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1. Kinetic coupling in distal foot joints during walking

   https://doi.org/10.1186/s13047-023-00643-x  

   Williams, Lauren R. ; Arch, Elisa S. ; Bruening, Dustin A. ( July 2023 , Journal of Foot and Ankle Research)

   Kinematic coupling between the first metatarsophalangeal (MTP) and midtarsal joints is evident during gait and other movement tasks, however kinetic foot coupling during walking has not been examined. Furthermore, contributing factors to foot coupling are still unclear. Therefore, the purpose of this study was to investigate kinematic and kinetic coupling within the foot by restricting MTP motion during overground walking. We hypothesized that when the MTP joint was prevented from fully extending, the midtarsal joint would achieve less peak motion and generate less positive work compared to walking with normal MTP motion.

   Twenty‐six individuals participated in this randomized cross‐over study. Using motion capture to track motion, participants walked at 1.3 m/s while wearing a brace that restricted MTP motion in a neutral (BR_NT) or extended (BR_EX) position. Additionally, participants walked while wearing the brace in a freely moveable setting (BR_UN) and with no brace (CON). A pressure/shear sensing device was used to capture forces under each foot segment. During stance, peak joint motion and work were calculated for the MTP and midtarsal joints using inverse dynamics. A series of ANOVAs and Holm post hoc tests were performed for all metrics (alpha = 0.05).

   The brace successfully decreased peak MTP motion by 19% compared to BR_UN and CON. This was coupled with 9.8% less midtarsal motion. Kinetically, the work absorbed by the MTP joint (26–51%) and generated by the midtarsal joint (30–38%) were both less in BR_EX and BR_NT compared to BR_UN.

   Implications and sources of coupling between the MTP and midtarsal joints are discussed within the context of center of pressure shifts and changes to segmental foot forces. Our results suggest that interventions aimed at modulating MTP negative work (such as footwear or assistive device design) should not ignore the midtarsal joint.

    

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2. Kinematic Trajectories in Response to Speed Perturbations in Walking Suggest Modular Task-Level Control of Leg Angle and Length

   https://doi.org/10.1093/icb/icac057  

   Schwaner, M. J. ; Nishikawa, K. C. ; Daley, M. A. ( May 2022 , Integrative And Comparative Biology)

   Navigating complex terrains requires dynamic interactions between the substrate, musculoskeletal, and sensorimotor systems. Current perturbation studies have mostly used visible terrain height perturbations, which do not allow us to distinguish among the neuromechanical contributions of feedforward control, feedback-mediated, and mechanical perturbation responses. Here, we use treadmill-belt speed perturbations to induce a targeted perturbation to foot speed only, and without terrain-induced changes in joint posture and leg loading at stance onset. Based on previous studies suggesting a proximo-distal gradient in neuromechanical control, we hypothesized that distal joints would exhibit larger changes in joint kinematics, compared to proximal joints. Additionally, we expected birds to use feedforward strategies to increase the intrinsic stability of gait. To test these hypotheses, seven adult guinea fowl were video recorded while walking on a motorized treadmill, during both steady and perturbed trials. Perturbations consisted of repeated exposures to a deceleration and acceleration of the treadmill-belt speed. Surprisingly, we found that joint angular trajectories and center of mass fluctuations remain very similar, despite substantial perturbation of foot velocity by the treadmill belt. Hip joint angular trajectories exhibit the largest changes, with the birds adopting a slightly more flexed position across all perturbed strides. Additionally, we observed increased stride duration across all strides, consistent with feedforward changes in the control strategy. The speed perturbations mainly influenced the timing of stance and swing, with the largest kinematic changes in the strides directly following a deceleration. Our findings do not support the general hypothesis of a proximo-distal gradient in joint control, as distal joint kinematics remain largely unchanged. Instead, we find that leg angular trajectory and the timing of stance and swing are most sensitive to this specific perturbation, and leg length actuation remains largely unchanged. Our results are consistent with modular task-level control of leg length and leg angle actuation, with different neuromechanical control and perturbation sensitivity in each actuation mode. Distal joints appear to be sensitive to changes in vertical loading but not foot fore-aft velocity. Future directions should include in vivo studies of muscle activation and force–length dynamics to provide more direct evidence of the sensorimotor control strategies for stability in response to belt-speed perturbations.

    

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3. Robust Multilegged Walking Robots for Interactions With Different Terrains

   https://doi.org/10.1115/1.4062303  

   Robson, Nina ; Audrey, Vanessa ; Dwivedi, Ashutosh ; Kunzmann, Dylan ( January 2024 , Journal of Mechanisms and Robotics)

   Abstract This paper explores the kinematic synthesis, design, and pilot experimental testing of a six-legged walking robotic platform able to traverse through different terrains. We aim to develop a structured approach to designing the limb morphology using a relaxed kinematic task with incorporated conditions on foot-environments interaction, specifically contact force direction and curvature constraints, related to maintaining contact. The design approach builds up incrementally starting with studying the basic human leg walking trajectory and then defining a “relaxed” kinematic task. The “relaxed” kinematic task consists only of two contact locations (toe-off and heel-strike) with higher-order motion task specifications compatible with foot-terrain(s) contact and curvature constraints in the vicinity of the two contacts. As the next step, an eight-bar leg image is created based on the “relaxed” kinematic task and incorporated within a six-legged walking robot. Pilot experimental tests explore if the proposed approach results in an adaptable behavior which allows the platform to incorporate different walking foot trajectories and gait styles coupled to each environment. The results suggest that the proposed “relaxed” higher-order motion task combined with the leg morphological properties and feet material allowed the platform to walk stably on the different terrains. Here we would like to note that one of the main advantages of the proposed method in comparison with other existing walking platforms is that the proposed robotic platform has carefully designed limb morphology with incorporated conditions on foot-environment interaction. Additionally, while most of the existing multilegged platforms incorporate one actuator per leg, or per joint, our goal is to explore the possibility of using a single actuator to drive all six legs of the platform. This is a critical step which opens the door for the development of future transformative technology that is largely independent of human control and able to learn about the environment through their own sensory systems. 

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4. Adding a toe joint to a prosthesis: walking biomechanics, energetics, and preference of individuals with unilateral below-knee limb loss

   https://doi.org/10.1038/s41598-021-81565-1  

   McDonald, Kirsty A. ; Teater, Rachel H. ; Cruz, Justin P. ; Kerr, John T. ; Bastas, Gerasimos ; Zelik, Karl E. ( January 2021 , Scientific Reports)

   Toe joints play an important functional role in able-bodied walking; however, for prosthesis users, the effect of adding a toe joint to a passive prosthetic foot remains largely unknown. The current study explores the kinematics, kinetics, rate of oxygen consumption and user preference of nine individuals with below-knee limb loss. Participants walked on a passive prosthetic foot in two configurations: with a Flexible, articulating toe joint and with a Locked-out toe joint. During level treadmill gait, participants exhibited a decrease in Push-Off work when using the Flexible toe joint prosthesis versus the Locked toe joint prosthesis: 16% less from the prosthesis (p = 0.004) and 10% less at the center of mass level (p = 0.039). However, between configurations, participants exhibited little change in other gait kinematics or kinetics, and no apparent or consistent difference in the rate of oxygen consumption (p = 0.097). None of the traditional biomechanical or metabolic outcomes seemed to explain user preference. However, an unexpected and intriguing observation was that all participants who wore the prosthesis on their dominant limb preferred the Flexible toe joint, and every other participant preferred the Locked configuration. Although perhaps coincidental, such findings may suggest a potential link between user preference and limb dominance, offering an interesting avenue for future research.

    

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5. Kinematic Design and Evaluation of a Six-Bar Knee-Ankle-Foot Orthosis

   https://doi.org/10.1115/1.4046474  

   Ghosh, Shramana ; Robson, Nina P. ; McCarthy, J. Michael ( May 2020 , Journal of Engineering and Science in Medical Diagnostics and Therapy)

   Abstract This paper presents a new two-step design procedure and preliminary kinematic evaluation of a novel, passive, six-bar knee-ankle-foot orthosis (KAFO). The kinematic design and preliminary kinematic gait analysis of the KAFO are based on motion capture data from a single healthy male subject. Preliminary kinematic evaluation shows that the designed passive KAFO is capable of supporting flexion and extension of the knee joint during stance and swing phases of walking. The two-step design procedure for the KAFO consists of (1) computational synthesis based on user's motion data and (2) performance optimization. In the computational synthesis step, first the lower leg (knee-ankle-foot) of the subject is approximated as a 2R kinematic chain and its target trajectories are specified from motion capture data. Six-bar linkages are synthesized to coordinate the angular movements of knee and ankle joints of the 2R chain at 11 accuracy points. The first step of the design procedure yields 332 six-bar KAFO design candidates. This is followed by a performance optimization step in which the KAFO design candidates are optimally modified to satisfy specified constraints on end-effector trajectory and shape. This two-step process yields an optimally designed passive six-bar KAFO that shows promising kinematic results at the knee joint of the user during walking. The preliminary prototype manufactured is cost effective, easy to operate, and suitably demonstrates the feasibility of the proposed concept. 

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