Dynamics of Human Walking

The problem of biped locomotion at steady speeds is discussed through a Lagrangian formulation developed for velocity-dependent, body driving forces. Human walking on a level surface is analyzed in terms of the data on the resultant ground-reaction force and the external work. It is shown that the trajectory of the center of mass is due to a superposition of its rectilinear motion with a given speed and a backward rotation along a shortened hypocycloid. A stiff-to-compliant crossover between walking gaits is described and the maximum speed for human walking, given by an instability of the trajectory, is predicted. Key words: locomotion, integrative biology, muscles, bipedalism, human walking, biomechanics.Comment: 9 pages, 4 figure

Bipedal steps in the development of rhythmic behavior in humans

We contrast two related hypotheses of the evolution of dance: H1: Maternal bipedal walking influenced the fetal experience of sound and associated movement patterns; H2: The human transition to bipedal gait produced more isochronous/predictable locomotion sound resulting in early music-like behavior associated with the acoustic advantages conferred by moving bipedally in pace. The cadence of walking is around 120 beats per minute, similar to the tempo of dance and music. Human walking displays long-term constancies. Dyads often subconsciously synchronize steps. The major amplitude component of the step is a distinctly produced beat. Human locomotion influences, and interacts with, emotions, and passive listening to music activates brain motor areas. Across dance-genres the footwork is most often performed in time to the musical beat. Brain development is largely shaped by early sensory experience, with hearing developed from week 18 of gestation. Newborns reacts to sounds, melodies, and rhythmic poems to which they have been exposed in utero. If the sound and vibrations produced by footfalls of a walking mother are transmitted to the fetus in coordination with the cadence of the motion, a connection between isochronous sound and rhythmical movement may be developed. Rhythmical sounds of the human mother locomotion differ substantially from that of nonhuman primates, while the maternal heartbeat heard is likely to have a similar isochronous character across primates, suggesting a relatively more influential role of footfall in the development of rhythmic/musical abilities in humans. Associations of gait, music, and dance are numerous. The apparent absence of musical and rhythmic abilities in nonhuman primates, which display little bipedal locomotion, corroborates that bipedal gait may be linked to the development of rhythmic abilities in humans. Bipedal stimuli in utero may primarily boost the ontogenetic development. The acoustical advantage hypothesis proposes a mechanism in the phylogenetic development

Walking dynamics are symmetric (enough)

Many biological phenomena such as locomotion, circadian cycles, and breathing are rhythmic in nature and can be modeled as rhythmic dynamical systems. Dynamical systems modeling often involves neglecting certain characteristics of a physical system as a modeling 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 modeling convenience---it can produce a better model.Comment: Draft submitted to Journal of the Royal Society Interfac

3-D kinematic comparison of treadmill and overground running.

Studies investigating the mechanics of human movement are often conducted using the treadmill. The treadmill is an attractive device for the analysis of human locomotion. Studies comparing overground and treadmill running have analyzed discrete variables, however differences in excursion from footstrike to peak angle and range of motion during stance have yet to be examined. This study aimed to examine the 3-D kinematics of the lower extremities during overground and treadmill locomotion to determine the extent to which the two modalities differ. Twelve participants ran at 4.0m/s in both treadmill and overground conditions. 3-D angular kinematic parameters during the stance phase were collected using an eight camera motion analysis system. Hip, knee and ankle joint kinematics were quantified in the sagittal, coronal and transverse planes, then compared using paired t-tests. Of the parameters analyzed hip flexion at footstrike 12° hip range of motion 17°, peak hip flexion 12.7°, hip transverse plane range of motion 8° peak knee flexion 5° and peak ankle excursion range 6.6°, coronal plane ankle angle at toe-off 6.5° and peak ankle eversion 6.3° were found to be significantly different. These results lead to the conclusion that the mechanics of treadmill locomotion cannot be generalized to overground

Modelling Human Locomotion

This report is a coverage of my 16 weeks practical training at the Center for Sensori-Motor Interaction of the Aalborg University (Denmark). One of their research topics is on the ?eld of the biomedical modelling, where they want to answer the question of the functional behavior of the proprioceptive feedback system of the human body. A valid/good biomedical model could support their hypotheses which are results from different measurements. The original intention of the project was to build a complete walking lower body model to ?nd the reason for proprioceptive feedback during walking. In the middle of the project this original goal was a too high, because of the additional work of redesigning previous work of Huber [26]. The goal is adjusted to design the mechanical and muscle model and a well documented report, so a next project can continue immediately. The mechanical and muscle model appeared to work correct and are veri?ed with measured data. The forward activation of the muscle/mechanical model is not completely the same as expected. This is because the used method does not take co-activation of antagonistic muscle into account. For the continuation of this project a complete measured data set is necessary, because the veri?cation is not 100% valid. This performed veri?cation uses data that is not correlated in the sense that is measured at the same conditions and persons

Alignment strategies for the entrainment of music and movement rhythms

Theories of entrainment assume that spontaneous entrainment emerges from dynamic laws that operate via mediators on interactions, whereby entrainment is facilitated if certain conditions are fulfilled. In this study, we show that mediators can be built that affect the entrainment of human locomotion to music. More specifically, we built D-Jogger, a music player that functions as a mediator between music and locomotion rhythms. The D-Jogger makes it possible to manipulate the timing differences between salient moments of the rhythms (beats and footfalls) through the manipulation of the musical period and phase, which affect the condition in which entrainment functions. We conducted several experiments to explore different strategies for manipulating the entrainment of locomotion and music. The results of these experiments showed that spontaneous entrainment can be manipulated, thereby suggesting different strategies on how to embark. The findings furthermore suggest a distinction among different modalities of entrainment: finding the beat (the most difficult part of entrainment), keeping the beat (easier, as a temporal scheme has been established), and being in phase (no entrainment is needed because the music is always adapted to the human rhythm). This study points to a new avenue of research on entrainment and opens new perspectives for the neuroscience of music

Üner Tan Syndrome: Review and Emergence of Human Quadrupedalism in Self-Organization,\ud Attractors and Evolutionary Perspectives\ud

The first man reported in the world literature exhibiting habitual quadrupedal locomotion was discovered by a British traveler and writer on the famous Baghdat road near Havsa/Samsun on the middle Black-Sea coast of Turkey (Childs, 1917). Interestingly, no single case with human quadrupedalism was reported in the scientific literature after Child's first description in 1917 until the first report on the Uner Tan syndrome (UTS: quadrupedalism, mental retardation, and impaired speech or no speech)in 2005 (Tan, 2005, 2006). Between 2005 and 2010, 10 families exhibiting the syndrome were discovered in Turkey with 33 cases: 14 women (42.4%) and 19 men (57.6%). Including a few cases from other countries, there were 25 men (64.1%)and 14 women (35.9%). The number of men significantly exceeded the number of women (p < .05). Genetics alone did not seem to be informative for the origins of many syndromes, including the Uner Tan syndrome. From the viewpoint of dynamical systems theory, there may not be a single factor including the neural and/or genetic codes that predetermines the emergence of the human quadrupedalism.Rather, it may involve a self-organization process, consisting of many decentralized and local interactions among neuronal, genetic, and environmental subsystems. The most remarkable characteristic of the UTS, the diagonal-sequence quadrupedalism is well developed in primates. The evolutionarily advantage of this gait is not known. However, there seems to be an evolutionarily advantage of this type of locomotion for primate evolution, with regard to the emergence of complex neural circuits with related highly complex structures. Namely, only primates with diagonal-sequence quadrupedal locomotion followed an evolution favoring larger brains, highly developed cognitive abilities with hand skills, and language, with erect posture and bipedal locomotion, creating the unity of human being. It was suggested that UTS may be considered a further example for Darwinian diseases, which may be associated with an evolutionary understanding of the disorders using evolutionary principles, such as the natural selection. On the other hand, the human quadrupedalism was proposed to be a phenotypic example of evolution of reverse, i.e., the reacquisition by derived populations of the same character states as those of ancestor populations. It was also suggested that the emergence of the human quadrupedalism may be related to self-organizing processes occurring in complex systems, which select or attract one preferred behavioral state or locomotor trait out of many possible attractor states. Concerning the locomotor patterns, the dynamical systems in brain and body of the developing child may prefer some kind of locomotion, according to interactions of the internal components and the environmental conditions, without a direct role of any causative factor(s), such as genetic or neural codes, consistent with the concept of self-organization, suggesting no single element may have a causal priority

Advancement of Legged Locomotion Models by Including Nonlinear Damping

Accurately predicting human locomotion has been a goal of various mathematical models. Early canonical models of locomotion were developed to predict the basic features of ground reaction forces (GRF). More recently, modified hip actuated and leg damped locomotion models have been developed to better predict the stability and robustness of human and animal locomotion. Such improvements have resulted in the loss of the characteristic GRF predicted by earlier models. Historically, GRF are among the most common measures to experimentally study human locomotion. Thus, it is important to develop new mathematical models that predict both accurate stability of motion, as well as GRF. We hypothesized that by replacing linear damping models with nonlinear leg damping, we can better replicate human GRF. We then derived the equations of motion for this new type of locomotion model and analyzed the system behavior. GRF from the modified model were compared with published human GRF data. Stability and robustness were also studied through the use of numerical analysis to make sure that the ability to predict stable motion was not compromised. We found that the modified model with nonlinear leg damping provides a significantly better prediction of GRF, especially in the early part of stance. Further, the model\u27s ability to predict the stability of locomotion is similar to the actuated model with linear damping. As a result, we expect that stable actuated models of locomotion can generally be combined with nonlinear leg damping models to better predict human locomotion GRF and stability