

Preparing the leg for ground contact in running: the contribution of feed-forward and visual feedback

While running on uneven ground, humans are able to negotiate visible but also camouflaged changes in ground level. Previous studies have shown that the leg kinematics before touch down change with ground level. The present study experimentally investigated the contributions of visual perception (visual feedback), proprioceptive feedback and feed-forward patterns to the muscle activity responsible for these adaptations. The activity of three bilateral lower limb muscles (m. gastrocnemius medialis, m. tibialis anterior and m. vastus medialis) of nine healthy subjects was recorded during running across visible (drop of 0, −5 and −10 cm) and camouflaged changes in ground level (drop of 0 and −10 cm). The results reveal that at touchdown with longer flight time, m. tibialis anterior activation decreases and m. vastus medialis activation increases purely by feed-forward driven (flight time-dependent) muscle activation patterns, while m. gastrocnemius medialis activation increase is additionally influenced by visual feedback. Thus, feed-forward driven muscle activation patterns are sufficient to explain the experimentally observed adjustments of the leg at touchdown.

Vertical adaptation of the center of mass in human running on uneven ground.

In running we are frequently confronted with different kinds of disturbances. Some require quick reactions and adaptations while others, like moderate changes in ground level, can be compensated passively. Monitoring the kinematics of the runners center of mass (CoM) in such situations can reveal what global locomotion control strategies humans use and can help to distinguish between active and passive compensation methods. In this study single and permanent upward steps of 10 cm as well as drops of the same height were used as mechanical disturbances and the adaptations in the vertical oscillation of the runners CoM were analyzed. We found that runners visually perceiving uneven ground ahead substantially adapted their CoM in preparation by lifting it about 50% of step height or lowering it by about 40% of drop height, respectively. After contact on the changed ground level different adaptations depending on the situation occur. For persisting changes the adaptation to the elevated ground is completed after the first step on the new level. For single steps part of the adaptation takes place while returning to the ground. The consistent adaptations for the different situations support the idea that controlling the CoM by adapting leg parameters is a general control principle in running.

Increasing trunk flexion transforms human leg function into that of birds despite different leg morphology

ABSTRACT Pronograde trunk orientation in small birds causes prominent intra-limb asymmetries in the leg function. As yet, it is not clear whether these asymmetries induced by the trunk reflect general constraints on the leg function regardless of the specific leg architecture or size of the species. To address this, we instructed 12 human volunteers to walk at a self-selected velocity with four postures: regular erect, or with 30 deg, 50 deg and maximal trunk flexion. In addition, we simulated the axial leg force (along the line connecting hip and centre of pressure) using two simple models: spring and damper in series, and parallel spring and damper. As trunk flexion increases, lower limb joints become more flexed during stance. Similar to birds, the associated posterior shift of the hip relative to the centre of mass leads to a shorter leg at toe-off than at touchdown, and to a flatter angle of attack and a steeper leg angle at toe-off. Furthermore, walking with maximal trunk flexion induces right-skewed vertical and horizontal ground reaction force profiles comparable to those in birds. Interestingly, the spring and damper in series model provides a superior prediction of the axial leg force across trunk–flexed gaits compared with the parallel spring and damper model; in regular erect gait, the damper does not substantially improve the reproduction of the human axial leg force. In conclusion, mimicking the pronograde locomotion of birds by bending the trunk forward in humans causes a leg function similar to that of birds despite the different morphology of the segmented legs. Summary: Mimicking a birds horizontal trunk orientation leads to a bird-like leg function in humans despite different morphology of the segmented legs.

Exploring phase dependent functional gait variability

Gait variability is frequently used to evaluate the sensorimotor system and elderly fallers compared to non-fallers exhibit an altered variability in gait parameters during unchanged conditions. While gait variability is often interpreted as movement error, it is also necessary to change the gait pattern in order to react to internal and external perturbations. This phenomenon has been described as functional variability and ensures the stability of gait motor control. The aim of the current study is to explore the functional variability in relation to the different phases of the gait cycle (phase-dependent gait variability). Kinematics of the foot, shank and thigh were registered with inertial sensors (MTw2, Xsens Technologies B.V) in 25 older participants (70±6years) during normal overground walking. Phase-dependent variability was defined as the standard deviation of the Euclidean norm of the angular velocity data. To assess differences with respect to the variability of different body segments (foot, shank, and thigh), the statistical parametric mapping method was applied. In normal walking, the variability of the time-continuous foot kinematics during parts of the swing phase was higher compared to the shank (9-14% of swing phase, p<0.000) and to the thigh (3-43%, p<0.000 and 92%, p=0.024 of swing phase). Compared to the thigh, the shank kinematics was less variable at 62-64% (p=0.013) of the swing phase. The magnitudes of the variability were comparable regarding all three body segments during mid swing. Furthermore, those magnitudes of variability were smallest during mid swing where the minimum toe clearance was identified. In conclusion, we found signs of phase-dependent functional variability particularly in the swing phase of gait. In fact, we found reduced variability in the time-continuous foot kinematics in mid swing during normal walking where also the minimum toe clearance event occurs.