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Background: The prevalence of falls among the older population underscores the imperative of comprehending human adaptations to gait perturbations. Dual-belt treadmills offer a controlled setting for such investigations. The purpose of this study was to examine the effect of the acceleration of one belt of the treadmill during three different phases of the gait cycle on kinematic and kinetic parameters and relate these changes to unperturbed gait. Methods: Twenty-one healthy young females walked on a treadmill in a virtual environment, in which five unexpected perturbations were applied to the left belt at the Initial Contact (IC), Mid Stance (MS), and Pre-Swing (PS) phase of the gait cycle. Data from the undisturbed gait and the first disturbance of each trial were extracted for analysis. Results: All perturbations significantly affected the gait pattern, mainly by decreasing the knee extension angle. The perturbation in the IC phase had the most significant effect, resulting in a 248.48% increase in knee flexion torque. The perturbation in the MS phase mainly affected plantar flexion torque, increasing it by 118.18%, while perturbation in the PS phase primarily increased the hip extension torque by 73.02%. Conclusions: The presence of perturbations in the IC and PS phases caused the most aggressive and significant changes in gait parameters. [ABSTRACT FROM AUTHOR]

Total ankle arthroplasty (TAA) is a motion-preserving treatment for end-stage ankle arthritis. An effective tool for analyzing these implants' mechanical performance and longevity in silico is finite element analysis (FEA). An FEA in ABAQUS was used to statically analyze the mechanical behavior of the ultra-high-molecular-weight polyethylene (UHMWPE) bearing component at varying dorsiflexion/plantarflexion ankle angles and axial loading conditions during the stance phase of the gait cycle for a single cycle. The von Mises stress and contact pressure were examined on the articulating surface of the bearing component in two newly installed fixed-bearing TAA implants (Wright Medical INBONE II and Exactech Vantage). Six different FEA models of variable ankle compressive load levels and ankle angle positions, for the varying subphases of the stance phase of the gait cycle, were created. The components in these models were constrained to be conducive to the bone–implant interface, where implant loosening occurs. Our results showed that the von Mises stress and contact pressure distributions increased as the compressive load increased. The highest stress was noted at dorsiflexion angles > 15°, in areas where the UHMWPE liner was thinnest, at the edges of the talar and UHMWPE components, and during the terminal stance phase of the gait cycle. This static structural analysis highlighted these failure regions are susceptible to yielding and wear and indicated stress magnitudes that are in agreement (within 25%) with those in previous static structural TAA FEAs. The mechanical wear of the UHMWPE bearing component in TAA can lead to aseptic loosening and peri-implant cyst formation over time, requiring surgical revision. This study provides ankle replacement manufacturers and orthopedic surgeons with a better understanding of the stress response and contact pressure sustained by TAA implants, which is critical to optimizing implant longevity and improving patient care. [ABSTRACT FROM AUTHOR]

The effective procedure for activating muscles and improving movements in individuals who have a central nervous system injury is Functional electrical stimulation (FES). To have accurate movements of the limbs, appropriate stimulation patterns should be generated and exerted on the muscles. The challenging problem is the redundancy in the musculoskeletal system that makes it necessary to use optimal control to derive muscle activations. For doing this, the redundant musculoskeletal model of the ankle joint is derived in this paper, then an optimal control method for estimating muscle activation during the gait cycle is designed. The aim of optimal control theory is to minimize the cost function, including muscle activation as the control input and joint angle tracking error as the output of the model. Two optimal control algorithms are implemented in this research. These approaches present direct and indirect control methods to solve the optimization problem of ankle movement achieved by experimental research on two healthy males during the gait cycle. Based on the results, the direct method is smoother for nonlinear systems and estimates desired muscle activation more precisely and the cost function coefficients are chosen with logical and less values in comparison to the indirect method. [ABSTRACT FROM AUTHOR]

Gait cycle variability during steady walking, described by the stride interval time series, has been used as a gait-stability-related measure. In particular, the positive persistency in the stride intervals with 1/f-like fluctuation and reduction of the persistency are the well-documented metrics that can characterize gait patterns of healthy young adults and elderly including patients with neurological diseases, respectively. Here, we examined effects of a dual task on gait cycle variability in healthy young adults, based on the mean and standard deviation statistics as well as the positive persistency of the stride intervals during steady walking on a treadmill. Specifically, three gait conditions were examined: control condition, non-cognitive task with holding a smartphone in front of the chest using their dominant hand and looking fixedly at a blank screen of the smartphone, and cognitive motor task with holding a smartphone as in the non-cognitive task and playing a puzzle game displayed on the smartphone by one-thumb operation. We showed that only the positive persistency, not the mean and standard deviation statistics, was affected by the cognitive and motor load of smartphone usage in the cognitive condition. More specifically, the positive persistency exhibited in the control and the non-cognitive conditions was significantly reduced in the cognitive condition. Our results suggest that the decrease in the positive persistency during the cognitive task, which might represent the deterioration of healthy gait pattern, is caused endogenously by the cognitive and motor load, not necessarily by the reduction of visual field as often hypothesized. [ABSTRACT FROM AUTHOR]

The gait cycle of 25-degree of freedom (DOF) humanoid robot, namely NAO robot, consists of single support phase (SSP) and double support phase (DSP). Both dynamic and stability analyses are carried out for this robot to determine its power consumption and dynamic stability margin, respectively. Constrained single-objective optimization problems are formulated for the SSP and DSP separately and solved using particle swarm optimization (PSO) and genetic algorithms (GA). A performance index, other than the fitness function, consisting of constraint values and maximum swing height, is also considered to compare PSO and GA-obtained optimal solutions. PSO is able to find the trajectories that offer higher swing height for nearly similar power consumption during SSP. A performance assessment of each algorithm based on the best fitness values in each generation across several runs is also carried out. These values are compared using the Wilcoxon rank-sum test, and PSO is found to be statistically better than GA. The optimal solutions from the simulations are tested using the Webots simulator to validate their efficacy on stability. Moreover, an investigation of the influence of gait parameters on power consumption during SSP and DSP reveals that the humanoid robot with a higher hip height, lower swing height, and slow pace consumes less power. The methodology developed in this is generic and can be easily extended to other robots. [ABSTRACT FROM AUTHOR]

This article introduces a data‐driven locomotion style controller for full‐body human characters using gait cycle features. Based on gait analysis, we define a set of gait features that can represent various locomotion styles as spatio‐temporal patterns within a single gait cycle. We compute the gait features for every single gait cycle in motion capture data and use them to search for the desired motion. Our real‐time style controller provides users with visual feedback for the changing inputs, exploiting the Motion Matching algorithm. We also provide a graphical controller interface that visualizes our style representation to enable intuitive control for users. We show that the proposed method is capable of retrieving appropriate locomotions for various gait cycle features, from simple walking motions to single‐foot motions such as hopping and dragging. To validate the effectiveness of our method, we conducted a user study that compares the usability and performance of our system with those of an existing footstep animation tool. The results show that our method is preferred over the baseline method for intuitive control and fast visual feedback. [ABSTRACT FROM AUTHOR]

The biped robot has two identical legs that undergo alternating stance and swing phases during walking. The robot's motion is facilitated by actuators positioned at the ankle and hip joints. The paper investigates various fault scenarios in dynamic walker models, specifically situations where one or both actuators experience failure while the robot is in motion. The first model assumes faults in both the hip and ankle joints, while the second model assumes a fault only in the ankle joint. The dynamic walker typically undergoes two steps in each cycle. This study specifically examines the different types of faults that may occur during the second step. The goal is to identify the potential walking gaits that can result from these faults. It is observed that walking with faults at both the hip and ankle joints exhibited greater stability and a wider range of stable states compared to walking with a fault only at the ankle joint. This suggests that incorporating hip joint faults or underactuation into robotic or prosthetic gait patterns could improve their stability and overall performance. The local and global stability of the dynamic walker were analyzed using Poincare's method and the basin of attraction plot, respectively. Additionally, a control algorithm based on kinetic energy shaping is proposed for the second model, which resulted in an increased basin of attraction. Notably, the second model exhibited the ability to walk with variable step length and speed, akin to human locomotion. [ABSTRACT FROM AUTHOR]

Most conventional biped robots process leg movements and information from each sensor by numerical calculation using a CPU. However, to cope with diverse environments, the numerical calculations are enormous, so they must be processed at high speed using a high-performance CPU and high power consumption. On the other hand, focusing on human motor control, it is believed that basic motor patterns such as walking and running are generated by a neural network called the central pattern generator (CPG), which is localized in the spinal cord and is independent of calculation. We previously focused on pulse-type hardware neural networks (P-HNNs), in which the neural network was composed of analog electronic circuits, and developed a hardware CPG model for controlling a single leg of a musculoskeletal humanoid robot. However, to actually move a biped robot, a CPG model that takes into account both legs and sensory information is required. Therefore, this study aims to develop a hardware CPG model for controlling both legs of a musculoskeletal humanoid robot whose gait changes according to the higher center and sensory information. We report on a hardware CPG model configured by circuit simulation confirmed the generation of walking and running patterns. [ABSTRACT FROM AUTHOR]

Graphical abstract The running-in process is considered an essential aspect of the comprehensive wear process. The phenomenon of running-in occurs during the initial stages of wear in the prosthetic hip joint. Within the field of tribology, the running-in phenomenon of the hip joint pertains to the mechanism by which the contact surfaces of the artificial hip joint components are adjusted and a suitable lubricating film is formed. During the process of hip joint running-in, there is an interaction between the metal surface of the ball and the joint cup, which results in adjustments being made until a steady state is achieved. The achievement of desirable wear existence and reliable performance of artificial hip joint components are reliant upon the tribological running-in of the hip joint. Despite the establishment of current modeling approaches, there remains a significant lack of understanding concerning running-in wear, particularly the metal-on-polyethylene (MoP) articulations in dual-mobility cups (DMC). An essential aspect to consider is the running-in phase of the dual mobility component. The present study employed finite element analysis to investigate the running-in behavior of dual mobility cups, wherein femoral head components were matched with polyethylene liners of varying thicknesses. The analysis of the running-in phase was conducted during the normal gait cycle. The results of this investigation may be utilized to design a dual-mobility prosthetic hip joint that exhibits minimal running-in wear. [ABSTRACT FROM AUTHOR]

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This study evaluates the utility of OpenCap (v0.3), a smartphone-based motion capture system, for performing gait analysis in patients with neurological disorders. We compared kinematic and kinetic gait parameters between 10 healthy controls and 10 patients with neurological conditions, including stroke, Parkinson's disease, and cerebral palsy. OpenCap captured 3D movement dynamics using two smartphones, with data processed through musculoskeletal modeling. The key findings indicate that the patient group exhibited significantly slower gait speeds (0.67 m/s vs. 1.10 m/s, p = 0.002), shorter stride lengths (0.81 m vs. 1.29 m, p = 0.001), and greater step length asymmetry (107.43% vs. 91.23%, p = 0.023) compared to the controls. Joint kinematic analysis revealed increased variability in pelvic tilt, hip flexion, knee extension, and ankle dorsiflexion throughout the gait cycle in patients, indicating impaired motor control and compensatory strategies. These results indicate that OpenCap can effectively identify significant gait differences, which may serve as valuable biomarkers for neurological disorders, thereby enhancing its utility in clinical settings where traditional motion capture systems are impractical. OpenCap has the potential to improve access to biomechanical assessments, thereby enabling better monitoring of gait abnormalities and informing therapeutic interventions for individuals with neurological disorders. [ABSTRACT FROM AUTHOR]

Objective: To ascertain the immediate changes in stroke patients' temporal and spatial parameters of gait and the joint angles of stroke patients throughout the entire gait cycle following the application of lower extremity elastic strap binding technique. Methods: Twenty-nine stroke patients were invited as the study participants. The patient seated, flexed the hip and knee, utilized a 5 cm-wide elastic strap, positioning its midpoint beneath the affected foot and crossing it anterior to the ankle joint. Upon standing, the strap encircled the posterior aspect of the lower leg, proceeded around the back of the knee, and ascended the thigh on the affected side. Crossing anteriorly over the thigh, it then encircled the back of the waist before being secured in place. Using Qualisys motion capture system to collect kinematic data of the lower extremities during walking while wearing shoes only or strapping. A paired sample t-test was used to analyze the effects of the technique on gait spatiotemporal parameters and joint angles in stroke patients. Results: The patients' step length decreased (P = 0.024), and step width increased (P = 0.008) during the gait cycle after the strapping. In the gait cycle between 0% and 2%, 7%-77%, and 95%-100%, the hip flexion angle on the affected side was significantly larger after the strapping (P < 0.05). In the gait cycle between 0% to 69% and 94%-100%, the knee flexion angle on the affected side was significantly larger after the strapping (P < 0.05). In the gait cycle between 0% to 57% and 67%-100%, the ankle dorsiflexion angle on the affected side was significantly smaller after the strapping (P < 0.05), and in the gait cycle between 0% to 35% and 68%-100%, the ankle inversion angle on the affected side was significantly smaller after the strapping (P < 0.05). Conclusion: The lower extremity elastic strap binding technique can decrease the hip flexion and knee flexion limitations in stroke patients during walking, and reduce the ankle plantar flexion and ankle inversion angle of stroke patients. The lower extremity elastic strap binding technique enabled stroke patients to adopt a more stable gait pattern. [ABSTRACT FROM AUTHOR]

To reduce breast motion with a bra, we need to understand what drives the motion of the breasts, and what variables change as support increases. Quantifying breast-torso coordination and movement complexity across the gait cycle may offer deeper insights than previously reported discrete time lag. We aimed to compare breast-torso coordination and mutual influence across breast support conditions during running. Twelve female participants ran on a treadmill at 10 km h−1 with an encapsulation and compression sports bra, and in no bra. Nipple and torso position was recorded. Vector coding, granger causality and transfer entropy were calculated within gait cycles. In both bra conditions, a greater percentage of gait cycles was spent with the breast and torso in-phase (> 90%) compared to no bra running (~ 66%, p < 0.001), with most time spent in-phase in the encapsulation versus compression bra (p = 0.006). There was a main effect of breast support condition on Granger causality (p < 0.001), both from breast to torso and torso to breast. Transfer of information was highest from torso to breast, compared to breast to torso in all conditions. Overall, these results provide novel insight into the mutual and complex interaction between the breast and the torso while running in different bra conditions. The approaches presented allow for a greater understanding of bra support conditions than existing discrete measures, which may relate to comfort and performance. Therefore, measures of coupling, predictability and transfer of complexity should be employed in future work examining these features. [ABSTRACT FROM AUTHOR]

Walking rehabilitation following injury or disease involves voluntary gait modification, yet the specific brain signals underlying this process remains unclear. This aim of this study was to investigate the impact of an auditory cue on changes in brain activity when walking overground (O) and on a treadmill (T) using an electroencephalogram (EEG) with a 32-electrode montage. Employing a between-group repeated-measures design, 24 participants (age: 25.7 ± 3.8 years) were randomly allocated to either an O (n = 12) or T (n = 12) group to complete two walking conditions (self-selected speed control (sSC) and speed control (SC)). The differences in brain activities during the gait cycle were investigated using statistical non-parametric mapping (SnPM). The addition of an auditory cue did not modify cortical activity in any brain area during the gait cycle when walking overground (all p > 0.05). However, significant differences in EEG activity were observed in the delta frequency band (0.5–4 Hz) within the sSC condition between the O and T groups. These differences occurred at the central frontal (loading phase) and frontocentral (mid stance phase) brain areas (p < 0.05). Our data suggest auditory cueing has little impact on modifying cortical activity during overground walking. This may have practical implications in neuroprosthesis development for walking rehabilitation, sports performance optimization, and overall human quality-of-life improvement. [ABSTRACT FROM AUTHOR]

Robotic lower-limb prostheses, with their actively powered joints, may significantly improve amputee users' mobility and enable them to obtain healthy-like gait in various modes of locomotion in daily life. However, timely recognition of the amputee users' locomotive mode and mode transition still remains a major challenge in robotic lower-limb prosthesis control. In the paper, the authors present a new multi-dimensional dynamic time warping (mDTW)- based intent recognizer to provide high-accuracy recognition of the locomotion mode/mode transition sufficiently early in the swing phase, such that the prosthesis'joint-level motion controller can operate in the correct locomotive mode and assist the user to complete the desired (and often power-demanding) motion in the stance phase. To support the intent recognizer development, the authors conducted a multi-modal gait data collection study to obtain the related sensor signal data in various modes of locomotion. The collected data were then segmented into individual cycles, generating the templates used in the mDTW classifier. Considering the large number of sensor signals available, we conducted feature selection to identify the most useful sensor signals as the input to the mDTW classifier. We also augmented the standard mDTW algorithm with a voting mechanism to make full use of the data generated from the multiple subjects. To validate the proposed intent recognizer, we characterized its performance using the data cumulated at different percentages of progression into the gait cycle (starting from the beginning of the swing phase). It was shown that the mDTW classifier was able to recognize three locomotive mode/mode transitions (walking, walking to stair climbing, and walking to stair descending) with 99.08% accuracy at 30% progression into the gait cycle, well before the stance phase starts. With its high performance, low computational load, and easy personalization (through individual template generation), the proposed mDTW intent recognizer may become a highly useful building block of a prosthesis control system to facilitate the robotic prostheses' real-world use among lower-limb amputees. [ABSTRACT FROM AUTHOR]

Frontal and axial knee motion can affect the accuracy of the knee extension/flexion motion measurement using a wearable goniometer. The purpose of this study was to test the hypothesis that calibrating the goniometer on an individual's body would reduce errors in knee flexion angle during gait, compared to bench calibration. Ten young adults (23.2 ± 1.3 years) were enrolled. Knee flexion angles during gait were simultaneously assessed using a wearable goniometer sensor and an optical three-dimensional motion analysis system, and the absolute error (AE) between the two methods was calculated. The mean AE across a gait cycle was 2.4° (0.5°) for the on-body calibration, and the AE was acceptable (<5°) throughout a gait cycle (range: 1.5–3.8°). The mean AE for the on-bench calibration was 4.9° (3.4°) (range: 1.9–13.6°). Statistical parametric mapping (SPM) analysis revealed that the AE of the on-body calibration was significantly smaller than that of the on-bench calibration during 67–82% of the gait cycle. The results indicated that the on-body calibration of a goniometer sensor had acceptable and better validity compared to the on-bench calibration, especially for the swing phase of gait. [ABSTRACT FROM AUTHOR]

This research includes the study of the gait cycle for transfemoral amputation, which includes the kinetics and kinematics of the knee during different types of gaits, three different types of prosthetic knees are evaluated. The new model is designed to transform the hydraulic model into a smart, computerized limb with a microprocessor control unit that provides a high rotational speed to facilitate the process of turning and walking for lower limb amputees. The artificial knee mechanism was equipped with a Maxon EC motor, a socket, and a foot to form an integrated lower limb. This paper evaluates the proposed knee joint through a study of the gait cycle of the proposed joint and compares the results with those of other commercial joints to determine the closeness of the gait cycle results. [ABSTRACT FROM AUTHOR]

Understanding metabolic cost through biomechanical data, including ground reaction forces (GRFs) and joint moments, is vital for health, sports, and rehabilitation. The long stabilization time (2–5 min) of indirect calorimetry poses challenges in prolonged tests. This study investigated using artificial neural networks (ANNs) to predict metabolic costs from the GRF and joint moment time series. Data from 20 participants collected over 270 walking trials, including the GRF and joint moments, formed a detailed dataset. Two ANN models were crafted, netGRF for the GRF and netMoment for joint moments, and both underwent training, validation, and testing to validate their predictive accuracy for metabolic cost. NetGRF (six hidden layers, two input delays) showed significant correlations: 0.963 (training), 0.927 (validation), 0.883 (testing), p < 0.001. NetMoment (three hidden layers, one input delay) had correlations of 0.920 (training), 0.956 (validation), 0.874 (testing), p < 0.001. The models' low mean squared errors reflect their precision. Using Partial Dependence Plots, we demonstrated how gait cycle phases affect metabolic cost predictions, pinpointing key phases. Our findings show that the GRF and joint moments data can accurately predict metabolic costs via ANN models, with netGRF being notably consistent. This emphasizes ANNs' role in biomechanics as a crucial method for estimating metabolic costs, impacting sports science, rehabilitation, assistive technology development, and fostering personalized advancements. [ABSTRACT FROM AUTHOR]

Introduction: Wearable exoskeletons assist individuals with mobility impairments, enhancing their gait and quality of life. This study presents the iP3T model, designed to optimize gait phase prediction through the fusion of multimodal time-series data. Methods: The iP3T model integrates data from stretch sensors, inertial measurement units (IMUs), and surface electromyography (sEMG) to capture comprehensive biomechanical and neuromuscular signals. The model's architecture leverages transformer-based attention mechanisms to prioritize crucial data points. A series of experiments were conducted on a treadmill with five participants to validate the model's performance. Results: The iP3T model consistently outperformed traditional single-modality approaches. In the post-stance phase, themodel achieved an RMSE of 1.073 and an R2 of 0.985. The integration of multimodal data enhanced prediction accuracy and reduced metabolic cost during assisted treadmill walking. Discussion: The study highlights the critical role of each sensor type in providing a holistic understanding of the gait cycle. The attention mechanisms within the iP3T model contribute to its interpretability, allowing for effective optimization of sensor configurations and ultimately improving mobility and quality of life for individuals with gait impairments. [ABSTRACT FROM AUTHOR]

This study presents a methodology that combines convolution features with shallow classifiers for classifying the walking pattern on different surfaces. At first, convolution features are extracted from six different inertial measurement units (IMU) sensors mounted on the human body. The shallow classifiers namely quadratic SVM, wide neural network, fine KNN, and linear discriminant analysis are trained using convolution features that successfully pass through the global pooling layer of the CNN model. The proposed methodology is also evaluated on the features extracted from both individual IMU sensor and combined IMU sensors. It is observed that proposed methodology performs better for convolution features extracted from all IMU sensors combined together. The proposed methodology is also compared to the CNN model to demonstrate its efficacy. The obtained results show that the shallow classifier (quadratic SVM) achieves the maximum accuracy of 98.2%, whereas the CNN model achieves the accuracy of 90.73% only. Thus, the proposed methodology can be successfully utilised for classifying different walking surfaces based on the gait cycle data. The proposed approach can benefit in automatic gait adjustment of prosthetic foot based on the walking surfaces. [ABSTRACT FROM AUTHOR]

Gait instability is critical in medicine and healthcare, as it has associations with balance disorder and physical impairment. With the development of sensor technology, despite the fact that numerous wearable gait detection and recognition systems have been designed to monitor users' gait patterns, they commonly spend a lot of time and effort to extract gait metrics from signal data. This study aims to design an artificial intelligence-empowered and economic-friendly gait monitoring system. A pair of intelligent shoes with a single inertial sensor and a smartphone application were developed as a gait monitoring system to detect users' gait cycle, stand phase time, swing phase time, stride length, and foot clearance. We recruited 30 participants (24.09 ± 1.89 years) to collect gait data and used the Vicon motion capture system to verify the accuracy of the gait metrics. The results show that the gait monitoring system performs better on the assessment of the gait metrics. The accuracy of stride length and foot clearance is 96.17% and 92.07%, respectively. The artificial intelligence-empowered gait monitoring system holds promising potential for improving gait analysis and monitoring in the medical and healthcare fields. [ABSTRACT FROM AUTHOR]

The metabolic energy rate of individual muscles is impossible to measure without invasive procedures. Prior studies have produced models to predict metabolic rates based on experimental observations of isolated muscle contraction from various species. Such models can provide reliable predictions of metabolic rates in humans if muscle properties and control are accurately modeled. This study aimed to examine how muscle-tendon model individualization and metabolic energy models influenced estimation of muscle-tendon states and time-series metabolic rates, to evaluate the agreement with empirical data, and to provide predictions of the metabolic rate of muscle groups and gait phases across walking speeds. Three-dimensional musculoskeletal simulations with prescribed kinematics and dynamics were performed. An optimal control formulation was used to compute muscle-tendon states with four levels of individualization, ranging from a scaled generic model and muscle controls based on minimal activations, inclusion of calibrated muscle passive forces, personalization of Achilles and quadriceps tendon stiffnesses, to finally informing muscle controls with electromyography. We computed metabolic rates based on existing models. Simulations with calibrated passive forces and personalized tendon stiffness most accurately estimate muscle excitations and fiber lengths. Interestingly, the inclusion of electromyography did not improve our estimates. The whole-body average metabolic cost was better estimated with a subset of metabolic energy models. We estimated metabolic rate peaks near early stance, pre-swing, and initial swing at all walking speeds. Plantarflexors accounted for the highest cost among muscle groups at the preferred speed and were similar to the cost of hip adductors and abductors combined. Also, the swing phase accounted for slightly more than one-quarter of the total cost in a gait cycle, and its relative cost decreased with walking speed. Our prediction might inform the design of assistive devices and rehabilitation treatment. The code and experimental data are available online. Author summary: Simulations of the musculoskeletal system can provide insights into motion mechanics and energetics. To increase confidence in the approach, it is important to establish how predictions are affected by modelling assumptions. In this study, we evaluated how simulations with increasing levels of sophistication and metabolic energy models from the literature agreed with recorded muscle excitations, fiber lengths, and whole-body metabolic rates during walking at different speeds. We found that calibrating muscle passive components: muscle passive forces, and tendon stiffness, estimated better muscle excitations and fiber lengths than using original musculoskeletal model values. The metabolic energy cost of walking was closely estimated with only a subset of metabolic energy models. We estimated that the metabolic energy demands are the highest during three periods of the gait cycle—early stance, pre-swing, and initial swing, at all walking speeds. In all walking speeds, muscles that support plantarflexion accounted for the highest metabolic cost among all the muscle groups. As walking speed increases, the metabolic cost of the stance phase also increases. Our detailed description of metabolic costs at muscle groups and gait phases might help to design assistive devices and rehabilitation treatments. [ABSTRACT FROM AUTHOR]

Background: This study aimed to identify and quantify the kinematic and kinetic gait deviations in post-stroke hemiplegic patients with matched healthy controls using Statistical Parametric Mapping (SPM). Methods: Fifteen chronic stroke patients [4 females, 11 males; age 53.7 (standard deviation 12.2) years; body mass 65.4 (10.4) kg; standing height 168.5 (9.6) cm] and 15 matched healthy controls [4 females, 11 males; age 52.9 (11.7) years; body weight 66.5 (10.7) years; standing height 168.3 (8.8) cm] were recruited. In a 10-m walking task, joint angles, ground reaction forces (GRF), and joint moments were collected, analyzed, and compared using SPM for an entire gait cycle. Results: Generally, when comparing the stroke patients' affected (hemiplegic) and less-affected (contralateral) limbs with the control group, SPM identified significant differences in the late stance phase and early swing phase in the joint angles and moments in bilateral limbs (all p < 0.005). In addition, the vertical and anteroposterior components of GRF were significantly different in various periods of the stance phase (all p < 0.005), while the mediolateral component showed no differences between the two groups. Conclusion: SPM was able to detect abnormal gait patterns in both the affected and less-affected limbs of stroke patients with significant differences when compared with matched controls. The findings draw attention to significant quantifiable gait deviations in the less-affected post-stroke limb with the potential impact to inform gait retraining strategies for clinicians and physiotherapists. [ABSTRACT FROM AUTHOR]

Background: Previous biomechanical studies evaluating medial meniscus posterior root tears (MMPRTs) are limited to low loads applied at specified loading angles, which cannot capture the effects of MMPRTs during the multidirectional forces and moments placed across the knee during physiological activities. Purpose: To quantify the effects of MMPRTs on knee joint contact mechanics during simulated gait. Study Design: Controlled laboratory study. Methods: Six human cadaveric knees were mounted on a robotic simulator programmed to apply dynamic forces, moments, and flexion angles to mimic level walking. Twelve cycles of multidirectional and dynamic standard gait input waveforms, normalized to specimen-specific body weight, were applied to the following conditions: (1) native, intact meniscus and (2) MMPRT. Peak contact stress, contact area, and the position of the weighted center of contact across the medial tibial plateau throughout the stance phase of gait were quantified using an electronic sensor placed across the medial tibial plateau. The difference between the intact state and MMPRT condition was calculated for each metric, and then the means and 95% CIs were computed. Results: Despite heterogeneity in knee contact forces, MMPRTs significantly increased peak contact stress by a mean of 2 MPa across 20% to 37% of the simulated gait cycle and significantly decreased the contact area by a mean of 200 mm2 across 16% to 60% of the simulated gait cycle in comparison with the native state. There was no significant difference in the position of the weighted center of contact, in either the anterior-posterior or medial-lateral directions, after MMPRT. Conclusion: MMPRTs led to both a significant increase in peak contact stress and decreased contact areas for a portion of the simulated gait cycle ranging from 20% to 37% of gait, during which time the femur was flexed <15°. Clinical Relevance: Contact mechanics are significantly affected after MMPRTs during early to midstance and at knee flexion angles lower than demonstrated previously. These data provide further biomechanical justification for treating MMPRTs. [ABSTRACT FROM AUTHOR]

Background: Humans have a remarkable capability to maintain balance while walking. There is, however, a lack of publicly available research data on reactive responses to destabilizing perturbations during gait. Methods: Here, we share a comprehensive dataset collected from 10 participants who experienced random perturbations while walking on an instrumented treadmill. Each participant performed six 5-min walking trials at a rate of 1.2 m/s, during which rapid belt speed perturbations could occur during the participant's stance phase. Each gait cycle had a 17% probability of being perturbed. The perturbations consisted of an increase of belt speed by 0.75 m/s, delivered with equal probability at 10%, 20%, 30%, 40%, 50%, 60%, 70%, or 80% of the stance phase. Data were recorded using motion capture with 25 markers, eight inertial measurement units (IMUs), and electromyography (EMG) from the tibialis anterior (TA), soleus (SOL), lateral gastrocnemius (LG), rectus femoris (RF), vastus lateralis (VL), vastus medialis (VM), biceps femoris (BF), and gluteus maximus (GM). The full protocol is described in detail. Results: We provide marker trajectories, force plate data, EMG data, and belt speed information for all trials and participants. IMU data is provided for most participants. This data can be useful for identifying neural feedback control in human gait, biologically inspired control systems for robots, and the development of clinical applications. [ABSTRACT FROM AUTHOR]

Purpose: We aimed to examine the functional outcome in different walking conditions in elderly adults who underwent surgical repair after a non-contact hamstring injury. Our objective was to compare lower limb kinematics and kinetics over the entire gait cycle between the injured and contralateral leg in overground and level and uphill treadmill walking. Methods: 12 patients (mean ± SD, age: 65 ± 9 years; body mass index: 30 ± 6 kg/m2) walked at self-selected speed in overground (0% slope) and treadmill conditions (0% and 10% slope). We measured spatiotemporal parameters, joint angles (normalised to gait cycle) and joint moments (normalised to stance phase) of the hip, knee and ankle. Data between sides were compared using paired sample t -tests (p < 0.05) and continuous 95% confidence intervals of the paired difference between trajectories. Results: Patients walked at an average speed of 1.31 ± 0.26 m/second overground and 0.92 ± 0.31 m/second on the treadmill. Spatiotemporal parameters were comparable between the injured and contralateral leg (p > 0.05). Joint kinematic and joint kinetic trajectories were comparable between sides for all walking conditions. Conclusions: Refixation of the proximal hamstring tendons resulted in comparable ambulatory mechanics at least 1 year after surgery in the injured leg and the contralateral leg, which were all within the range of normative values reported in the literature. These results complement our previous findings on hamstring repair in terms of clinical outcomes and muscle strength and support that surgical repair achieves good functional outcomes in terms of ambulation in an elderly population. Trial registration: clinicaltrials.gov (NCT04867746). [ABSTRACT FROM AUTHOR]

With our increasing reliance on technology, there is a growing demand for efficient and seamless access control systems. Smartphone-centric biometric methods offer a diverse range of potential solutions capable of verifying users and providing an additional layer of security to prevent unauthorized access. To ensure the security and accuracy of smartphone-centric biometric identification, it is crucial that the phone reliably identifies its legitimate owner. Once the legitimate holder has been successfully determined, the phone can effortlessly provide real-time identity verification for various applications. To achieve this, we introduce a novel smartphone-integrated detection and control system called Identification: Legitimate or Counterfeit (ILC), which utilizes gait cycle analysis. The ILC system employs the smartphone's accelerometer sensor, along with advanced statistical methods, to detect the user's gait pattern, enabling real-time identification of the smartphone owner. This approach relies on statistical analysis of measurements obtained from the accelerometer sensor, specifically, peaks extracted from the X-axis data. Subsequently, the derived feature's probability distribution function (PDF) is computed and compared to the known user's PDF. The calculated probability verifies the similarity between the distributions, and a decision is made with 92.18% accuracy based on a predetermined verification threshold. [ABSTRACT FROM AUTHOR]

A novel powered ankle–foot prosthesis is designed. The effect of wearing the novel prosthesis and an energy-storage-and-return (ESAR) foot on lower-limb biomechanics is investigated to preliminarily evaluate the design. With necessary auxiliary materials, a non-amputated subject (a rookie at using prostheses) is recruited to walk on level ground with an ESAR and the novel powered prostheses separately. The results of the stride characteristics, the ground reaction force (GRF) components, kinematics, and kinetics in the sagittal plane are compared. Wearing the powered prosthesis has less prolongation of the gait cycle on the unaffected side than wearing the ESAR foot. Wearing ESAR or proposed powered prostheses influences the GRF, kinematics, and kinetics on the affected and unaffected sides to some extent. Thereinto, the knee moment on the affected side is influenced most. Regarding normal walking as the reference, among the total of 15 indexes, the influences of wearing the proposed powered prosthesis on six indexes on the affected side (ankle's/knee's/hip's angles, hip's moment, and Z- and X-axis GRF components) and five indexes on the unaffected side (ankle's/knee's/hip's angles and ankle's/hip's moments) are slighter than those of wearing the ESAR foot. The influences of wearing the powered prosthesis on two indexes on the unaffected side (knee's moment and X-axis GRF component) are similar to those of wearing the ESAR foot. The greatest improvement of wearing the powered prosthesis is to provide further plantarflexion after reaching the origin of the ankle joint before toe-off, which means that the designed powered device can provide further propulsive power for the lifting of the human body's centre of gravity during walking on level ground. The results demonstrate that wearing the novel powered ankle–foot prosthesis benefits the rookie in recovering the normal gait more than wearing the ESAR foot. [ABSTRACT FROM AUTHOR]

Pediatric gait rehabilitation and guidance strategies using robotic exoskeletons require a controller that encourages user volitional control and participation while guiding the wearer towards a stable gait cycle. Virtual constraint-based controllers have created stable gait cycles in bipedal robotic systems and have seen recent use in assistive exoskeletons. This paper evaluates a virtual constraint-based controller for pediatric gait guidance through comparison with a traditional time-dependent position tracking controller on a newly developed exoskeleton system. Walking experiments were performed with a healthy child subject wearing the exoskeleton under proportional-derivative control, virtual constraint-based control, and while unpowered. The participant questionnaires assessed the perceived exertion and controller usability measures, while sensors provided kinematic, control torque, and muscle activation data. The virtual constraint-based controller resulted in a gait similar to the proportional-derivative controlled gait but reduced the variability in the gait kinematics by 36.72% and 16.28% relative to unassisted gait in the hips and knees, respectively. The virtual constraint-based controller also used 35.89% and 4.44% less rms torque per gait cycle in the hips and knees, respectively. The user feedback indicated that the virtual constraint-based controller was intuitive and easy to utilize relative to the proportional-derivative controller. These results indicate that virtual constraint-based control has favorable characteristics for robot-assisted gait guidance. [ABSTRACT FROM AUTHOR]

The study of the phenomena occurring in the plantar region is remarkably intriguing, especially when performing a normal gait cycle where the foot is under loading conditions. The effects presented in the foot while walking provide relevant indicators regarding clinical means for enhancing regular performance or rehabilitation therapies. Nevertheless, more than traditional methods are needed to biomechanically evaluate foot structural conditions, leading to an incomplete database for determining the patient's needs so that advanced methodologies provide detailed medical assessment. Therefore, it is necessary to employ technological engineering tools to optimize biomechanical plantar pressure evaluations to reach suitable personalized treatments. This research initially evaluated numerically the pressure points in the foot sole region in each one of the five stance phases in a normal gait cycle. Medical imaging techniques were utilized to construct an anatomically accurate biomodel of the soft tissues of the right foot. The Finite Element Method was employed to predict peak plantar pressure in barefoot conditions for all stance phases; results from this case study presented a close alignment with gait experimental testing implemented to analyze the feasibility and validation of all mechanical considerations for the numerical analyses. Hence, having a solid foundation in the biomechanical behavior from the first case study close estimates, a 3D-printable patient-specific insole was designed and numerically analyzed to observe the mechanical response in the plantar critical zones utilizing a personalized orthotic device. Results from the second case study notably demonstrated a crucial decrement in excessive pressure values. Employing morphological customization orthopedics modeling combined with 3D-printable materials is revolutionizing assistive device design and fabrication techniques. The fundamental contribution of this research relies on deepening the knowledge of foot biomechanics from an interdisciplinary approach by numerically analyzing pressure distribution in critical regions for all five stances phases; thus, based on the methods employed, the results obtained contribute to the advances of patient-specific foot orthopedics. [ABSTRACT FROM AUTHOR]

Mobile health technologies enable continuous, quantitative assessment of mobility and gait in real-world environments, facilitating early diagnoses of gait disorders, disease progression monitoring, and prediction of adverse events like falls. Traditionally, mobile gait assessment predominantly relied on body-fixed sensors positioned at the feet or lower trunk. Here, we investigate the potential of an algorithm utilizing an ear-worn motion sensor for spatiotemporal segmentation of gait patterns. We collected 3D acceleration profiles from the ear-worn sensor during varied walking speeds in 53 healthy adults. Temporal convolutional networks were trained to detect stepping sequences and predict spatial relations between steps. The resulting algorithm, mEar, accurately detects initial and final ground contacts (F1 score of 99% and 91%, respectively). It enables the determination of temporal and spatial gait cycle characteristics (among others, stride time and stride length) with good to excellent validity at a precision sufficient to monitor clinically relevant changes in walking speed, stride-to-stride variability, and side asymmetry. This study highlights the ear as a viable site for monitoring gait and proposes its potential integration with in-ear vital-sign monitoring. Such integration offers a practical approach to comprehensive health monitoring and telemedical applications, by integrating multiple sensors in a single anatomical location. [ABSTRACT FROM AUTHOR]

As part of an investigation to detect asymmetries in gait patterns in persons with shoulder injuries, the goal of the present study was to design and validate a Kinect-based motion capture system that would enable the extraction of joint kinematics curves during gait and to compare them with the data obtained through a commercial motion capture system. The study included eight male and two female participants, all diagnosed with anterolateral shoulder pain syndrome in their right upper extremity with a minimum 18 months of disorder evolution. The participants had an average age of 31.8 ± 9.8 years, a height of 173 ± 18 cm, and a weight of 81 ± 15 kg. The gait kinematics were sampled simultaneously with the new system and the Clinical 3DMA system. Shoulder, elbow, hip, and knee kinematics were compared between systems for the pathological and non-pathological sides using repeated measures ANOVA and 1D statistical parametric mapping. For most variables, no significant difference was found between systems. Evidence of a significant difference between the newly developed system and the commercial system was found for knee flexion–extension (p < 0.004, between 60 and 80% of the gait cycle), and for shoulder abduction–adduction. The good concurrent validity of the new Kinect-based motion analysis system found in this study opens promising perspectives for clinical motion tracking using an affordable and simple system. [ABSTRACT FROM AUTHOR]

Background: This study aimed to evaluate post-operative lower limb function following second-generation mechanically aligned medial pivot (MP) TKA implantation. Standard gait analysis was performed to collect kinematic and kinetic data, which were then compared with physiological data from the literature obtained using the same evaluation methodology as the present study. The hypothesis was that this TKA would not fully restore normal knee and adjacent joint motion during walking. Methods: Our cohort comprised 15 patients consecutively enrolled from September 2019 to December 2022 who underwent primary TKA with the second-generation MP Evolution Knee System (MicroPort Orthopaedics Inc., Arlington, TN, USA). Pre-operatively and 6 months post-surgery, gait analysis during level walking was performed on all patients, as well as clinical evaluations using the Knee Society Score (KSS), the Knee Injury and Osteoarthritis Outcome Score (KOOS), and the Visual Analogue Scale (VAS). Results: The clinical scores improved significantly (p < 0.001) after surgery (pre-/post-operative KSS functional, KSS clinical, VAS, and KOOS: 51.7 ± 17.3/84 ± 18.4, 45.3 ± 16.2/74.1 ± 12.6, 6.9 ± 1.8/2.0 ± 1.9, and 33.9 ± 11.8/69.1 ± 16.5, respectively). The statistical parametric mapping (SPM) analysis between the post-operative and reference control data revealed significant differences in the initial and final 20% of the gait cycle for the rotation of the knee in the frontal and transverse planes and for the rotation of the ankle in the sagittal plane. Conclusions: This study shows that new-generation MP TKA with mechanical alignment does not fully restore normal gait biomechanics, particularly in knee rotational movements, indicating a need for improved surgical techniques and prosthetic designs. [ABSTRACT FROM AUTHOR]

Legged soccer robots present a significant challenge in robotics owing to the need for seamless integration of perception, manipulation, and dynamic movement. While existing models often depend on external perception or static techniques, our study aims to develop a robot with dynamic and untethered capabilities. We have introduced a motion planner that allows the robot to excel in dynamic shooting and dribbling. Initially, it identifies and predicts the position of the ball using a rolling model. The robot then pursues the ball, using a novel optimization-based cycle planner, continuously adjusting its gait cycle. This enables the robot to kick without stopping its forward motion near the ball. Each leg is assigned a specific role (stance, swing, pre-kick, or kick), as determined by a gait scheduler. Different leg controllers were used for tailored tiptoe trajectory planning and control. We validated our approach using real-world penalty shot experiments (5 out of 12 successful), cycle adjustment tests (11 out of 12 successful), and dynamic dribbling assessments. The results demonstrate that legged robots can overcome onboard capability limitations and achieve dynamic mobility and manipulation. [ABSTRACT FROM AUTHOR]

Background: Currently available studies on the long-term functional outcomes of anterior cruciate ligament (ACL) reconstruction have yielded conflicting results. The purpose of this study was to evaluate the biomechanical characteristics of walking in the long term after ACL reconstruction. Methods: The study included a test group of 18 patients (3.4 years from the date of ACL reconstruction on average) and a control group of 20 healthy subjects. Their gaits were assessed using functional tests at voluntary walking and fast-walking speeds. The biomechanical assessments utilized included spatiotemporal and kinematic parameters of walking, as well as surface electromyography (EMG) amplitudes of the main flexor-extensor muscles of the lower extremities. Results: Fast-walking speeds and the clearances of the operated-upon limbs in the patient group exceeded those in the control group. The gait cycle in the patient group was significantly longer when walking at a voluntary speed compared to the control group. In the patient group, most of the movements were symmetrical at both speeds, and the parameters did not differ from the control group. The only exception was the hip joint amplitude and the main amplitude of the knee joint flexion, which significantly and simultaneously increased when walking at a fast speed. Conclusions: In the postoperative period, at voluntary speeds, the patient group was characterized by increased amplitudes in the hip and knee joints and higher EMG amplitudes, which almost disappeared at higher speeds. [ABSTRACT FROM AUTHOR]

Background: Current studies assessing the change in pelvic tilt for ambulatory patients with cerebral palsy (CP) after surgical hamstring lengthening (SHL) lack a comparison cohort without prior SHL and are limited to younger patients. This study presents gait data of middle-aged adults with CP, primarily focusing on the pelvis, and compares pelvic tilt, trunk tilt, and knee flexion between those with and without prior SHL. Materials and Methods: A consecutive series of 54 adults with CP, a mean age of 36±13 years, and Gross Motor Function Classification System (GMFCS) levels I–III were included. Thirty-two (59%) had SHL performed at a mean age of 8±5 years. Three-dimensional gait analysis data prospectively collected at a mean of 28±14 years postoperatively were retrospectively analyzed. Chi-square tests were used to compare demographic and surgical history data and statistical parameter mapping was used to compare knee flexion during stance and pelvic and trunk tilts during the gait cycle between SHL and SHL-naive groups. Results: Age, GMFCS level, sex, race, topography, and ethnicity were not different between the groups (P=.217–.612). Anterior pelvic tilt throughout gait was significantly greater in the SHL group compared with the SHL-naive group (63%–87%; P=.033). This difference was augmented after accounting for other surgical history and revision SHL (0%–32%, P=.019; and 46%–93%, P=.007). Conclusion: Within a cohort of adults with CP, GMFCS levels I–III, and a mean age of 36 years, those with a history of SHL, performed a mean of 28 years prior to 3-dimensional gait analysis, walked with increased anterior pelvic tilt compared with those without a history of SHL. [Orthopedics. 2024;47(5):270–275.] [ABSTRACT FROM AUTHOR]

Background: Characterizing the condition of patients suffering from knee osteoarthritis is complex due to multiple associations between clinical, functional, and structural parameters. While significant variability exists within this population, especially in candidates for total knee arthroplasty, there is increasing interest in knee kinematics among orthopedic surgeons aiming for more personalized approaches to achieve better outcomes and satisfaction. The primary objective of this study was to identify distinct kinematic phenotypes in total knee arthroplasty candidates and to compare different methods for the identification of these phenotypes. Methods: Three-dimensional kinematic data obtained from a Knee Kinesiography exam during treadmill walking in the clinic were used. Various aspects of the clustering process were evaluated and compared to achieve optimal clustering, including data preparation, transformation, and representation methods. Results: A K-Means clustering algorithm, performed using Euclidean distance, combined with principal component analysis applied on data transformed by standardization, was the optimal approach. Two unique kinematic phenotypes were identified among 80 total knee arthroplasty candidates. The two distinct phenotypes divided patients who significantly differed both in terms of knee kinematic representation and clinical outcomes, including a notable variation in 63.3% of frontal plane features and 81.8% of transverse plane features across 77.33% of the gait cycle, as well as differences in the Pain Catastrophizing Scale, highlighting the impact of these kinematic variations on patient pain and function. Conclusion: Results from this study provide valuable insights for clinicians to develop personalized treatment approaches based on patients' phenotype affiliation, ultimately helping to improve total knee arthroplasty outcomes. [ABSTRACT FROM AUTHOR]

Objective: The objective of this study was to investigate the effects of cavaletti pole height on temporospatial (TPS) and ground reaction force (GRF) variables as compared to a walking gait in healthy dogs. Animals: A total of 25 client-owned dogs were included in this study. Procedures: This study used client-owned dogs to explore the effects of cavaletti pole height on TPS and GRF variables. Dogs were first walked over a validated pressure-sensitive walkway (PSW) and then walked over the PSW over which six cavaletti poles were set. Cavaletti pole height was initially set at 2 inches and then increased incrementally to 4 inches, 6 inches, and 8 inches. TPS and GRF variables were obtained for all dogs walking across a PSW without cavaletti poles and at each cavaletti height. TPS variables were then compared to those obtained at a normal walking gait. Results: Increasing cavaletti height resulted in significant decreases in walking gait velocity and the number of gait cycles per minute. Conversely, significant increases in gait cycle duration (duration of one complete cycle of gait, which includes the time from the initial contact of one paw to the subsequent contact of the same paw) and gait time (duration to walk the total distance on the PSW) were noted. Increases in stance time, normalized maximum force, and normalized vertical impulse were observed. Conclusion and clinical relevance: Cavaletti height does influence TPS variables in healthy dogs at a walking gait. The effects were most notable with regard to velocity. Due to the lack of consistent velocity for all cavaletti heights, no conclusions can be drawn regarding the effect of cavaletti height on ground reaction forces. Further investigation is needed to elucidate whether it is the velocity, cavaletti height, or combination of both that impacts ground reaction force variables. When selecting cavaletti pole heights for a therapeutic exercise program, an increase in cavaletti height results in a slower walking gait. [ABSTRACT FROM AUTHOR]

Purpose: Tibialis anterior tendon shortening combined with tendon Achilles lengthening showed satisfactory short- and long-term outcomes for pes equinus treatment. This retrospective study aimed to evaluate the effectiveness of a single tibialis anterior tendon shortening-tendon Achilles lengthening procedure for treating pes equinus, in a homogeneous unilateral cerebral palsy patient group. Methods: Gait analysis was conducted on 22 unilateral cerebral palsy patients (mean age at surgery = 13.3 years, standard deviation = 3 years) before and within 2.5 years (standard deviation = 0.61 years) after the tibialis anterior tendon shortening-tendon Achilles lengthening procedure. Primary outcome measures included foot drop occurrence in swing, foot dorsiflexion and the first ankle rocker presence compared to healthy reference data. Movement analysis profile and gait profile score were also calculated for the entire gait cycle. The clinical exam and the A2 peak ankle power were analyzed. Statistical analysis used the paired Wilcoxon's sign rank test (p < 0.05). Results: Post-operatively, significant improvements were observed in ankle dorsiflexion during swing (p = 0.0006) and reduced foot drop in swing (p = 0.0107). The occurrence of a first ankle rocker did not significantly change (p = 0.1489). Significant improvements in gait profile score and movement analysis profile for all joints and planes indicate overall gait quality improvement. The foot progression changed significantly (p = 0.0285), with a greater external orientation. Nineteen out of 22 patients were able to quit wearing their ankle foot orthoses. Conclusion: Tibialis anterior tendon shortening and tendon Achilles lengthening combination yielded positive outcomes, showing increased foot dorsiflexion, first ankle rocker presence, and overall improved gait quality. These findings support the effectiveness of this surgical approach for treating pes equinus in children with unilateral spastic cerebral palsy. [ABSTRACT FROM AUTHOR]

Introduction. Children with diplegia have considerably larger hip flexion excursion during the gait cycle than normal developing children. There have been few studies that look at the effect of ankle loading on gait in children with hemiparesis, but none that look at the effect of ankle loading on hip flexion angles during gait in children with diplegia, to our knowledge. The purpose of the study is to evaluate the effect of using a weight around the ankle on the degree of hip flexion excursion in children with diplegia. Methods. Fifty children with spastic diplegia were assigned into 2 groups at random (A, B). Both groups received the same prescribed exercise program with gait training for group A and gait training while using a weight around the ankle for group B. Treatment was conducted for 1 hour 3 sessions/week for 3 successive months. Two-dimensional (2d) gait analysis was used to evaluate hip excursion throughout the gait cycle before and after the 3 months of therapy. Results. Mixed design MANoVA was used to study the effect within each group and between the 2 groups. A comparison of both groups after treatment demonstrated a significant decrease in right and left hip flexion excursion in the initial swing, mid-swing, terminal swing, initial contact, mid-stance, and pre-swing (p > 0.01). There was no significant difference in loading response between groups after treatment (p = 0.3). Conclusions. Using weight around the ankle during gait helped to decrease the degree of excessive hip flexion excursion during gait in children with diplegia. [ABSTRACT FROM AUTHOR]

There are many current active orthosis designs to assist with disabilities related to foot-drop, with most of them intervening during the whole gait cycle. We propose that, for the treatment of foot-drop, it is possible to design an ankle–foot device that will assist a walking user only during the dorsiflexion stages of the gait, avoiding interference with other stages, by using a single actuator with a simple transmission and a suspension block. This design can be improved by the use of multi-objective optimization to obtain a static set of parameters that are applicable to varying initial conditions. We present a computer simulation study of an active ankle–foot orthosis design, based on the interaction of a cam and lever with a suspension block, with the objective of assisting only with dorsiflexion during the gait cycle, leaving the rest of the movements unimpeded while reducing the complexity and weight of the device. This design is validated using a full simulation environment that includes the movements of the lower leg and foot, as they interact with our device and a ground element. As part of the design and validation, we found sets of mechanical and control parameters that provoke adequate output behavior of the orthosis to help the wearer perform a moderate-speed, normal gait. To optimize the design, we proposed three objectives to warrant ankle angle accuracy, minimal oscillations, and low energy consumption. A set of solutions was obtained with multi-objective optimization algorithms NSGA-II and RVEA to tune the parameters of the active orthosis. The solutions set from RVEA resulted in lower mean and standard deviation values for the oscillations and energy objectives in comparison to the solutions from NSGA-II, while for the MSE objective, NSGA-II obtained lower mean and standard deviation; for the energy consumption objective, the mean score using RVEA is 17 % less than with NSGA-II. The orthosis is shown to be robust to differences in initial ankle angles. We observed that it is possible to obtain a broad set of solutions with a good performance during the gait cycle in controlled spaces and that in this application, the RVEA algorithm results in a better option for optimization to balance the objectives. [ABSTRACT FROM AUTHOR]

Objective: Knee kinematic asymmetries after anterior cruciate ligament reconstruction (ACLR) are correlated with poor clinical outcomes, such as the progression of knee cartilage degenerations or reinjuries. Fast walking in patients with knee conditions may exacerbate knee kinematic asymmetries, but its impact on ACLR patients is uncertain. The aim of this study is to investigate if fast walking induces more knee kinematic asymmetries in unilateral ACLR patients. Methods: This cross‐sectional study enrolled 55 patients with unilateral ACLR from January 2020 to July 2022. There were 48 males and seven females with an average age of 30.6 ± 6.4 years. Knee kinematic data were collected at three walking speeds: self‐selected, fast (150% normal), and slow (50% normal). A 3D knee kinematic analysis system measured the data, and self‐reported outcomes assessed comfort levels during walking. We used SPM1D for two‐way repeated ANOVA and posthoc paired t‐tests to analyze kinematic differences in groups. Results: In fast walking, ACLR knees exhibited more transverse kinematic asymmetries than intact knees, including greater external rotation angle (1.8°, 38%–43%; gait cycle [GC], p < 0.05 & 1.8–2.7°, 50%–61% GC, p < 0.05) and increased proximal tibial translation (2.1–2.5 mm, 2%–6% GC, p < 0.05 & 2.5–3.2 mm, 92%–96% GC, p < 0.05). Additionally, ACLR knees showed greater posterior tibial translation than intact knees (3.6–3.7 mm, 7%–8% GC, p < 0.05) during fast walking. No posterior tibial translation asymmetries were observed in slow walking compared to normal walking levels. ACLR knees have the most comfortable feelings in slow walking speed, and the most uncomfortable feelings in fast walking speed levels (29%). Conclusions: Fast walking induces additional external tibial rotation and proximal and posterior tibial translation asymmetries in ACLR patients. This raises concerns about long‐term safety and health during fast walking. Fast walking, not self‐selected speed, is beneficial for identifying postoperative gait asymmetries in ACLR patients. [ABSTRACT FROM AUTHOR]

Background: Persons with a transfemoral amputation (TFA) often experience difficulties in daily-life ambulation, including an asymmetrical and less stable gait pattern and a greater cognitive demand of walking. However, it remains unclear whether this is effected by the prosthetic suspension, as eliminating the non-rigid prosthetic connection may influence stability and cortical activity during walking. Spatiotemporal and stability-related gait parameters, as well as cortical activity during walking, were evaluated between highly active individuals (MFC-level K3-4) with a TFA and able-bodied (AB) persons, and between persons with a bone-anchored prosthesis (BAP) and those with a socket-suspended prosthesis (SSP). Methods: 18 AB persons and 20 persons with a unilateral TFA (10 BAP-users, 10 SSP-users) walked on a treadmill at their preferred speed. Spatiotemporal and margin of stability parameters were extracted from three-dimensional movement recordings. In addition, 126-channel electroencephalogram (EEG) was recorded. Brain-related activity from several cortical areas was isolated using independent component analysis. Source-level data were divided into gait cycles and subjected to time–frequency analysis to determine gait-cycle dependent modulations of cortical activity. Results: Persons with TFA walked with smaller and wider steps and with greater variability in mediolateral foot placement than AB subjects; no significant differences were found between BAP- and SSP-users. The EEG analysis yielded four cortical clusters in frontal, central (both hemispheres), and parietal areas. No statistically significant between-group differences were found in the mean power over the entire gait cycle. The event-related spectral perturbation maps revealed differences in power modulations (theta, alpha, and beta bands) between TFA and AB groups, and between BAP- and SSP-users, with largest differences observed around heel strike of either leg. Conclusions: The anticipated differences in gait parameters in persons with TFA were confirmed, however no significant effect of the fixed suspension of a BAP was found. The preliminary EEG findings may indicate more active monitoring and control of stability in persons with TFA, which appeared to be timed differently in SSP than in BAP-users. Future studies may focus on walking tasks that challenge stability to further investigate differences related to prosthetic suspension. [ABSTRACT FROM AUTHOR]

The dynamic orientation of total hip replacement acetabular cups during walking may vary substantially from their assumed position at surgical implantation and may vary between individuals. The scale of this effect is of interest for both pre-clinical device testing and for pre-operative surgical planning. This work aimed to evaluate (1) patient variation in dynamic cup orientation; (2) whether walking speed was a candidate proxy measure for the dynamic cup orientation; and (3) the relationships between dynamic cup orientation angles and planar pelvic angles. Pelvic movement data for patients with fast (20 patients) and slow (19 patients) self-selected walking speeds were used to calculate acetabular cup inclination and version angles through gait. For aim 1, the range and extremes of acetabular cup orientation angles were analysed for all patients. A large patient-to-patient variation was found in the ranges of both inclination angle (1° to 11°) and version angle (4° to 18°). The version angle was typically retroverted in comparison to the implantation position (greatest deviation 27°). This orientation is substantially different to the static, 0° version, simplifying assumptions in pre-clinical 'edge loading' testing. For aim 2, the cup orientation angles were compared between the fast- and slow-walking groups using statistical parametric mapping. The only significant differences observed were for cup version angle, during ~12% of the gait cycle before toe-off (p < 0.05). Therefore, self-selected walking speed, in isolation, is not a sufficient proxy measure for dynamic acetabular orientation. For aim 3, correlations were recorded between the acetabular cup orientation angles and the planar pelvic angles. The cup inclination angle during gait was strongly correlated (Spearman's coefficient −1) with pelvic obliquity alone, indicating that simple planar assessment could be used to anticipate inclination angle range. The cup version angle was correlated with both pelvic rotation and tilt (Spearman's coefficient 0.8–1), indicating that cup version cannot be predicted directly from any single pelvic movement. This complexity, along with the interaction between inclination angle and range of version angle, supports the use of computational tools to aid clinical understanding. [ABSTRACT FROM AUTHOR]

This study evaluated gait variability in patients before and after total knee arthroplasty (TKA) using the equality of variance method to determine where variability differences occur in the movement cycle. Twenty-eight patients underwent TKA with cruciate-sacrificed implants. Patients underwent motion analysis which measured knee biomechanics as they walked overground at their preferred pace before and 12 months after TKA. Equality of variance results were compared with 14 healthy controls of similar age. Before surgery, patients had reduced knee extension moment variability throughout the early stance phase (4–21% gait cycle, p < 0.05) compared to controls. Knee power variability was lower preoperatively compared to controls for most of the stance phase (0–13% and 17–60% gait cycle, p < 0.05). Sagittal knee moment and power variability further decreased following TKA. Knee extension moment variability was lower postoperatively throughout stance phase compared to preoperatively (4–22% and 36–60% gait cycle, p < 0.05) and compared to controls (4–30% and 45–60% gait cycle, p < 0.05). Knee power variability remained lower following TKA throughout stance phase compared to preoperatively (10–24% and 36–58% gait cycle, p < 0.05) and controls (3–60% gait cycle, p < 0.05). TKA patients may be less stable, and this may be in part due to an unresolved adaptation developed while awaiting TKA surgery and the cruciate sacrificing design of the implants utilized in this study. [ABSTRACT FROM AUTHOR]