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The walking human body is mechanically unstable. Loss of stability and falling is more likely in certain groups of people, such as older adults or people with neuromotor impairments, as well as in certain situations, such as when experiencing conflicting or distracting sensory inputs. Stability during walking is often characterized biomechanically, by measures based on body dynamics and the base of support.Neural control of upright stability, on the other hand, does not factor into commonly used stability measures. Here we analyze stability of human walking accounting for both biomechanics and neural control, using a modeling approach. We define a walking system as a combination of biomechanics, using the well known inverted pendulum model, and neural control, using a proportional-derivative controller for foot placement based on the state of the center of mass at midstance. We analyze this system formally and show that for any choice of system parameters there is always one periodic orbit. We then determine when this periodic orbit is stable, i.e. how the neural control gain values have to be chosen for stable walking. Following the formal analysis, we use this model to make predictions about neural control gains and compare these predictions with the literature and existing experimental data. The model predicts that control gains should increase with decreasing cadence. This finding appears in agreement with literature showing stronger effects of visual or vestibular manipulations at different walking speeds.Author summaryThe walking human body is mechanically unstable and humans frequently lose upright stability and fall while walking. Stability of human walking is usually analyzed from a biomechanical perspective. We argue that sensorimotor control is an essential aspect of walking stability. We model a walking system as a combination of inverted pendulum biomechanics and a neural feedback controller for foot placement and analyze the properties of this hybrid dynamical system. We find that there is always exactly one periodic orbit and derive a criterion for the asymptotic stability of this periodic orbit. This analytic criterion allows us to characterize the region in the parameter space where the walking system is stable. We use these theoretical results to analyze stability of human walking depending on different sensorimotor control gains. The model predicts that control gains should be larger for slower-paced walking, which is partially consistent with the available experimental data.

During standing, posture can be controlled by accelerating the Center of Mass (CoM) through shifting the center of pressure (CoP) within the base of support by applying ankle moments (“CoP mechanism”), or through the “counter-rotation mechanism”, i.e., changing the angular momentum of segments around the CoM to change the direction of the ground reaction force. Postural control develops over the lifespan; at both the beginning and the end of the lifespan adequate postural control appears more challenging. In this study, we aimed to assess mediolateral balance performance and the related use of the postural control mechanisms in children, older adults and young adults when standing on different (unstable) surfaces. Sixteen pre-pubertal children (6-9y), 17 young adults (18-24y) and eight older adults (65-80y) performed bipedal upright standing trials of 16 seconds on a rigid surface and on three balance boards that could freely move in the frontal plane, varying in height (15-19 cm) of the surface of the board above the point of contact with the floor. Full body kinematics (16 segments, 48 markers, using SIMI 3D-motion analysis system (GmbH) and DeepLabCut and Anipose) were retrieved. Performance related outcome measures, i.e., the number of trials with balance loss and the Root Mean Square (RMS) of the time series of the CoM acceleration, the contributions of the CoP mechanism and the counter-rotation mechanism to the CoM acceleration in the frontal plane and selected kinematic measures, i.e. the orientation of the board and the head and the Mean Power Frequency (MPF) of the balance board orientation and the CoM acceleration were determined. Balance loss only occurred when standing on the highest balance board, twice in one older adult once in one young adult. In children and older adults, the RMS of the CoM accelerations were larger, corresponding to poorer balance performance. Across age groups and conditions, the contribution of the CoP mechanism to the total CoM acceleration was much larger than that of the counter-rotation mechanisms, ranging from 94%-113% vs 23%-38% (with totals higher than 100% indicating opposite effects of both mechanisms). Deviations in head orientation were small compared to deviations in balance board orientation. We hypothesize that the CoP mechanism is dominant, since the counter-rotation mechanism would conflict with stabilizing the orientation of the head in space.

BACKGROUND: In people with moderate hip osteoarthritis, gait kinematics was reported to be correlated with number of falls in the preceding year. After Total Hip Arthroplasty, subjects generally improve but still fall. The present study explores recovery and correlations with number of falls in the year after Total Hip Arthroplasty.METHODS: We assessed 12 patients one year after Total Hip Arthroplasty, 12 patients with moderate hip osteoarthritis with at least one fall in the preceding year, and 12 healthy peers. Maximum hip abduction strength, Fall Efficacy Scale - International, Harris Hip Score, pain, and number of falls in the preceding year were assessed. Participants walked on a treadmill with increasing speeds, and gait kinematics were registered optoelectronically. We assessed group differences, and correlations of all variables with number of falls.FINDINGS: After arthroplasty, subjects tended to score better on variables measured, often non-significantly, compared to subjects with moderate osteoarthritis, but worse than healthy peers. Maximum hip abduction strength together with fall efficacy had a strong regression on the number of falls in the preceding year (R2 = 92%). Gait kinematics did not correlate with number of falls, and also fall efficacy was not related to gait kinematics.INTERPRETATION: One year after hip arthroplasty, muscle strength sufficiently recovered for normal walking, but not to avoid falling in risky situations. Rehabilitation should focus on muscle strength. The lack of correlation between the Fall Efficacy International and gait kinematics, suggests that it reflected the experience of having fallen rather than fear.

Vestibular information modulates muscle activity during gait, presumably to contribute to stability. If this is the case, stronger effects of perturbing vestibular information on local dynamic stability of gait, a measure of the locomotor system’s response to small, naturally occurring perturbations, can be expected for narrow-base walking (which needs more control) than for normal walking and smaller effects for wide-base walking (which needs less control). An important mechanism to stabilize gait is to coordinate foot placement to center of mass (CoM) state. Vestibular information most likely contributes to sensing this CoM state. We, therefore, expected that stochastic electrical vestibular stimulation (EVS) would decrease the correlation between foot placement and CoM state during the preceding swing phase. In fourteen healthy participants, we measured the kinematics of the trunk (as a proxy of the CoM), and feet, while they walked on a treadmill in six conditions: control (usual step width), narrow-base, and wide-base, each with and without stochastic EVS (peak amplitude of 5 mA; RMS of ~ 1.2 mA; frequency band from 0 to 25 Hz). Stochastic EVS decreased local dynamic stability irrespective of step width. Foot placement correlated stronger with trunk motion during walking with EVS than without in the control condition. However, residual variance in foot placement was increased when walking with EVS, indicating less precise foot placement. Thus, a vestibular error signal leads to a decrease in gait stability and precision of foot placement but these effects are not consistently modulated by step width.

During steady-state walking, mediolateral gait stability can be maintained by controlling the center of pressure (CoP). The CoP modulates the moment of the ground reaction force, which brakes and reverses movement of the center of mass (CoM) towards the lateral border of the base of support. In addition to foot placement, ankle moments serve to control the CoP. We hypothesized that, during steady-state walking, single stance ankle moments establish a CoP shift to correct for errors in foot placement. We expected ankle muscle activity to be associated with this complementary CoP shift. During treadmill walking, full-body kinematics, ground reaction forces and electromyography were recorded in thirty healthy participants. We found a negative relationship between preceding foot placement error and CoP displacement during single stance; steps that were too medial were compensated for by a lateral CoP shift and vice versa, steps that were too lateral were compensated for by a medial CoP shift. Peroneus longus, soleus and tibialis anterior activity correlated with these CoP shifts. As such, we identified an (active) ankle strategy during steady-state walking. As expected, absolute explained CoP variance by foot placement error decreased when walking with shoes constraining ankle moments. Yet, contrary to our expectations that ankle moment control would compensate for constrained foot placement, the absolute explained CoP variance by foot placement error did not increase when foot placement was constrained. We argue that this lack of compensation reflects the interdependent nature of ankle moment and foot placement control. We suggest that single stance ankle moments do not only compensate for preceding foot placement errors, but also assist control of the subsequent foot placement. Foot placement and ankle moment control are ‘caught’ in a circular relationship, in which constraints imposed on one will also influence the other.

BackgroundAmbulatory measurements of trunk accelerations can provide valuable insight into the amount and quality of daily life activities. Such information has been used to create models that aim to identify individuals at high risk of falls. However, external validation of such prediction models is lacking, yet crucial for clinical implementation. We externally validated three previously described fall prediction models (van Schooten et al., 2015a).MethodsComplete questionnaires and one week of trunk acceleration data were obtained in 263 community-dwelling people (mean age 71.8 years, 68.1% female). To validate models, we first used the coefficients and optimal cut-offs from original cohort, then recalibrated the original models, as well as optimized parameters based on our new cohort.ResultsAmong all participants, 39.9% experienced falls during 6-month follow-up. All models showed poor precision (0.20-0.49), poor sensitivity (0.32-0.58), and good specificity (0.45-0.89). Calibration of the original models had limited effect on model performance. Using coefficients and cut-offs optimized on the external cohort also had limited benefit. Last, the odds ratios in our cohort were different from those in the original cohort and indicated that gait characteristics, except for index of harmonicity ML, were not statistically significantly associated with falls.ConclusionsPrediction of fall risk in our cohort was not as effective as in the original cohort. Recalibration as well as optimized model parameters resulted in limited increase in accuracy. Fall prediction models are highly specific to the cohort studied. This highlights the need for large representative cohorts, preferably with an external validation cohort.

Mediolateral ankle moment control contributes to gait stability. Ankle moments can be constrained by walking with a shoe with a ridge underneath the sole, narrowing the mediolateral support surface. In our previous study, such ankle moment constraints resulted in an increased step width and a decrease in the degree of foot placement control, as defined by the percentage of variance in foot placement that can be explained by CoM state. However, since our previous study was performed on a split-belt treadmill and the narrow ridge could fit inside the gap between the belts, it is not evident whether these effects can be attributed to the constrained ankle moment control or to avoidance of this gap. Therefore, we investigated if the effects of ankle moment constraints are dependent on whether participants walk on a normal treadmill or a split-belt treadmill. We included fourteen healthy young adults. Walking with constrained ankle moment control resulted in a wider step width on both treadmills. Yet, the increase in step width was larger on the split-belt treadmill compared to on the normal treadmill. We only found a decreased degree of foot placement control on the split-belt treadmill, whilst the degree of foot placement control increased on the normal treadmill. We conclude that the effects of ankle moment constraints reported in our previous study were confounded by the use of a split-belt treadmill. For future research, we recommend using a normal treadmill whenever possible, because the gap in a split-belt treadmill might affect gait parameters.

Chronic low back pain patients have been observed to show a reduced shift of thorax-pelvis relative phase towards out-of-phase movement with increasing speed compared to healthy controls. Here, we review the literature on this phase shift in patients with low back pain and we analyze the results presented in literature in view of the theoretical motivations to assess this phenomenon. Initially, based on the dynamical systems approach to movement coordination, the shift in thorax-pelvis relative phase with speed was studied as a self-organizing transition. However, the phase shift is gradual, which does not match a self-organizing transition. Subsequent emphasis in the literature therefore shifted to a motivation based on biomechanics. The change in relative phase with low back pain was specifically linked to expected changes in trunk stiffness due to ‘guarded behavior’. We found that thorax-pelvis relative phase is affected by several interacting factors, including active drive of thorax rotation through trunk muscle activity, stride frequency and the magnitude of pelvis rotations. Large pelvis rotations and high stride frequency observed in low back pain patients may contribute to the difference between patients and controls. This makes thorax-pelvis relative phase a poor proxy of trunk stiffness. In conclusion, thorax-pelvis relative phase cannot be considered as a collective variable reflecting the orderly behaviour of a complex underlying system, nor is it a marker of specific changes in trunk biomechanics. The fact that it is affected by multiple factors may explain the considerable between-subject variance of this measure in low back pain patients and healthy controls alike.

During walking, the center of mass (CoM) position can be controlled relative to the base of support by shifts of the center of pressure through modulation of foot placement and ankle moments (CoP-mechanism). An additional mechanism is the counter-rotation mechanism, i.e. changing the angular momentum of segments around the CoM to change the direction of the ground reaction force. It is unknown if, and how, humans use the counterrotation mechanism to accelerate the CoM during walking and how this interacts with the CoP-mechanism. Thirteen healthy adults walked on a treadmill, while full-body kinematic and force plate data were obtained. The contributions of the CoP and the counter-rotation mechanisms to CoM-acceleration during steady-state walking, walking on LesSchuh (i.e. constraining mediolateral CoP shifts underneath the stance foot) and walking on LesSchuh at 50% of normal step width, constraining both foot placement and ankle mechanisms (LesSchuh50%) were calculated. The within-stride variance in CoM-acceleration due to the CoP-mechanism was smaller and the within-stride variance in CoM-acceleration due to the counter-rotation mechanism was larger during LesSchuh50% compared to steady-state walking. This suggests that the counter-rotation mechanism is used to stabilize gait when needed, but the CoP-mechanism was the main contributor to the total CoMacceleration. The use of the counter-rotation mechanism may be limited, because angular accelerations ultimately need to be reversed and because of interference with other task constraints, such as head stabilization and preventing interference with the gait pattern. Sjoerd M. Bruijn was supported by a grant from the Netherlands Organization for Scientific Research (NWO#451-12-041). The authors are thankful for all participants, Leon Schutte for technical support and Moira van Leeuwen and Marijne Nieuwelink for assistance during data collection.

To walk safely in their environment, people need to select adequate movement strategies during gait. In situations that are perceived as more threatening, older adults adopt more cautious strategies. For individuals with excessive fear, selecting adequate strategies might be troubling. We investigated how a postural threat affects the selection of strategies within and between older adults by using a stepping-down paradigm. In twenty-four older adults we determined the height at which they switched in stepping-down strategies from a less demanding but more balance threatening heel landing to a more demanding yet safer toe landing. We expected that this switching height would be lower in the high (0.78 m elevation) compared to low threat (floor level) condition. Furthermore, we investigated if older adults, for which the postural threat evoked an increase in the perceived fear, presented a different stepping down strategy due to the postural threat. Our results indicated that the postural threat changed older adults’ strategies selection towards a more conservative toe landing. Hence, despite the additional effort, older adults prefer more cautious strategies during a postural threat. No effects of perceived fear on strategy selection between individuals were observed, potentially due to relatively small differences in fear among participants.

Background People at early stages of multiple sclerosis have subtle balance problems that may affect gait stability. However, differences in methods of determining stability such as sensor type and placements, may lead to different results and affect their interpretation when comparing to controls and other studies. Questions Do people with multiple sclerosis (PwMS) exhibit lower gait stability? Do location and type of data used to calculate stability metrics affect comparisons? Methods 30 PwMS with no walking impairments as clinically measured and 15 healthy controls walked on a treadmill at 1.2 ms−1 while 3D acceleration data was obtained from sacrum, shoulder and cervical markers and from an accelerometer placed at the sacrum. The local divergence exponent was calculated for the four data sources. An ANOVA with group (multiple sclerosis and control) and data source as main factors was used to determine the effect of disease, data source and their interaction on stability metrics. Results PwMS walked with significantly less stability according to all sensors (no interaction). A significant effect of data source on stability was also found, indicating that the local divergence exponent derived from sacrum accelerometer was lower than that derived from the other 3 sensor locations. Significance PwMS with no evident gait impairments are less stable than healthy controls when walking on a treadmill. Although different data sources can be used to determine MS-related stability deterioration, a consensus about location and data source is needed. The local divergence exponent can be a useful measure of progression of gait instability at early stages of MS.

During human walking, the centre of mass (COM) laterally oscillates, regularly transitioning its position above the two alternating support limbs. To maintain upright forward-directed walking, lateral COM excursion should remain within the base of support, on average. As necessary, humans can modify COM motion through various methods, including foot placement. How the nervous system controls these oscillations and the costs associated with control are not fully understood. To examine how lateral COM motions are controlled, healthy participants walked in a ‘Movement Amplification’ force field that increased lateral COM momentum in a manner dependent on the participant's own motion (forces were applied to the pelvis proportional to and in the same direction as lateral COM velocity). We hypothesized that metabolic cost to control lateral COM motion would increase with the gain of the field. In the Movement Amplification field, participants were significantly less stable than during baseline walking. Stability significantly decreased as the field gain increased. Participants also modified gait patterns, including increasing step width, which increased the metabolic cost of transport as the field gain increased. These results support previous research suggesting that humans modulate foot placement to control lateral COM motion, incurring a metabolic cost.

Our aim was to evaluate differences in gait acceleration intensity, variability and stability of feet and trunk between older females and young females using inertial sensors. Twenty older females (OF; mean age 68.4, SD 4.1 years) and eighteen young females (YF; mean age 22.3, SD 1.7 years) were asked to walk straight for 100 meters at their preferred speed, while wearing inertial sensors on heels and lower back. We calculated spatiotemporal measures, foot and trunk acceleration characteristics and their variability, as well as trunk stability using the local divergence exponent (LDE). Two way analysis of variance (including the factors foot and age), Student t test, and Mann Whitney U test were used to compare statistical differences of measures between groups. Effect size was calculated for each variable. Foot maximum vertical acceleration and amplitude, trunk-foot vertical acceleration attenuation, as well as their variability were significantly smaller in OF than in YF. In contrast, trunk mediolateral acceleration amplitude, maximum vertical acceleration, and amplitude, as well as their variability were significantly larger in OF than in YF. Moreover, OF showed lower stability (i.e., higher LDE values) in mediolateral acceleration, mediolateral and vertical angular velocity of the trunk. Even though we measured healthy older females, these participants showed lower vertical foot accelerations with higher vertical trunk acceleration, lower trunk-foot vertical acceleration attenuation, less gait stability, and more variability of the trunk, and hence, were more likely to fall. These findings suggest that instrumented gait measurements may help for early detection of changes or impairments in gait performance, even before this can be observed by clinical eye or gait speed. Keywords: walking, aging, wearable system, motor control, balance

Vestibular information modulates muscle activity during gait, presumably to contribute to stability. If this is the case, stronger effects of perturbing vestibular information on local dynamic stability of gait, a measure of the locomotor system's response to small, naturally occurring perturbations, can be expected for narrow-base walking (which needs more control) than for normal walking and smaller effects for wide-base walking (which needs less control). An important mechanism to stabilize gait is to coordinate foot placement to center of mass (CoM) state. Vestibular information most likely contributes to sensing this CoM state. We, therefore, expected that stochastic electrical vestibular stimulation (EVS) would decrease the correlation between foot placement and CoM state during the preceding swing phase. In 14 healthy participants, we measured the kinematics of the trunk (as a proxy of the CoM), and feet, while they walked on a treadmill in six conditions: control (usual step width), narrow-base, and wide-base, each with and without stochastic EVS (peak amplitude of 5 mA; RMS of ~ 1.2 mA; frequency band from 0 to 25 Hz). Stochastic EVS decreased local dynamic stability irrespective of step width. Foot placement correlated stronger with trunk motion during walking with EVS than without in the control condition. However, residual variance in foot placement was increased when walking with EVS, indicating less precise foot placement. Thus, a vestibular error signal leads to a decrease in gait stability and precision of foot placement, but these effects are not consistently modulated by step width.

Previous studies have estimated the energy cost required for the control of medio-lateral stability in human walking by means of external lateral stabilization. Results were inconsistent, possibly due to differences in task constraints or stabilization devices. To better understand the effects of lateral stabilization on energy cost, we conducted a systematic review with meta-analysis of studies, which directly assessed effects of lateral stabilization on energy cost in healthy young adult participants (18-41 years old). We obtained individual participant data on net energy cost (J kg-1 m-1) from previously published studies. Across all studies reviewed, the net energy cost reduction during stabilized walking at preferred and zero step widths equaled to 0.05 ± 0.35 (~2-3% reduction) and 0.25 ± 0.29 J kg-1 m-1 (mean ± s.d.) (~8-9% reduction), respectively. The effect of external lateral stabilization was significant only for walking at zero step width and without arm swing. Lateral stabilization devices with short rope length increased energy cost reduction. However, spring stiffness and habituation time did not influence energy cost reduction. We provide recommendations for improvement of lateral stabilization devices to avoid some of the confounding effects. External lateral stabilization reduces energy cost during walking by a small amount. It can be concluded that a small proportion of total energy cost is required to control medio-lateral stability; this proportion is larger when walking with narrow steps and without arm swing.

Stable walking relies critically on motor responses to signals of head motion provided by the vestibular system, which are phase-dependent and modulated differently within each muscle. It is unclear, however, whether these vestibular contributions also vary according to the stability of the walking task. Here we investigate how vestibular signals influence muscles relevant for gait stability (medial gastrocnemius, gluteus medius and erector spinae) – as well as their net effect on ground reaction forces – while humans walked normally, with mediolateral stabilization, wide and narrow steps. We estimated local dynamic stability of trunk kinematics together with coherence of electrical vestibular stimulation (EVS) with muscle activity and mediolateral ground reaction forces. Walking with external stabilization increased local dynamic stability and decreased coherence between EVS and all muscles/forces compared to normal walking. Wide-base walking also decreased vestibulomotor coherence, though local dynamic stability did not differ. Conversely, narrow-base walking increased local dynamic stability, but produced muscle-specific increases and decreases in coherence that resulted in a net increase in vestibulomotor coherence with ground reaction forces. Overall, our results show that while vestibular contributions may vary with gait stability, they more critically depend on the stabilization demands (i.e. control effort) needed to maintain a stable walking pattern.

It is still unclear how humans control mediolateral (ML) stability in walking and even more so for running. Here, foot placement strategy as a main mechanism to control ML stability was compared between walking and running. Moreover, to verify the role of foot placement as a means to control ML stability in both modes of locomotion, this study investigated the effect of external lateral stabilization on foot placement control. Ten young adults participated in this study. Kinematic data of the trunk (T6) and feet were recorded during walking and running on a treadmill in normal and stabilized conditions. Correlation between ML trunk CoM state and subsequent ML foot placement, step width, and step width variability were assessed. Paired t-tests (either SPM1d or normal) were used to compare aforementioned parameters between normal walking and running. Two-way repeated measures ANOVAs (either SPM1d or normal) were used to test for effects of walking vs. running and of normal vs. stabilized condition. We found a stronger correlation between ML trunk CoM state and ML foot placement and significantly higher step width and step width variability in walking than in running. The correlation between ML trunk CoM state and ML foot placement, step width, and step width variability were significantly decreased by external lateral stabilization in walking and running, and this reduction was stronger in walking than in running. We conclude that ML foot placement is coordinated to ML trunk CoM state to stabilize both walking and running and this coordination is stronger in walking than in running.

A recent review indicated that perturbation-based training (PBT) interventions are effective in reducing falls in older adults and patients with Parkinson's disease. It is unknown whether this type of intervention is effective in stroke survivors. We determined whether PBT can enhance gait stability in stroke survivors. A total of 10 chronic stroke survivors who experienced falls in the past 6 months participated in the PBT. Participants performed 10 training sessions over a 6-week period. The gait training protocol was progressive, and each training contained unexpected gait perturbations and expected gait perturbations. Evaluation of gait stability was performed by determining steady-state gait characteristics and daily-life gait characteristics. We previously developed fall prediction models for both gait assessment methods. We evaluated whether predicted fall risk was reduced after PBT according to both models. Steady-state gait characteristics significantly improved, and consequently, predicted fall risk was reduced after the PBT. However, daily-life gait characteristics did not change, and thus, predicted fall risk based on daily-life gait remained unchanged after the PBT. A PBT resulted in more stable gait on a treadmill and thus lower predicted fall risk. However, the more stable gait on the treadmill did not transfer to a more stable gait in daily life.

Manipulability is a measure that quantifies the range of possible motions of a robotic end-effector and it is also an important measure in the study of coordination of human upper body and grasping tasks. This measure, which is defined on both the kinematic and dynamic level, could be useful in gait, as it could be used to determine potential foot placement possibilities. Kinematic manipulability is defined based on the Jacobian and dynamic manipulability on both the Jacobian and mass-inertia matrix. The main purpose of this study was to evaluate the manipulability of human walking and to explore a possible relation between the manipulability and dynamic stability of walking at different speeds. A 37-DoF tree-like model of the human body was developed to evaluate the manipulability index of human walking. We measured kinematics of 11 healthy male subjects while walking on a treadmill, and mapped the data to the model using inverse kinematics. Jacobian based kinematic/dynamic manipulability measures of walking were evaluated for the swing phase of walking. Manipulability ellipsoids were drawn for geometric determination of this measure in all directions during early, mid- and late swing phases. As stability metrics, the local divergence exponent and Floquet Multipliers were calculated. The results indicated a high kinematic manipulability of the swing foot during early and late swing phases and a drop in kinematic manipulability during mid-swing. Kinematic manipulability of the swing leg during early and late (but not mid-) swing phases increased with walking speed but the average kinematic manipulability of the center of mass and dynamic manipulability of swing foot decreased with increasing walking speed. Moreover, the results showed a weak relation between the manipulability and local and orbital stability.

Training improves balance control in older adults, but the time course and neural mechanisms underlying these improvements are unclear. We studied balance robustness and performance, H-reflex gains, paired reflex depression, and co-contraction duration in ankle muscles after one and ten training sessions in 22 older adults (+65yrs). Mediolateral balance robustness, time to balance loss in unipedal standing on a platform with decreasing rotational stiffness, improved (33%) after one session, with no further improvement after ten sessions. Balance performance, absolute mediolateral center of mass velocity, improved (18.75%) after one session in perturbed unipedal standing and (18.18%) after ten sessions in unperturbed unipedal standing. Co-contraction duration of soleus/tibialis anterior increased (16%) after ten sessions. H-reflex gain and paired reflex depression excitability did not change. H-reflex gains were lower, and soleus/tibialis anterior co-contraction duration was higher in participants with more robust balance after ten sessions, and co-contraction duration was higher in participants with better balance performance at several time-points. Changes in robustness and performance were uncorrelated with changes in co-contraction duration, H-reflex gain, or paired reflex depression. In older adults, balance robustness improved over a single session, while performance improved gradually over multiple sessions. Changes in co-contraction and excitability of ankle muscles were not exclusive causes of improved balance.HighlightsBalance robustness and balance performance in perturbed unipedal standing was improved after one balance training session, with no further improvement after ten sessions.Balance performance in unperturbed unipedal standing was improved after ten sessionsH-reflex and paired reflex depression did not change after training in unipedal or bipedal standing.Co-contraction duration of antagonistic ankle muscles increased after ten sessions in perturbed and unperturbed unipedal standing.Changes in co-contraction duration and excitability of ankle muscles were not exclusive causes of improved balance.

Identification of individuals at risk of falling is important when designing fall prevention methods. Current measures that estimate gait stability and robustness appear limited in predicting falls in older adults. Inspired by recent findings on changes in phase-dependent local stability within a gait cycle, we devised several phase-dependent stability measures and tested for their usefulness to predict gait robustness in compass walker models. These measures are closely related to the often-employed maximum finite-time Lyapunov exponent and maximum Floquet multiplier that both assess a system's response to infinitesimal perturbations. As such, they entail linearizing the system, but this is realized in a rotating hypersurface orthogonal to the period-one solution followed by estimating the trajectory-normal divergence rate of the swing phases and the foot strikes. We correlated the measures with gait robustness, i.e. the largest perturbation a walker can handle, in two compass walker models with either point or circular feet to estimate their prediction accuracy. To also test for the dependence of the measures under state space transform, we represented the point feet walker in both Euler–Lagrange and Hamiltonian canonical form. Our simulations revealed that for most of the measures their correlation with gait robustness differs between models and between different state space forms. In particular, the latter may jeopardize many stability measures' predictive capacity for gait robustness. The only exception that consistently displayed strong correlations is the divergence of foot strike. Our results admit challenges of using phase-dependent stability measures as objective means to estimate the risk of falling.

Recovering balance after perturbations becomes challenging with aging, but an effective balance training could reduce such challenges. In this study, we examined the effect of balance training on feedback control after unpredictable perturbations by investigating balance performance, recovery strategy, and muscle synergies. We assessed the effect of balance training on unipedal perturbed balance in twenty older adults (>65 years) after short-term (one session) and long-term (3-weeks) training. Participants were exposed to random medial and lateral perturbations consisting of 8-degree rotations of a robot-controlled balance platform. We measured full-body 3D kinematics and activation of 9 muscles (8 stance leg muscles, one trunk muscle) during 2.5 s after the onset of perturbation. The perturbation was divided into 3 phases: phase1 from the onset to maximum rotation of the platform, phase 2 from the maximum rotation angle to the 0-degree angle and phase 3 after platform movement. Balance performance improved after long-term training as evidenced by decreased amplitudes of center of mass acceleration and rate of change of body angular momentum. The rate of change of angular momentum did not directly contribute to return of the center of mass within the base of support, but it reoriented the body to an aligned and vertical position. The improved performance coincided with altered activation of synergies depending on the direction and phase of the perturbation. We concluded that balance training improves control of perturbed balance, and reorganizes feedback responses, by changing temporal patterns of muscle activation. These effects were more pronounced after long-term than short-term training.

Step-by-step foot placement control, relative to the center of mass (CoM) kinematic state, is generally considered a dominant mechanism for maintenance of gait stability. By adequate (mediolateral) positioning of the center of pressure with respect to the CoM, the ground reaction force generates a moment that prevents falling. In healthy individuals, foot placement is complemented mainly by ankle moment control ensuring stability. To evaluate possible compensatory relationships between step-by-step foot placement and complementary ankle moments, we investigated the degree of (active) foot placement control during steady-state walking, and under either foot placement-, or ankle moment constraints. Thirty healthy participants walked on a treadmill, while full-body kinematics, ground reaction forces and EMG activities were recorded. As a replication of earlier findings, we first showed step-by-step foot placement is associated with preceding CoM state and hip ab-/adductor activity during steady-state walking. Tight control of foot placement appears to be important at normal walking speed because there was a limited change in the degree of foot placement control despite the presence of a foot placement constraint. At slow speed, the degree of foot placement control decreased substantially, suggesting that tight control of foot placement is less essential when walking slowly. Step-by-step foot placement control was not tightened to compensate for constrained ankle moments. Instead compensation was achieved through increases in step width and stride frequency.