Inverse dynamics is a technique in which measured kinematics and, possibly, external forces are used to calculate net joint torques in a rigid body linked segment model. However, kinematics and forces are usually not consistent due to incorrect modelling assumptions and measurement errors. This is commonly resolved by introducing ‘residual forces and torques’ which compensate for this problem, but do not exist in reality. In this study a constrained optimization algorithm is proposed that finds the kinematics that are mechanically consistent with measured external forces and mimic the measured kinematics as closely as possible. The algorithm was tested on datasets containing planar kinematics and ground reaction forces obtained during human walking at three velocities (0.8 m/s, 1.25 and 1.8 m/s). Before optimization, the residual force and torque were calculated for a typical example. Both showed substantial values, indicating the necessity of developing a mechanically consistent algorithm. The proposed optimization algorithm converged to a solution in which the residual forces and torques were zero, without changing the ground reaction forces and with only minor changes to the measured kinematics. When using a rigid body approach, our algorithm ensures a consistent description of forces and kinematics, thereby improving the validity of calculated net joint torque and power values.

Purpose The purpose of this study was to determine whether net metabolic cost of walking is affected by age per se. Methods We selected 10 healthy, active older adults (mean age 75 years) and 10 young adults (mean age 26 years), and determined their preferred overground walking speed. On the same day, in a morning and afternoon session, we had them walk at that speed overground and on a treadmill while we measured oxygen consumption rate. From the latter we subtracted the rate in sitting and calculated net metabolic cost. Results Anthropometrics were not different between the groups nor was preferred walking speed (1.27 m s−1 both groups). There was no difference in net metabolic cost of overground walking between older and young adults (e.g., in the morning 2.64 and 2.56 J kg−1 m−1, respectively, p > 0.05). In the morning session, net metabolic cost of walking was higher on the treadmill than overground in our older adults by 0.6 J kg−1 m−1 (p < 0.05), but not in young adults. Conclusion First, there is no effect of age per se on metabolic cost of overground walking. Second, older adults tend to have higher metabolic cost of walking on a treadmill than walking overground at preferred speed, and adaptation may take a long time. The commonly reported age-related elevation of metabolic cost of walking may be due to confounding factors causing preferred walking speed to be lower in older adults, and/or due to older adults reacting differently to treadmill walking than young adults.

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