One of the goals of this study was to examine the nature and role of distant visual information sampled during locomotion in the feedforward control of leading and trailing limb while an individual is required to step over an obstacle in the travel path. In addition we were interested in whether or not on-line visual information available while the limb (lead or trail) is stepping over the obstacle influences limb trajectory control and whether the information provided during lead limb cross would be used to calibrate movement of the trail limb. Towards this end, we manipulated availability of vision following an initial dynamic sampling period during the approach phase in proximity to the obstacle and during the lead and trail limb stepping over the obstacle. Ten participants completed 40 trials of obstacle crossing in 8 testing conditions. Initial dynamic visual sampling was sufficient to ensure successful task performance in the absence of vision in the approach phase and during both lead and trail limb stepping over the obstacle. Despite successful task performance, foot placement of the lead and trail limb before obstacle crossing and limb elevation over the obstacle were increased after withdrawal of vision in the approach area. Furthermore, the correlation between toe clearance and foot placement was diminished. While both limbs require feedforward visual information to control the step over the obstacle, only lead limb elevation was influenced by availability of on-line visual information during obstacle crossing. Results were in agreement with the notion of primacy of information inherent in the optic array over those from static samples of the environment in guiding locomotion. It is suggested that the expected proprioceptive feedback information associated with the limb posture before the obstacle, reconstructed using visual memory from dynamic sampling of the environment, mismatched with those from the actual limb position. Accordingly, participants adopted a different strategy that enabled them to clear the obstacle with a higher safety margin.

The goal of this study was to validate dynamic stability and forward progression determinants for the alternate foot placement selection algorithm. Participants were asked to walk on level ground and avoid stepping, when present, on a virtual white planar obstacle. They had a one-step duration to select an alternate foot placement, with the task performed under two conditions: free (participants chose the alternate foot placement that was appropriate) and forced (a green arrow projected over the white planar obstacle cued the alternate foot placement). To validate the dynamic stability determinant, the distance between the extrapolated center of mass (COM) position, which incorporates the dynamics of the body, and the limits of the base of support was calculated in both anteroposterior (AP) and mediolateral (ML) directions in the double support phase. To address the second determinant, COM deviation from straight ahead was measured between adaptive and subsequent steps. The results of this study showed that long and lateral choices were dominant in the free condition, and these adjustments did not compromise stability in both adaptive and subsequent steps compared with the short and medial adjustments, which were infrequent and adversely affected stability. Therefore stability is critical when selecting an alternate foot placement in a cluttered terrain. In addition, changes in the plane of progression resulted in small deviations of COM from the endpoint goal. Forward progression of COM was maintained even for foot placement changes in the frontal plane, validating this determinant as part of the selection algorithm.

Abstract-Several structures of the central nervous system share involvement in both ocular and postural control, but the visual mechanisms in postural control are still unclear. There are discrepant evidences on whether saccades would improve or deteriorate stabilization of posture. The purpose of this study was to determine the influence of saccadic eye movements on postural control while standing in different basis of support. Twelve young adults stood upright in wide and narrow stances while performing fixation and saccades of low and high frequencies. Body sway was attenuated during saccades. Trunk anterior-posterior sway and trunk total displacement decreased during saccades compared to fixation; higher sway mean frequency in anterior-posterior direction during saccades was observed. Body sway was reduced in wide compared to narrow stance during high frequency saccades. These results indicate that eye movement improves postural stabilization and this effect is stronger in combination of wide stance-high frequency gaze condition. Keywords: saccades, eye movements, postureResumo-"Efeitos dos movimentos sacádicos oculares na estabilização do controle postural." Várias estruturas do sistema nervoso central compartilham envolvimento nos controles ocular e postural, mas os mecanismos visuais no controle postural ainda não estão claros. Existem evidências discrepantes sobre a possibilidade de movimentos sacádicos melhorarem ou deteriorarem a estabilização postural. O objetivo desse estudo foi determinar a influência de movimentos sacádicos dos olhos sobre o controle postural em diferentes bases de apoio. Doze adultos jovens ficaram em pé, mantendo a postura sobre base ampla e restrita enquanto realizavam fixações e movimentos sacádicos de baixa e alta frequência. Oscilação corporal foi atenuada durante movimentos sacádicos. A oscilação do tronco na direção ântero-posterior e o deslocamento total do tronco diminuíram durante movimentos sacádicos comparados à fixação; maior frequência média de oscilação na direção ântero-posterior durante movimentos sacádicos também foi observada. Oscilação corporal foi reduzida em postura com base ampla comparada à restrita durante movimentos sacádicos de alta frequência. Estes resultados indicam que o movimento do olho melhora a estabilização postural e este efeito é mais forte na condição que combina base ampla e alta frequência do olhar.Palavras-chaves: movimentos sacádicos; movimentos dos olhos, posturaResumen-"Efectos de los movimientos sacádicos oculares en la estabilización de control postural." Varias estructuras del sistema nervioso central comparten de participación en los controles ocular y de postura. Existen pruebas dispares sobre lo movimiento sacádico mejorar o deteriorar la estabilización postural. El objetivo de este estudio fue determinar la influencia de los movimientos oculares sacádicos sobre el control postural en diferentes bases de apoyo. Doce jóvenes quedaram de pie manteniendo la postura de base amplia y restringido mientras

During locomotion in a cluttered terrain, certain terrain surfaces such as an icy one are not appropriate for foot placement; an alternate choice is required. In a previous study we showed that the selection of foot placement is not random but systematic; the dominant choices made are not uniquely defined by the available or predicted sensory inputs. We argued that selection is guided by specific rules and involves minimal displacement of the foot from its normal landing spot. The experimental protocol involved implicit spatial constraint by requiring individuals to step on the force plate that could trigger a lighted area to be avoided, thereby requiring individuals to respond within one step-cycle. Alternate foot placement was visually identified, but not measured. The purpose of this study was to directly measure foot placement, validate and/or refine the rules used to guide selection, and identify whether the alternate foot placement choices are influenced by spatial and temporal constraints on response selection. The area to be avoided was visible from the start and therefore individuals could plan and implement appropriate avoidance strategies without any temporal constraint. Spatial constraint introduced in this experiment included requirement both to step on a specific location and to avoid stepping on a specific location on the next step. The results provide support for the rules previously identified in guiding foot placement to an alternate location. Minimal displacement of the foot from its normal landing spot was validated as an important factor for selecting alternate foot placement. When several choices satisfied this factor, additional factors guide alternate foot placement. Modifications in the plane of progression are preferred while stepping wide is avoided. When no temporal constraints are imposed on the response selection, enhancing forward progression of the body becomes the dominant determinant followed by stability and lastly by energy costs associated with the modifications. A decision algorithm for selecting foot placement is proposed based on these findings. It is clear that while visual input plays a critical role in guiding foot placement, it is not entirely based on reactive control. This has implications for implementing visually guided adaptive locomotion in legged robots.

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