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Introduction Some people with Parkinson’s disease (PD) frequently have an unsteady gait with shuffling, reduced strength, and increased rigidity. This study has investigated the difference in the neuromuscular strategies of people with early-stage PD, healthy older adults (HOA) and healthy young adult (HYA) during short-distance walking. Method Surface electromyogram (sEMG) was recorded from tibialis anterior (TA) and medial gastrocnemius (MG) muscles along with the acceleration data from the lower leg from 72 subjects—24 people with early-stage PD, 24 HOA and 24 HYA during short-distance walking on a level surface using wearable sensors. Results There was a significant increase in the co-activation, a reduction in the TA modulation and an increase in the TA-MG lateral asymmetry among the people with PD during a level, straight-line walking. For people with PD, the gait impairment scale was low with an average postural instability and gait disturbance (PIGD) score = 5.29 out of a maximum score of 20. Investigating the single and double support phases of the gait revealed that while the muscle activity and co-activation index (CI) of controls modulated over the gait cycle, this was highly diminished for people with PD. The biggest difference between CI of controls and people with PD was during the double support phase of gait. Discussion The study has shown that people with early-stage PD have high asymmetry, reduced modulation, and higher co-activation. They have reduced muscle activity, ability to inhibit antagonist, and modulate their muscle activities. This has the potential for diagnosis and regular assessment of people with PD to detect gait impairments using wearable sensors.

Parkinson’s disease (PD) is a common progressive neurodegenerative disease that affects a wide range of motor and non-motor symptoms. Freezing of gait (FOG) is such a motor symptom of PD that frequently results in falling, and almost half of PD patients suffer from FOG. In this study, we investigated the effectiveness of a robotic assistance system called UPS-PD, which was developed to suppress FOG. The double limb support phase (DLS) in a 10-m straight-line walking task, the gait time and step counts were measured in five PD subjects. In addition, the safety of the UPS-PD in a healthy person was investigated using OpenSim, and the DLS parameters in four healthy elderly subjects were evaluated. In the experiment with the PD patients, the DLS parameters of two subjects showed an improvement. Furthermore, the step length of one subject and the step length and walking speed of the other subject were improved. Moreover, there were no problems in terms of instability of gait in both the PD patients. The UPS-PD did not adversely affect the gait of healthy elderly subjects and the walking of a healthy subject model in the simulation. Therefore, the UPS-PD is considered to be a useful device for improving walking in PD patients.

Background/objectives Little work to date has examined the relationship between gait performance and blood pressure (BP) recovery after standing in later life. The aim of this study is to clarify the association of orthostatic BP with spatiotemporal gait parameters in a large cohort of older people. Design Cross-sectional study using multilevel linear regression to ascertain the difference in orthostatic BP patterns across tertiles of gait speed, and linear regression to analyze the association of orthostatic hypotension 30 seconds after standing (OH-30) with specific gait characteristics. Setting The Irish Longitudinal Study on Ageing. Participants A total of 4311 community-dwelling adults, aged 50 years or older (mean age = 62.2 years; 54% female), one fifth (n = 791) of whom had OH-30. Measurements Continuous orthostatic BP was measured during active stand. OH-30 was defined as a drop in systolic BP of 20 mm Hg or more or drop in diastolic BP of 10 mm Hg or more at 30 seconds. Spatiotemporal gait was assessed using the GAITRite system, reporting gait speed, step length, step width, and double support time in both single and dual (cognitive task) conditions. Results OH-30 was associated with slower gait speed (β = -3.01; 95% confidence interval [CI] = -4.46 to -1.56) and shorter step length (β = -.73; 95% CI = -1.29 to -.16) in fully adjusted models during single task walking. Similar findings were observed in dual task conditions, in addition to increased double support phase (β = .45; 95% CI = .02-.88). Multilevel models demonstrated that participants in the slowest tertile for gait speed had a significantly larger drop in systolic BP poststanding compared to those with faster gait speeds in single and dual task conditions. Conclusions This study demonstrates that slower recovery of BP after standing is independently associated with poorer gait performance in community-dwelling older adults. Given the adverse outcomes independently associated with OH and gait problems in later life, increasing awareness that they commonly coexist is important, particularly as both are potentially modifiable. J Am Geriatr Soc 68:1286-1292, 2020.

The commercialNaohumanoid robot has 11 DOF in legs. Even if these legs include 12 revolute joints, only 11 actuators are employed to control the walking of the robot. Under such conditions, the mobility of the pelvis and that of the oscillating foot are mutually constrained at each step. Besides, the original gait provided by the manufacturer company of the Nao employs only single support phases during the walking. Because of both issues, the reduced mobility in legs and the use of only single support phases, the stability of the walking is affected. To contribute to improving such stability, in this paper an approach is proposed that incorporates a double support phase and a gait based on cycloidal time functions for motions of the pelvis and those of the oscillating foot. To assess the stability of the walking an index is applied, which is based on the notion ofzero-moment point(ZMP) of the static foot at each step. Results of experimental tests show that the proposed gait enhances the stability of the robot during the walking.

Wearable inertial sensors have gradually been used as an objective technology for biomechanical assessments of both healthy and pathological movement patterns. This paper used foot-worn sensors for characterizing the spatiotemporal characteristics of walking and turning between older fallers and nonfallers. Thirty community-dwelling older fallers and 30 older nonfallers performed 10-m straight walking, turned 180° around a cone, and then walked 10-m back to the starting point. Specific algorithms were used to measure spatiotemporal gait (double support phase of the gait cycle, swing width, and minimal toe clearance) and turning parameters (turn duration and turn steps) using two foot-worn Physiolog inertial sensor system. The researchers directly exported data as reported by the system. Our findings indicated that older fallers showed 26.58% longer time (P = 0.036) and 13.21% more steps (P = 0.038) compared to nonfallers during turning. However, both groups decreased their walking velocity (both P < 0.001), increased double support (both P = 0.001), and increased the swing width (both P = 0.001) during the transition from walking to turning. The older nonfallers additionally increased toe clearance (P = 0.001). Compared with the fallers, the older nonfallers showed a larger change in the swing width (P = 0.025) and toe clearance (P = 0.025) in walking to turning. Older fallers may adopt a cautionary strategy while turning to reduce the risk of falls. Wearable sensors can provide the temporospatial characteristics of turning and reveal significant differences by fall status, indicating the potential of turning measures as possible markers for identifying those at fall risk.

The Timed Up & Go test (TUG) is functional test and is a part of routine clinical examinations. The instrumented Timed Up & Go test enables its segmentation to sub-tasks: sit-to-stand, walking forward, turning, walking back, stand-to-sit, and consequently the computation of task-specific parameters and sub-tasks separately. However, there are no data on whether walking forward parameters differ from the walking back parameters. This study tested the differences between walking forward and walking back in the TUG extended to 10 m for 17 spatio-temporal gait parameters. All parameters were obtained from a GAITRite® pressure sensitive walkway (CIR Systems, Inc.). The differences were assessed for healthy controls and Parkinson's disease (PD) patients. None of investigated parameters exhibited a difference between both gait subtasks for healthy subjects group. Five parameters of interest, namely velocity, step length, stride length, stride velocity, and the proportion of the double support phase with respect to gait cycle duration, showed a statistically significant difference between gait for walking forward and walking back in PD patients. Therefore, we recommend a separate assessment for walking forward and walking back rather than averaging both gaits together.

Gait variability (GV), which is a variable for predicting mobility issues and risk of falling in elderly people, is defined as the fluctuation in spatiotemporal characteristics from one step to the next in walking. The goal of this study was to analyze the age- and sex-related spatiotemporal variability characteristics of elderly individuals using the measurements taken while walking on a treadmill for one minute based on gait speed variation. Gait testing was conducted on 225 healthy male and female individuals aged 60–79 years who were able to walk and move on their own and, specifically, walk on a treadmill for one minute. The test was performed at three speed conditions—the preferred speed of the participant, 20% higher than the preferred speed, and 20% lower than the preferred speed—and data were recorded using shoe-type data loggers. The different age groups and sex could be distinguished using the coefficient of variance (CV) of the double support phase and gait asymmetry (GA) at the preferred speed, and CVs of stride length and stance phase at faster speed. The results indicated that the values of GV obtained from the test were used to determine the variation in gait characteristics of elderly individuals.

Linear inverted pendulum model (LIPM) is an effective and widely used simplified model for biped robots. However, LIPM includes only the single support phase (SSP) and ignores the double support phase (DSP). In this situation, the acceleration of the center of mass (CoM) is discontinuous at the moment of leg exchange, leading to a negative impact on walking stability. If the DSP is added to the walking cycle, the acceleration of the CoM will be smoother and the walking stability of the biped will be improved. In this paper, a linear pendulum model (LPM) for the DSP is proposed, which is similar to LIPM for the SSP. LPM has similar characteristics to LIPM. The dynamic equation of LPM is also linear, and its analytical solution can be obtained. This study also proposes different trajectory-planning methods for different situations, such as periodic walking, adjusting walking speed, disturbed state recovery, and walking terrain-blind. These methods have less computation and can plan trajectory in real time. Simulation results verify the effectiveness of proposed methods and that the biped robot can walk stably and flexibly when combining LIPM and LPM.

The purpose of this study was to examine the changes in co-activation around the knee joint during different walking speeds in healthy females using the co-activation index. Ten healthy females (age: 21.20 &plusmn, 7.21 years, height: 164.00 &plusmn, 4.00 cm, mass: 60.60 &plusmn, 4.99 kg) participated in this study and performed three walking speeds (slow, normal, and fast). A Qualisys 11-camera motion analysis system sampling at a frequency of 200 Hz was synchronized with a Trigno EMG Wireless system operating at a 2000 Hz sampling frequency. A significant decrease in the co-activation index of thigh muscles was observed between the slow and fast, and between the normal and fast, walking speeds during all walking phases. A non-significant difference was observed between the slow and normal walking speeds during most walking phases, except the second double support phase, during which the difference was significant. A negative relationship was found between walking speed and the co-activation index of thigh muscles in all speeds during walking phases: first double support (r = &minus, 0.3386, p &lt, 0.001), single support (r = &minus, 0.2144, p &lt, 0.01), second double support (r = &minus, 0.4949, p &lt, 0.001), and Swing (r = &minus, 0.1639, p &lt, 0.05). In conclusion, the results indicated high variability of thigh muscle co-activation in healthy females during the different walking speeds, and a decrease in the co-activation of the thigh muscles with the increase of speed.

Background The functional movement screen (FMS)TM is a screening tool used to evaluate fundamental motor function. A score of 14 for the composite total FMS score (TFMS) is generally used as the cut-off point (≤14/21). In addition, gait analysis is used to evaluate fundamental motor function in humans. Thus, evaluating the fundamental motor function using the FMSTM test and gait analysis at various speeds can provide further understanding of any decline in gait stability. In this study, we aimed to investigate the association between gait ability and fundamental movement patterns in young adults according to the cut-off point. Methods A total of 439 participants (male: 203, female: 236) successfully completed the FMS test and a 1 min treadmill test; the participants were classified into two groups: low TFMS (≤14) and high TFMS (>14). Results The low TFMS group exhibited slower and shortened walking patterns and worsen gait variability than the high TFMS group. The coefficient of variance (CV) for the double support phase at a faster speed (male) and the stride length at a slower speed (female) were classifiers between the two groups. In addition, the low TFMS group demonstrated insufficient gait adaptation at the preferred and faster speeds based on the CV of the double support phase and gait asymmetry. Lower TFMS is associated with a decline in gait ability. Therefore, participants with a lower TFMS and poor gait ability may require intervention programs to prevent risk of future injury and to enhance motor function.

We will report our efforts in designing feedback for the thruster-assisted walking of a bipedal robot. We will assume for well-tuned supervisory controllers and will focus on fine-tuning the desired joint trajectories to satisfy the performance being sought. In doing this, we will devise an intermediary filter based on the emerging idea of reference governors. Since these modifications and impact events lead to deviations from the desired periodic orbits, we will guarantee hybrid invariance in a robust fashion by applying predictive schemes within a short time envelope during the double support phase of a gait cycle. To achieve the hybrid invariance, we will leverage the unique features in our robot, i.e., the thruster.

Increasingly, electric motors are being incorporated into wheeled walkers to implement various smart features to better assist their users physically. These modified walkers, known as Smart Walkers, use their electric motors to generate horizontal forces that can be used to reduce the physical load for walking, prevent falls and provide navigation support. However, these forces can also alter gait and may inadvertently increase the exertion of the users. This study aims to describe the effects of assistive and resistive horizontal forces (from -18.47 N to 27.70 N) from a Smart Walker on gait and perceived exertion of its users during steady-state walking. Self-selected comfortable walking speed, cadence, stride length, double support phase and ratings of perceived exertion (RPE) were significantly affected and different effects were found for resistive force, relatively low assistive force and high assistive force. With increasing force from -18.47 N to 0 N, RPE decreased and the users walked with lower double support time. From 0 N to 9.23 N, RPE continued to decrease to its lowest point while gait parameters remained constant. Further increasing force up to 27.70 N increased RPE and led to the users to choose to walk at higher speeds. This study demonstrates that users adapt their gait significantly to the forces applied and relatively high constant forces, whether assistive or resistive, will increase perceived exertion. Hence, these need to be carefully considered when developing Smart Walkers in order to provide safe and effective support to its users.

Made available in DSpace on 2020-12-12T02:40:59Z (GMT). No. of bitstreams: 0 Previous issue date: 2020-06-09 Falls that occur while negotiating steps are a leading cause of death in older adults. Although recent efforts have improved understanding of the mechanics and control of stepping behaviors, the double support phase during stepping is understudied. Therefore, we quantified the stability of the resultant forces and moments acting on the body during this phase. These quantities determine the movement of the body, and therefore, their stability is essential for successful stepping behavior. We measured the ground reaction variables (GRVs) under both feet as healthy young (n = 10) and older adults (n = 10) stepped up and down a curb. We employed the uncontrolled manifold method to evaluate the hypotheses that the GRVs covary to stabilize the resultant force and moment in the three coordinate directions. Robust stabilization of the resultant forces and moments was observed while stepping up. However, while stepping down, the stability of the resultant moment was prioritized over that of the resultant forces in the vertical and the anterior-posterior directions, and the stability of the resultant medio-lateral force was prioritized over that of the resultant anterior-posterior force. The salience of stabilizing whole-body angular momentum and medio-lateral motion during locomotion is well known, but their prioritization during adaptive gait is a novel result and is possibly related to the higher likelihood of falling during descent (versus ascent). Finally, contrary to our expectations, we observed no age differences in our stability indices, indicating that healthy aging does not diminish the stability of the resultant forces and moments. Department of Health and Kinesiology Purdue University Center on Aging and the Life Course Purdue University Human Movement Research Laboratory (MOVI-LAB) Department of Physical Education School of Sciences São Paulo State University (UNESP) Human Movement Research Laboratory (MOVI-LAB) Department of Physical Education School of Sciences São Paulo State University (UNESP)

Background Gait disturbances have emerged as some of the main therapeutic concerns in late-stage Parkinson’s disease (PD) treated with dopaminergic therapy and deep brain stimulation (DBS). External cues may help to overcome freezing of gait (FOG) and improve some of the gait parameters. Aim To evaluate the effect of 3D visual cues and STN-DBS on gait in PD group. Methods We enrolled 35 PD patients treated with DBS of nucleus subthalamicus (STN-DBS). Twenty-five patients (5 females; mean age 58.9 ±6.3) and 25 sex- and age-matched controls completed the gait examination. The gait in 10 patients deteriorated in OFF state. The severity of PD was evaluated using the Unified Parkinson's Disease Rating Scale (UPDRS) and Hoehn and Yahr (HY). The PD group filled the Falls Efficacy Scale-International (FES) and Freezing of Gait Questionnaire (FOGQ). Gait was examined using the GaitRite Analysis System, placed in the middle of the 10m marked path. The PD group was tested without dopaminergic medication with and without visual cueing together with the DBS switched ON and OFF. The setting of DBS was double-blind and performed in random order. Results The UPDRS was 21.9 ±9.5 in DBS ON state and 41.3 ±13.7 in DBS OFF state. HY was 2.5 ±0.6, FES 12.4 ±4.1 and FOGQ 9.4 ±5.7. In the DBS OFF state, PD group walked more slowly with shorter steps, had greater step length variability and longer duration of the double support phase compared to healthy controls. The walking speed and step length increased in the DBS ON state. The double support phase was reduced with 3D visual cueing and DBS; the combination of both cueing and DBS was even more effective. Conclusion Cueing with 3D visual stimuli shortens the double support phase in PD patients treated with DBS-STN. The DBS is more effective in prolonging step length and increasing gait speed. We conclude that 3D visual cueing can improve walking in patients with DBS.

Background There is no consensus on kinematics alterations during descending stairs in females with patellofemoral pain (PFP). In addition, there are no studies that have evaluated the three dimensional kinematics of the trunk, pelvis, hip, knee, and ankle using a multi-segmental model of the foot simultaneously during this task in patients with PFP and evaluated the subphases of stair descent. The objectives of this study were to compare the three dimensional kinematics of the trunk, pelvis, and lower limbs during different subphases of stair descent and identify the discriminatory capacity of the kinematic variables among women with PFP and healthy women. Methods In this cross-sectional study, thirty-four women with PFP and thirty-four pain free women between 18 and 35 years-old were submitted to three-dimensional kinematic evaluation during stair descent. Results It was observed that kinematic differences between the groups occurred in the first double support phase of the stair descent, with the variables of internal rotation of the hindfoot in relation to the tibia in the initial contact (2.1°; sensitivity = 68.6%, specificity = 61.8%) and contralateral pelvic drop in load response (1.3°, sensitivity = 65.7%, specificity = 63.7%) presenting the best ability to discriminate women with and without PFP. Conclusion Our results suggest that kinematic changes during stair descent should be used with caution during the evaluation and decision-making process in women with PFP.

Passive biped dynamic walking exhibits humanoid gait. Many efforts have been made to implement a flexible and anthropomorphic passive model. However, the couple of flexible passive walker on compliant ground has not been well studied yet. The objective of this paper was to develop multibody dynamics for flexible passive walker on compliant ground, in which the nonlinear spring-damper contact model was used both in normal and tangential directions to represent ground compliance. Inspired by elastic mechanisms in human locomotion, hip stiffness and damping were incorporated in the proposed flexible passive walker. Different from traditional impactmomentum method, one unified set of continuous dynamics based on continuous force method was developed to describe the entire passive walking gait on compliant ground, including the real double support phase. Through numerical simulations, stable period-one gait and double support phase were gained. After investigating the effects of contact parameters on step length, period and velocity, it was found that larger contact stiffness and smaller contact damping lead to a higher step velocity gait. The adjustment of hip stiffness could be used to improve the versatility of the flexible walker on varying compliant grounds.

[Purpose] This study evaluated gait parameters and foot pressure in two regions of the feet among older females with different personal care support needs to analyze factors that contribute to higher support requirements. [Subjects and Methods] Thirty-two older females were divided into support-need and care-need level groups. Gait parameters (speed, cadence, step length, step width, gait angle, toe angle, double support phase, swing phase, and stance phase) and foot pressure during a 5-m walk were measured and analyzed in the two groups. [Results] The percentage of the double support phase on both feet and the right stance phase were significantly higher in the care-need level group, while that of the right swing phase was significantly lower than that of the support-need level group. Additionally, the phase showing peak pressure on the left rear foot was significantly delayed and the left forefoot pressure in the terminal stance was significantly lower in the care-need level group than in the support-need level group. [Conclusion] These findings show that the temporal duration parameters and foot pressure on a particular side were significantly different between the two groups and suggest that these differences were associated with a higher care level.

The aim of this study was to investigate interlimb coordination in young and older adults with and without a history of falls during the combined task of walking and prehension with different levels of manual task difficulty. Participants walked on a pathway and grasped a dowel. A vector coding technique evaluated coordination patterns. The coordination pattern was not affected by the difficulty level of the manual task. Older adults seemed to prioritize the movement of the right shoulder to grasp the dowel and then 'froze' the movement of the other joint (left shoulder) not directly involved in the grasping task. The preference to pick up the dowel in the double support phase and the increase in right shoulder phase made by older adults with a history of falls suggests an even greater decoupling between walking and prehension.

The characterization of activity patterns of overweight and obese (OW) children and adolescents is essential, and should be carried out before they join an exercise training programme and increase their physical activity in order to maintain or reduce body weight.The purpose of this study is to verify whether the biomechanical parameters characterizing frequently used walking and running speeds vary between OW and normal-weight (NW) children. Thirty-one prepubescent OW children (9.9 y ± 1.3) and 10 prepubescent NW children (9.9 y ± 1.2) participated in this study. All participants were evaluated for temporal parameters (e.g. cycle length, cycle time, stance phase time, double support phase time, etc.) and for foot pressure parameters (e.g. contact area, duration of contact, peak pressure, etc.) in six different foot areas, at three walking velocities, and two running velocities. A group effect (p < .05) was found for the peak pressure, duration of contact percentile, maximum force, foot pressure–time inte...

In recent years, the availability of low-cost equipment capable of recording kinematic data during walking has facilitated the outdoor assessment of gait parameters, thus overcoming the limitations of three-dimensional instrumented gait analysis (3D-GA). The aim of this study is twofold: firstly, to investigate whether a single sensor on the lower trunk could provide valid spatio-temporal parameters in level walking in normal-weight and obese adolescents compared to instrumented gait analysis (GA); secondly, to investigate whether the inertial sensor is capable of capturing the spatio-temporal features of obese adolescent gait. These were assessed in 10 obese and 8 non-obese adolescents using both a single inertial sensor on the lower trunk and an optoelectronic system. The parameters obtained were not statistically different in either normal-weight or obese participants between the two methods. Obese adolescents walked with longer stance and double support phase compared to normal-weight participants. The results showed that the inertial system is a valid means of evaluating spatio-temporal parameters in obese individuals.