Search Results (42)

Background: Current methods of postural control assessments and interventions to improve postural stability and thereby prevent falls often fail to incorporate the hazardous perturbation situations that frequently accompany falls. Virtual environments can safely incorporate these hazards. The purpose of the study was to identify if virtual slip and trip perturbations can be used as an exposure paradigm in place of real slip and trip perturbations to improve postural control. Methods: Fifteen healthy young adults were included in this study. Two paradigms, real gait exposure (real) and virtual environment gait exposure (virtual), consisting of real and virtual slip and trip trials, were performed by each participant in a counterbalanced order to avoid order effects. At baseline and following real and virtual paradigms, the modified clinical test for sensory integration and balance (mCTSIB), limits of stability (LOS), and single-leg stance (SLS) using BTracks balance plate were administered. Separate one-way (baseline vs. Real vs. Virtual) repeated measures analysis of variance were conducted on response variables. Results: In the posterior left quadrant of the LOS, significant differences were found after the real paradigm compared to baseline (p = 0.04). For the anterior left quadrant and total LOS, significant differences post real paradigm (p = 0.002 and p < 0.001) and virtual paradigm (p = 0.007 and p < 0.001) compared to baseline were observed. For the SLS, the left-leg significant differences were observed post real paradigm (p = 0.019) and virtual paradigm (p = 0.009) compared to BL in path length, while significant main effects were found for mean sway velocity for the left leg only (p = 0.004). For the right leg, significant differences were only observed after the virtual paradigm (p = 0.01) compared to BL. Conclusions: Both virtual and real paradigms were identified to improve postural control. The virtual paradigm led to increased postural control in the right-leg SLS condition, while the real paradigm did not, without any adverse effects. Findings suggest virtual reality perturbation exposure acutely improves postural control ability compared to baseline among healthy young adults. Full article

This paper introduces a robust neural adaptive MIMO control strategy to improve the stability and adaptability of bipedal locomotion amid uncertainties and external disturbances. The control combines nonlinear dynamic inversion, finite-time convergence, and radial basis function (RBF) neural networks for fast, accurate trajectory tracking. The main novelty of the presented control strategy lies in unifying instantaneous feedback, real-time learning, and dynamic adaptation within a multivariable feedback framework, delivering superior robustness, precision, and real-time performance under extreme conditions. The control scheme is implemented on a 5-DOF underactuated $\mathrm{R}\mathrm{A}\mathrm{B}\mathrm{B}\mathrm{I}\mathrm{T}$ robot using a $\mathrm{d}\mathrm{S}\mathrm{P}\mathrm{A}\mathrm{C}\mathrm{E}\mathrm{D}\mathrm{S}1103$ platform with a sampling rate of $∆t=1.5 \mathrm{m}\mathrm{s} (667 \mathrm{H}\mathrm{z})$. The experimental results show excellent performance with the following: The robot achieved stable cyclic gaits while keeping the tracking error within $e=\pm 0.04 \mathrm{r}\mathrm{a}\mathrm{d}$ under nominal conditions. Under severe uncertainties of trunk mass variations ${∆m}_{\mathrm{t}\mathrm{r}\mathrm{u}\mathrm{n}\mathrm{k}}=+100\%$, limb inertia changes ${∆I}_{\mathrm{l}\mathrm{i}\mathrm{m}\mathrm{b}}=\pm 30\%$, and actuator torque saturation at $\tau =\pm 150 \mathrm{N}\mathrm{m}$, the robot maintains stable limit cycles with smooth control. The performance of the proposed controller is compared with classical nonlinear decoupling, non-adaptive finite-time, neural-fuzzy learning, and deep learning controls. The results demonstrate that the proposed method outperforms the four benchmark strategies, achieving the lowest errors and fastest convergence with the following: $\mathrm{I}\mathrm{A}\mathrm{E}=1.36$, $\mathrm{I}\mathrm{T}\mathrm{A}\mathrm{E}=2.43$, $\mathrm{I}\mathrm{S}\mathrm{E}=0.68$, $t_{ss}=1.24 \mathrm{s}$, and $M_p=2.21\%$. These results demonstrate evidence of high stability, rapid convergence, and robustness to disturbances and foot-slip. Full article

Forestry is recognized as one of the most physically demanding professions. Walking in presents unique biomechanical challenges due to complex, irregular terrain, with several possible risks. This study investigated how human gait adapts across solid surfaces, forest trails, and natural forest environments. Fifteen healthy adult participants (average age 38.3; ten males and five females) completed 150 walking trials, with full-body motion captured via a 17 Inertial Measurement Unit (IMU) sensors (Xsens MVN Awinda system). The analysis focused on spatial and temporal gait parameters, including cadence, step length, foot strike pattern, and center of mass variability. Statistical methods (ANOVA and Kruskal–Wallis) revealed that surface type significantly influenced gait mechanics. On forest terrain, participants exhibited wider steps, reduced cadence, increased step and stride variability, and a substantial shift from heel-to-toe strikes. Gait adaptations reflect compensatory neuromuscular strategies to maintain body balance. The findings confirm that forestry terrain complexity compromises human gait stability and increases physical demands, supporting step variability and slip, trip, and fall risk. By identifying key biomechanical markers of instability, this study contributes to understanding human locomotion principles. Understanding these changes can help design safety measures for outdoor professions, particularly forestry. Full article

Background/Objectives: Traditional fusion leads to a loss of spine mobility across the fused vertebrae. Vertebral body tethering (VBT) was developed with the goal of increasing flexibility and maintaining some spinal mobility. However, it is not known if the additional mobility leads to significant functional improvement. This prospective motion analysis study evaluates functional outcomes, specifically gait stability, in pre-operative, post-fusion, and post-VBT patients by using postural perturbations on a treadmill. Methods: Overall, 79 subjects underwent a computer-controlled treadmill study with postural perturbations, which simulated trips and slips. The subjects were harnessed for safety. Overall, 21 subjects were healthy controls, 18 patients were at least one-year post-VBT, 15 patients were at least one-year post-fusion, and 25 were pre-operative scoliosis patients. Subject weight, height, and treadmill acceleration were recorded and used to determine anteroposterior single (ASSTs, PSSTs) and multiple (AMSTs, PMSTs) stepping thresholds to describe the maximum torque a patient could withstand before failing to recover from the simulated trip. Independent t-tests were run to compare groups under the advice of a master statistician with expertise in orthopedic surgery. Results: Pre-operative scoliosis patients had lower PSSTs than healthy controls (uncorrected p = 0.036). No significant differences were observed between pre-operative and post-operative groups for both fusion and VBT. There was no significant difference in ASST, AMST, or PMST between any of the groups. Conclusions: The lower PSST in pre-operative scoliosis patients compared to healthy controls may reflect impaired reactive balance and potentially increased fall risk. Interestingly, there was no significant difference in reactive balance measures between pre-operative and post-operative scoliosis patients or between post-fusion and post-VBT patients. Full article

Lower limb fatigue reduces muscle strength, alters joint biomechanics, affects gait, and increases injury risk. In addition, it is of great clinical significance to explore local muscle fatigue or weakness caused by fatigue to understand its compensatory effect on the ipsilateral or contralateral joints. We systematically searched multiple databases, including five databases, using key terms such as “Muscle Fatigue” and “Gait”. Only studies that experimentally induced fatigue through sustained muscle activities in healthy adults were included. This review examined 11 studies exploring the effects of lower limb muscle fatigue on gait and lower limb biomechanics. The findings indicated that muscle fatigue significantly influenced spatiotemporal parameters, joint angles, and moments. Most studies that were reviewed reported an increase in step width and a decrease in knee joint moments following fatigue. Additionally, muscle activation levels tended to decline. In summary, compensatory mechanisms can lead to new walking strategies, such as increasing step width or enhancing the strength of muscles in adjacent joints. These adjustments impact dynamic balance differently: wider steps may enhance medial–lateral stability, while reduced muscle strength could lead to higher heel contact velocity and longer slip distances. Although these changes might influence dynamic balance, compensatory strategies may help mitigate the overall effect of fall risk. Future studies should use appropriate protocols, such as moderate or severe fatigue interventions with isokinetic dynamometry. Full article

This study assessed the effect of filter parameters on gait characteristics and the performance of machine-learning models. Overground walking trials (n = 99) with and without perturbations (slips, trips) were collected for 33 healthy older adults. Kinematics were collected by a motion capture system. Different Butterworth low-pass parameters were applied to the raw data, including three orders (2–6) and nine cutoffs (4–20 Hz). Spatiotemporal gait outcomes were then calculated to develop classification models to automatically identify the trial type (gait, gait–slip, or gait–trip) using Logistic Regression, Support Vector Classification, and Random Forest Classification. A 3 × 9 ANOVA showed main effects of order and cutoff (p < 0.01 for all) on gait characteristics during both perturbed and regular walking trials. However, the gait characteristics were different between them. The filter parameters significantly affected the performance of classification models using different classifiers, with significant main effects of the filter order (p < 0.05) and cutoff (p < 0.01) on AUC and overall accuracy for all of the models. Our results suggest that the standard Butterworth filter (fourth-order, cutoff: 6 Hz) is suitable for the development of classification models with low–medium complexity, while for models with high complexity (i.e., ensemble models), a filter with a higher order and cutoff (sixth-order, cutoff 10–12 Hz) might yield better performance. Full article

Magnetic hydrogel soft robots have shown great potential in various fields. However, their contact dynamic behaviors are complex, considering stick–slip motion at the contact interface, and lack accurate computational models to analyze them. This paper improves the numerical computational method for hydrogel materials with magneto-mechanical coupling effect, analyses the inchworm-like contact motion of the biomimetic bipedal magnetic hydrogel soft robot, and designs and optimizes the robot’s structure. In the constitutive model, a correction factor representing the influence of the direction of magnetic flux density on the domain density has been introduced. The magnetic part of the Helmholtz free energy has been redefined as the magnetic potential energy, which can be used to explain the phenomenon that the material will still deform when the magnetic flux density is parallel to the external magnetic field. The accuracy of the simulation is verified by comparing numerical solutions with experimental results for a magnetic hydrogel cantilever beam. Furthermore, employing the present methods, the locomotion of a magnetic hydrogel soft robot modeled after the inchworm’s gait is simulated, and the influence of the coefficient of friction on its movement is discussed. The numerical results clearly display the control effect of the external magnetic field on the robot’s motion. Full article

Background: Advances in prosthetic technology, especially microprocessor-controlled knees (MPKs), have helped enhance gait symmetry and reduce fall risks for individuals who have undergone transfemoral amputation. However, challenges remain in walking in constrained situations due to the limitations of passive prosthetic feet, lacking ankle mobility. This study investigates the benefits of SYNSYS^®, a new microprocessor-controlled knee–ankle–foot system (MPKA_NEW), designed to synergize knee and ankle movements. Methods: A randomized crossover trial was conducted on 12 male participants who had undergone transfemoral amputation who tested both the MPKA_NEW and their usual MPK prosthesis. Biomechanical parameters were evaluated using quantitative gait analysis in various walking conditions. Participants also completed self-reported questionnaires on their quality of life, locomotor abilities, and prosthesis satisfaction. Results: The MPKA_NEW showed a significant reduction in the risk of slipping and tripping compared to standard MPK prostheses, as evidenced by increased flat-foot time and minimum toe clearance during gait analysis. The MPKA_NEW also improved physical component scores in quality-of-life assessments (Short-Form 36 General Health Questionnaire), suggesting enhanced stability and reduced cognitive load during walking. Conclusions: The MPKA_NEW offers significant improvements in gait safety and quality of life for people who have undergone TFA, particularly in challenging conditions. Further studies are needed to assess the long-term benefits and adaptability across diverse amputee populations. Full article

Background: Humans encounter disturbances like slips, pushes, and trips while walking, mainly from external forces. Technological advances have improved methods to study these impacts on gait, with split-belt treadmills being particularly effective. This scoping review aims to examine the types of perturbations used during split-belt treadmill gait, explore the methods used to induce them, and consolidate current knowledge on the effects of split-belt treadmill-induced gait perturbations. Methods: The review included publications from January 2015 to May 2024, as searched via PubMed, EBSCO, and ScienceDirect. Results: The review examined 33 studies on split-belt treadmills, focusing on perturbations like slip-like, trip-like, lateral displacements, and tilts, with speed changes being the most common. Perturbations were mainly applied during initial contact. The results show that young, healthy adults adapt quickly to anticipatory and reactive adjustments, while older adults and those with neurological impairments use less efficient strategies like increased muscular co-contraction. Asymmetrical gait adaptations persist after perturbations, highlighting motor learning and the role of the central nervous system and sensory feedback. Conclusions: Despite their precision, split-belt and tilting treadmills may not fully replicate real-world walking complexities. The review highlights the strengths and limitations of split-belt treadmills, emphasizing the need to integrate diverse methods to enhance rehabilitation and improve gait stability. Full article

Background: The risk for an unexpected fall can be due to increasing age, health conditions, and loss of cognitive, sensory, or musculoskeletal functions. Falls have personal and economic consequences in many countries. Different disturbances can occur during gait, such as tripping, slipping, or other unexpected circumstances that can generate a loss of balance. The strategies used to recover balance depend on many factors, but selecting a correct response strategy influences the success of balance recovery. Objectives: (1) To collect and clarify the definitions of compensatory protective step strategies to recover balance in older adults; (2) to identify the most used methods to induce loss of balance; and (3) to identify the most used spatiotemporal variables in analyzing these actions. Methods: The present review has followed the PRISMA guideline extension for Scoping Review (PRISMA-ScR) and the phases proposed by Askery and O’Malley. The search was conducted in three databases: PubMed, Web of Science, and Scopus. Results: A total of 525 articles were identified, and 53 studies were included. Forty-five articles were quasi-experimental studies, six articles were randomized controlled trials, and two studies had an observational design. In total, 12 compensatory protective step strategies have been identified. Conclusions: There are 12 compensatory protective step strategies: lowering and elevating strategy, short- and long-step strategy, backward and forward stepping for slip, single step, multiple steps, lateral sidesteps or loaded leg sidestep unloaded leg sidestep, crossover step (behind and front), and medial sidestep. To standardize the terminology applied in future studies, we recommend collecting these strategies under the term of compensatory protective step strategies. The most used methods to induce loss of balance are the tether-release, trip, waist-pull, and slip methods. The variables analyzed by articles are the number of steps, the acceleration phase and deceleration phase, COM displacement, the step initiation or step duration, stance phase time, swing phase time and double-stance duration, stride length, step length, speed step, speed gait and the type of step. Full article

Background: Falling on stairs is a major health hazard for older people. Risk factors for stair falls have been identified, but these are mostly examined in controlled biomechanics/gait laboratory environments, on experimental stairs with a given set of step dimensions. It remains unknown whether the conclusions drawn from these controlled environments would apply to the negotiation of other domestic staircases with different dimensions in real houses where people live. Objectives: The aim of this paper is to investigate whether selected biomechanical stepping behavior determined through stair gait parameters such as foot clearance, foot contact length and cadence are maintained when the staircase dimensions are different in real houses. Methods: Twenty-five older adults (>65 years) walked on a custom-made seven-step laboratory staircase. Older adults were classified into two groups (fallers and non-fallers) based on recent fall history. Among the 25 participants, 13 people had at least one fall, trip, or slip in the last six months and they were assigned to the fallers group; 12 people did not experience any fall in the last six months, so they were assigned to the non-fallers group. In addition, these participants walked on the stairs in three different real exemplar houses wearing a novel instrumented shoe sensor system that could measure the above stair gait parameters. MATLAB was used to extract fall risk parameters from the collected data. One-way ANOVA was used to compare fall risk parameters on the different staircases. In addition, the laboratory-based fall risk parameters were compared to those derived from the real house stairs. Results: There was a significant difference in selected stair-fall biomechanical risk factors among the house and laboratory staircases. The fall risk group comparisons suggest that high-risk fallers implemented a biomechanically riskier strategy that could increase overall falling risk. Conclusions: The significant differences due to the main effects of the fallers and non-fallers groups were obtained. For example, when ascending, the fallers group had less foot clearance on the entry (p = 0.016) and middle steps (p = 0.003); in addition, they had more foot clearance variability on the entry steps (p = 0.003). This suggests that the fallers group in this present study did not adopt more conservative stepping strategies during stair ascent compared to low-risk older adults. By showing less foot clearance and more variability in foot clearance, the risk for a trip would be increased. Full article

Falls are a major concern in the elderly and walking is an important daily activity in which falls occur, with tripping and slipping being the most frequent causes. Gait biomechanical parameters have been related to the occurrence of falls in the elderly. Moreover, there is evidence that falls can be prevented through exercise programs, which have been shown to be also effective in improving gait biomechanical parameters. However, a question remains: “What types of exercises must be included in exercise programs to prevent falls?”. The purpose of this manuscript was to present guidelines for a fall prevention exercise program for the elderly, which was created with the aim of improving the gait biomechanical parameters related to falls. The critical review performed during the preparation of this manuscript collected important evidence and knowledge in order to create a structural basis for the development of a fall prevention exercise program. This type of program should last 6 or more weeks and be prescribed based on four movement pillars (locomotion, level changes, pulling and pushing, and rotations); however, the locomotion pillar must be the focus of the program. Proprioceptive and functional strength exercises should be included in this program. Based on the theoretical rationale, a proposal for a fall prevention exercise program is presented. Full article

Background: This study aimed to investigate how —external perturbations caused by a treadmill belt’s acceleration (Acc) and deceleration (Dec) during the Initial-Contact (Initial), Mid-Stance (Mid), and Pre-Swing (ToeOff) phases affect gait regularity in young adults. Methods: Twenty-one healthy young females walked on a treadmill in a virtual environment (Motek GRAIL), in which four unexpected perturbations were applied to the left belt at the Initial, Mid, and ToeOff stages. Sample entropy (SampEn) was calculated for the center of mass (CoM) displacements for six perturbation scenarios in three directions—anterior–posterior (AP), medial–lateral (ML), and vertical (vert)—with SampEn vector lengths (m) ranging from 2 to 10. Results: The CoM displacement exhibited its highest regularity (low SampEn values) in the AP and vert directions during Dec–ToeOff, across all m values. Similarly, this pattern was observed in the ML direction, but exclusively for m = 2 and 4. The least-regular CoM trajectories (high SampEn values) were for Dec–Mid in the AP direction, across all m values. This trend persisted in the ML direction only for m = 2 and 4. However, the most irregular CoM displacements in the ML direction occurred during Dec–ToeOff for the remaining m values. Vertical CoM displacements exhibited the highest irregularities during Dec–Initial for m ≥ 4. Conclusions: Evaluating the regularity of CoM displacements using SampEn can be a useful tool for assessing how gait perturbations are handled. Full article

Legged robots have shown great adaptability to various environments. However, conventional walking gaits are insufficient to meet the motion requirements of robots. Therefore, achieving high-speed running for legged robots has become a significant research topic. In this paper, based on the Spring-Loaded Inverted Pendulum (SLIP) model and the optimized Double leg—Spring-Loaded Inverted Pendulum (D-SLIP) model, the running control strategies for the double flying phase Bound gait and the Rotatory gallop gait of quadruped robots are designed. First, the dynamics of the double flying phase Bound gait and Rotatory gallop gait are analyzed. Then, based on the “three-way” control idea of the SLIP model, the running control strategy for the double flying phase Bound gait is designed. Subsequently, the SLIP model is optimized to derive the D-SLIP model with two touchdown legs, and its dynamic characteristics are analyzed. And the D-SLIP model is applied to the running control strategy of the Rotatory gallop gait. Furthermore, joint simulation verification is conducted using Adams virtual prototyping and MATLAB/Simulink control systems for the designed control strategies. Finally, experimental verification is performed for the double flying phase Bound gait running control strategy. The experimental results demonstrate that the quadruped robot can achieve high-speed and stable running. Full article

Abrupt changes in gait speed can interfere with the symmetry of the overall gait apparatus and result in unstable joint movement patterns. Because unstable joint movements may cause slips, trips, and falls, it is necessary to quantitatively characterize the changes in joint movement patterns in response to sudden speed changes. The purpose of this study is to examine how abrupt changes in gait speed affect gait dynamics. Twenty-two healthy young subjects walked for four minutes, including a warm-up period, under three different speed conditions. Utilizing nonlinear dynamics tools, including the maximum Lyapunov exponent, Sample Entropy, and Detrended Fluctuation Analysis, we quantitatively assessed gait dynamics for the different speed conditions. Our findings highlight how different speed change patterns impact joint instability, notably within the knee joint during gait (p < 0.05). Furthermore, introducing a resting phase during random speed changes exhibited the potential to restore gait symmetry and control movement patterns. This research offers valuable insights into human gait stability dynamics, especially concerning sudden speed changes. Understanding how controlled speed variations affect gait and joint instability informs fall prevention and rehabilitation strategies, emphasizing speed management to improve gait symmetry and reduce joint instability. Full article