The effect of external lateral stabilization on ankle moment control during steady-state walking

Leeuwen, A.M. van; Dieën, Jaap H. van; Bruijn, Sjoerd M.

doi:10.1016/j.jbiomech.2022.111259

Cited by 8 publications

(6 citation statements)

References 26 publications

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“…As the foot extends further in the anteroposterior as compared to the mediolateral direction, more (effective) center of pressure modulation can be achieved in the anteroposterior direction. However, despite the limited width of the foot, mediolateral center of pressure modulation during single stance also functions as a stabilizing mechanism during steady-state walking 28,29,30 .…”

Section: Stance Leg Controlmentioning

confidence: 99%

“…the residual of the foot placement model described in section 2.1, predicts the mediolateral center of pressure shift during single stance 28 . That these center of pressure shifts act as a stabilizing mechanism, is likely, as they disappear when walking with external lateral stabilization 30 . So mediolateral ankle moments correct for foot placement errors to stabilize gait during the new stance phase.…”

Section: Stance Leg Controlmentioning

confidence: 99%

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Mechanisms that stabilize human walking

Leeuwen

Bruijn

Dieën

2022

BJMB

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In this paper we review what mechanisms are used to stabilize human bipedal gait. Based on mechanical reasoning, potential mechanisms to control the body center of mass trajectory are modulation of foot placement, stance leg control consisting of modulation of ankle moments and push-off forces, and modulations of the body’s angular momentum. The first two mechanisms and especially the first are dominant in controlling center of mass accelerations during gait, while angular momentum control plays a lesser role, but may be important to control body alignment and orientation. The same control mechanisms stabilize both steady-state and perturbed gait in both the mediolateral and antero-posterior directions. Control is at least in part active and is affected by proprioceptive, visual and vestibular information. Results support that this reflects a feedback process in which sensory information is used to obtain an estimate of the center of mass state based on which foot placement and ankle moments are modulated. These active feedback mechanisms suggest training approaches for populations at risk of falling, such as augmenting their effective use by means of augmented feedback, or using their complementary nature to train one mechanism by constraining the other mechanisms.

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Section: Stance Leg Controlmentioning

confidence: 99%

Section: Stance Leg Controlmentioning

confidence: 99%

Mechanisms that stabilize human walking

Leeuwen

Bruijn

Dieën

2022

BJMB

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“…The third aspect potentially responsible for the observed discrepancy between model predictions and experimental data is ankle roll control, which, we will argue, is likely to be the main factor. Ankle roll is a control mechanism for stability during walking, where humans actively use lateral ankle musculature during single stance to move the body in a desired direction [35][36][37][38][39][40]. Ankle roll and foot placement control interact with each other.…”

Section: How Is the Model Useful?mentioning

confidence: 99%

The condition for dynamic stability in humans walking with feedback control

Reimann,

Bruijn

2024

PLoS Comput Biol

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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.

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“…Ankle Roll The third aspect potentially responsible for the observed discrepancy between model predictions and experimental data is ankle roll control, which, we will argue, is likely to be the main factor. Ankle roll is a control mechanism for stability during walking, where humans actively use lateral ankle musculature during single stance to move the body in a desired direction [31][32][33][34][35][36]. Ankle roll and foot placement control interact with each other.…”

Section: Effective Leg Lengthmentioning

confidence: 99%

The condition for dynamic stability in humans walking with feedback control

Reimann

Bruijn

2023

Preprint

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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.

show abstract

The effect of external lateral stabilization on ankle moment control during steady-state walking

Cited by 8 publications

References 26 publications

Mechanisms that stabilize human walking

Mechanisms that stabilize human walking

The condition for dynamic stability in humans walking with feedback control

The condition for dynamic stability in humans walking with feedback control

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