The spinal cord contains the neural circuitry needed to generate rhythmic walking motions, and afferent sensory feedbacks are involved in the control of locomotion. In this study, we examined the influence of periodic electrical stimulation on the change in gait cycle period during treadmill walking. 40 subjects walked on a treadmill while receiving periodic bursts of electrical stimulation at various perturbation periods (-20, -40, -60, +20, +40 milliseconds from their initial gait cycle periods). Eleven subjects received electrical stimulation to the hamstring, and 29 received electrical stimulation to the calf. Each subject completed four trials; two trials were conducted using high amplitude stimulation causing a slight degree of joint motion, and the other two trials were conducted using reduced amplitude stimulation which did not cause observable motion. Through the trials, we sought to answer the following questions: 1) does the amplitude of electrical stimulation have an effect on the level of entrainment? 2) does the stimulation site effect the level of entrainment? Entrainment refers to the synchronization of gait cycle period to the period of electrical stimulation. The results showed that entrainment was observed when the perturbation periods were induced relatively close to the subject’s initial gait cycle period. For both stimulation sites, entrainment was shown in 59% of subjects at +/- 20 milliseconds from the initial gait cycle period. With reduced amplitude, entrainment was still observed (51% all stimulation site groups at +/- 20 milliseconds). In addition, after-effects following electrical perturbation were present as seen by changes in the mean gait cycle period. Our results suggest that human locomotor control is organized with a semi-autonomous peripheral oscillator influenced by afferent information, and that electrical stimulation has the potential to be a simpler, and cost-effective tool for locomotion rehabilitation.

Our prior work provides evidence that visual feedback distortion drives an implicit adaptation; a gradual distortion of visual representation of step length modulated subjects' step lengths away from symmetry. To further explore the effect of the visual feedback distortion on unconscious change in step symmetry, we investigated whether such adaptation would occur even in the presence of altered limb mechanics by adding mass to one side of the leg. 26 subjects performed three 8-min trials (weight only, weight plus visual feedback, and weight plus visual feedback distortion) of treadmill walking. During the weight only trial, the subjects wore a 5 lb mass around the right ankle. The modification of limb inertia caused asymmetric gait. The visual feedback showing right and left step length information as bar graphs was displayed on a computer screen. To add visual feedback distortion, we increased the length of one side of the visual bars by 10% above the actual step length, and the visual distortion was implemented for the side that took longer in response to the added mass. We found that even when adjustments were made to unilateral loading, the subjects spontaneously changed their step symmetry in response to the visual distortion, which resulted in a more symmetric gait. This change may be characterized by sensory prediction errors, and our results suggest that visual feedback distortion has a significant impact on gait symmetry regardless of other conditions affecting limb mechanics. A rehabilitation program employing visual feedback distortion may provide an effective way to restore gait symmetry.