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The purpose of this study was to evaluate age-related differences in the mechanics of the compensatory stepping response to balance threats. A moving platform was used to disturb the balance of 16 younger (21 to 35 years) and 19 older (68 to 88 years) adults. Backward platform translations consisted of 15-cm displacements with peak accelerations ranging from 9.4 to 15.2 m/s2. Older adults were more likely to use a step to recover balance and stepped at lower perturbation magnitudes than younger adults. Group differences were not found in time to step initiation or segmental momentum. The lack of group differences in momentum revealed that lower perturbation accelerations created an equivalent or greater magnitude of body motion in older adults compared to higher accelerations experienced by younger adults. Older adults also showed a reduced ability to attenuate the input acceleration and experienced significantly greater linear acceleration of the head.

Developmental changes in the kinematics and kinetics underlying balance control were studied in 61 children, 9 months to 10 years of age. The children were classified according to developmental milestones as standers; new, intermediate, and advanced walkers; runners-jumpers; hoppers; gallopers; and skippers. The children experienced support-surface translations of varying size and speed. Children with greater locomotor experience withstood larger balance threats without collapsing or stepping. Analyses of scaled trials (perturbations normalized in size to foot length and center of gravity height) revealed that improvement in balance was not related to initial configuration parameters surrounding the task (degree of crouch or lean). Children with advanced locomotor skills had faster recovery times and relatively larger muscle torques than children with less experience. Relative torque-time histories of the more experienced children began to match the adult response to similar perturbations. With increased experience and changing muscle torque regulatory abilities, balance skills became more robust.

The development of the ability to use the step for balance recovery was studied among twenty-five 9- to 19-month-old children. The children were grouped according to walking experience (4 levels) and exposed to backward support surface translations, 8 cm in amplitude, under 3 velocity conditions: 15, 20, and 25 cm/s. New walkers (up to 2 weeks' walking experience) used the step infrequently and ineffectively in response to threats to balance. Intermediate walkers (1-3 months' walking experience) showed an increasing use of the step and significant improvement in step execution compared with new walkers. Advanced walkers (>3; months' walking experience) experienced no falls throughout the protocol, capturing balance with feet-in-place or step responses under all perturbation conditions. A significant developmental transition in the emergence of the compensatory step occurred between the new walker and the intermediate walker experience levels, that is, within the first 3 months of walking experience. Three to 6 months' experience was required for the development of an effective stepping response. A concomitant change in mediolateral stability paralleled the emergence of compensatory stepping.

In this article, the development of the increasingly differentiated control of the joints necessary to transform the spontaneous leg movements of early infancy into adaptive and functional actions is described. The hypothesis-that increasing joint control requires the capability for disassociation of joint action, the active modulation of joint stiffness, and a transition from proximal to distal control of the joints-is proposed. Kinematic and kinetic analyses of the vertical kicks of infants 2 weeks, 3 months, and 7 months of age (as well as a comparative group of adults) indicated increasing joint independence as well as phase-dependent and joint-dependent control modifications. The kicks of the younger infants were dominated by a proximal control strategy and minimal adjustments of the limb energetics during the flexion and extension phases of the kick. By 7 months of age, much larger modulations of the kick phases were observed as well as increasing evidence of distal control. These results revealed kinematic and kinetic patterns of emerging limb control between 2 weeks and 7 months of age.

Infant treadmill steps have many temporal and kinematic similarities to adult walking. Kinematic similarities can result from different patterns of underlying torque, however. In this study, we used inverse dynamics to compare the patterns and contributions of active (muscle) and passive (gravity and motion-dependent) torques in the swing phase of treadmill stepping in 7-month-old infants and adults. Results indicated that adults consistently used muscle torque to initiate and terminate swing, but that passive torques accounted for leg motion during most of the swing phase. Infants, in contrast, displayed multiple patterns of torque contributions during swing. In the most frequently occurring infant pattern, muscle torque remained flexor throughout swing and joint reversals were due to the dominant passive gravitational torque. The kinetic data suggest that the temporally and kinematically similar treadmill steps produced by adults and infants do not emanate from a unique set of neural commands to the muscles, but from a flexible interplay between multiple internal as well as external elements. These data suggest that the intrinsic dynamics of the human system provide a medium out of which, given a supportive context, stable patterns can emerge spontaneously. During development, voluntary controlled movement patterns must build on these intrinsic dynamics.

This is the first of two articles in which we describe how infants adapt their spontaneous leg movements to changes in posture or to elicitation of behaviors by a mechanical treadmill. In this article, we compare the kinematics of kicks produced by 3-month-old infants in three postures, supine, angled (45 degrees ), and vertical, and examine the changes in muscular and nonmuscular force contributions to limb trajectory. By manipulating posture we were able to assess the sensitivity of the nascent motor system to changes in the gravitational context. The postural manipulation elicited a distinct behavioral and dynamic effect. In the more upright postures, gravitational resistance to motion at the hip was 4 to 10 times greater than resistance met in the supine posture, necessitating larger muscle torques to drive hip flexion. Kicks produced in the vertical posture showed a reduction in hip joint range of motion and an increase in synchronous joint flexion and extension at the hip and knee. At the same time, hip and knee muscle torques were also more highly correlated in kicks performed in the vertical than in the supine or angled posture. This increased correlation between muscle torques at the hip and knee implicates anatomical and energetic constraints-the intrinsic limb dynamics-in creating coordinated limb behavior out of nonspecific muscle activations.

Here we explored the coordination of joint behaviors exhibited during the vertical jump and variations of that jump. By manipulating the take-off angle, we required an adjustment to changing task demands. It was hypothesized that kinematic features of the jump would change but that spatiotemporal relationships essential to propulsion would remain invariant across all conditions. To test this hypothesis, six adult male subjects performed jumps at six different take-off angles. An analysis of cinematographic data revealed that individual subjects changed the sequence and timing of lower-extremity joint reversals. In contrast, the covariation of joint behaviors during the propulsive phase and the timing of maximum intersegmental extension velocities were extremely stable within each individual across changes in task. We argue that the flexibility to alter sequence and timing is part of a strategy that permits adaptation to the context and facilitates a continued coordination among variables associated with propulsion.

One important component in the understanding of the control of limb movements is the way in which the central nervous system accounts for joint forces and torques that may be generated not only by muscle actions but by gravity and by passive reactions related to the movements of limb segments. In this study, we asked how the neuromotor system of young infants controls a range of active and passive forces to produce a stereotypic, nonintentional movement. We specifically analyzed limb intersegmental dynamics in spontaneous, cyclic leg movements (kicking) of varying intensity in supine 3-month-old human infants. Using inverse dynamics, we calculated the contributions of active (muscular) and passive (motion-dependent and gravitational) torque components at the hip, knee, and ankle joints from three-dimensional limb kinematics. To calculate joint torques, accurate estimates were needed of the limb's anthropometric parameters, which we determined using a model of the human body. Our analysis of limb intersegmental dynamics explicitly quantified the complex interplay of active and passive forces producing the simple, involuntary kicking movements commonly seen in 3-month-old infants. our results revealed that in nonvigorous kicks, hip joint reversal was the result of an extensor torque due to gravity, opposed by the combined flexor effect of the muscle torque and the total motion-dependent torque. The total motion-dependent torque increased as a hip flexor torque in more vigorous kicks; an extensor muscle torque was necessary to counteract the flexor influences of the total motion-dependent torque and, in the case of large ranges of motion, a flexor gravity torque as well. Thus, with changing passive torque influences due to motions of the linked segments, the muscle torques were adjusted to produce a net torque to reverse the kicking motion. As a consequence, despite considerable heterogeneity in the intensity, range of motion, coordination, and movement context of each kick, smooth trajectories resulted from the muscle torque, counteracting and complementing not only gravity but also the motion-dependent torques generated by movement of the linked segments.