The critical phase for visual control of human walking over complex terrain.
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ABSTRACT:
SUBMITTER: Matthis JS
PROVIDER: S-EPMC5558990 | biostudies-literature |
REPOSITORIES: biostudies-literature
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Project description:How do humans achieve such remarkable energetic efficiency when walking over complex terrain such as a rocky trail? Recent research in biomechanics suggests that the efficiency of human walking over flat, obstacle-free terrain derives from the ability to exploit the physical dynamics of our bodies. In this study, we investigated whether this principle also applies to visually guided walking over complex terrain. We found that when humans can see the immediate foreground as little as two step lengths ahead, they are able to choose footholds that allow them to exploit their biomechanical structure as efficiently as they can with unlimited visual information. We conclude that when humans walk over complex terrain, they use visual information from two step lengths ahead to choose footholds that allow them to approximate the energetic efficiency of walking in flat, obstacle-free environments.
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Project description:Human locomotion through natural environments requires precise coordination between the biomechanics of the bipedal gait cycle and the eye movements that gather the information needed to guide foot placement. However, little is known about how the visual and locomotor systems work together to support movement through the world. We developed a system to simultaneously record gaze and full-body kinematics during locomotion over different outdoor terrains. We found that not only do walkers tune their gaze behavior to the specific information needed to traverse paths of varying complexity but that they do so while maintaining a constant temporal look-ahead window across all terrains. This strategy allows walkers to use gaze to tailor their energetically optimal preferred gait cycle to the upcoming path in order to balance between the drive to move efficiently and the need to place the feet in stable locations. Eye movements and locomotion are intimately linked in a way that reflects the integration of energetic costs, environmental uncertainty, and momentary informational demands of the locomotor task. Thus, the relationship between gaze and gait reveals the structure of the sensorimotor decisions that support successful performance in the face of the varying demands of the natural world. VIDEO ABSTRACT.
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Project description:Mobile brain imaging with high-density electroencephalography (EEG) can provide insight into the cortical processes involved in complex human walking tasks. While uneven terrain is common in the natural environment and poses challenges to human balance control, there is limited understanding of the supraspinal processes involved with traversing uneven terrain. The primary objective of this study was to quantify electrocortical activity related to parametric variations in terrain unevenness for neurotypical young adults. We used high-density EEG to measure brain activity when thirty-two young adults walked on a novel custom-made uneven terrain treadmill surface with four levels of difficulty at a walking speed tailored to each participant. We identified multiple brain regions associated with uneven terrain walking. Alpha (8 - 13 Hz) and beta (13 - 30 Hz) spectral power decreased in the sensorimotor and posterior parietal areas with increasing terrain unevenness while theta (4 - 8 Hz) power increased in the mid/posterior cingulate area with terrain unevenness. We also found that within stride spectral power fluctuations increased with terrain unevenness. Our secondary goal was to investigate the effect of parametric changes in walking speed (0.25 m/s, 0.5m/s, 0.75 m/s, 1.0 m/s) to differentiate the effects of walking speed from uneven terrain. Our results revealed that electrocortical activities only changed substantially with speed within the sensorimotor area but not in other brain areas. Together, these results indicate there are distinct cortical processes contributing to the control of walking over uneven terrain versus modulation of walking speed on smooth, flat terrain. Our findings increase our understanding of cortical involvement in an ecologically valid walking task and could serve as a benchmark for identifying deficits in cortical dynamics that occur in people with mobility deficits.
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Project description:An animal's self-motion generates optic flow across its retina, and it can use this visual signal to regulate its orientation and speed through the world. While orientation control has been studied extensively in Drosophila and other insects, much less is known about the visual cues and circuits that regulate translational speed. Here, we show that flies regulate walking speed with an algorithm that is tuned to the speed of visual motion, causing them to slow when visual objects are nearby. This regulation does not depend strongly on the spatial structure or the direction of visual stimuli, making it algorithmically distinct from the classic computation that controls orientation. Despite the different algorithms, the visual circuits that regulate walking speed overlap with those that regulate orientation. Taken together, our findings suggest that walking speed is controlled by a hierarchical computation that combines multiple motion detectors with distinct tunings. VIDEO ABSTRACT.
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Project description:In this paper, we propose a remote sensing model based on a 1 × 1 km spatial resolution to estimate the spatio-temporal distribution of sunshine percentage (SSP) and sunshine duration (SD), taking into account terrain features and atmospheric factors. To account for the influence of topography and atmospheric conditions in the model, a digital elevation model (DEM) and cloud products from the moderate-resolution imaging spectroradiometer (MODIS) for 2010 were incorporated into the model and subsequently validated against in situ observation data. The annual and monthly average daily total SSP and SD have been estimated based on the proposed model. The error analysis results indicate that the proposed modelled SD is in good agreement with ground-based observations. The model performance is evaluated against two classical interpolation techniques (kriging and inverse distance weighting (IDW)) based on the mean absolute error (MAE), the mean relative error (MRE) and the root-mean-square error (RMSE). The results reveal that the SD obtained from the proposed model performs better than those obtained from the two classical interpolators. This results indicate that the proposed model can reliably reflect the contribution of terrain and cloud cover in SD estimation in Ghana, and the model performance is expected to perform well in similar environmental conditions.
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Project description:Uneven terrain walking is hard to achieve for most child-size humanoid robots, as they are unable to accurately detect ground conditions. In order to reduce the demand for ground detection accuracy, a walking control framework based on centroidal momentum allocation is studied in this paper, enabling a child-size humanoid robot to walk on uneven terrain without using ground flatness information. The control framework consists of three controllers: momentum decreasing controller, posture controller, admittance controller. First, the momentum decreasing controller is used to quickly stabilize the robot after disturbance. Then, the posture controller restores the robot posture to adapt to the unknown terrain. Finally, the admittance controller aims to decrease contact impact and adapt the robot to the terrain. Note that the robot uses a mems-based inertial measurement unit (IMU) and joint position encoders to calculate centroidal momentum and use force-sensitive resistors (FSR) on the robot foot to perform admittance control. None of these is a high-cost component. Experiments are conducted to test the proposed framework, including standing posture balancing, structured non-flat ground walking, and soft uneven terrain walking, with a speed of 2.8 s per step, showing the effectiveness of the momentum allocation method.
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Project description:Walking on unknown and rough terrain is challenging for (bipedal) robots, while humans naturally cope with perturbations. Therefore, human strategies serve as an excellent inspiration to improve the robustness of robotic systems. Neuromusculoskeletal (NMS) models provide the necessary interface for the validation and transfer of human control strategies. Reflexes play a crucial part during normal locomotion and especially in the face of perturbations, and provide a simple, transferable, and bio-inspired control scheme. Current reflex-based NMS models are not robust to unexpected perturbations. Therefore, in this work, we propose a bio-inspired improvement of a widely used NMS walking model. In humans, different muscles show an increase in activation in anticipation of the landing at the end of the swing phase. This preactivation is not integrated in the used reflex-based walking model. We integrate this activation by adding an additional feedback loop and show that the landing is adapted and the robustness to unexpected step-down perturbations is markedly improved (from 3 to 10 cm). Scrutinizing the effect, we find that the stabilizing effect is caused by changed knee kinematics. Preactivation, therefore, acts as an accommodation strategy to cope with unexpected step-down perturbations, not requiring any detection of the perturbation. Our results indicate that such preactivation can potentially enable a bipedal system to react adequately to upcoming unexpected perturbations and is hence an effective adaptation of reflexes to cope with rough terrain. Preactivation can be ported to robots by leveraging the reflex-control scheme and improves the robustness to step-down perturbation without the need to detect the perturbation. Alternatively, the stabilizing mechanism can also be added in an anticipatory fashion by applying an additional knee torque to the contralateral knee.
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Project description:Nocturnal boundary-layer phenomena in regions of complex topography are extremely diverse and respond to a multiplicity of forcing factors, acting primarily at the mesoscale and microscale. The interaction between different physical processes, e.g., drainage promoted by near-surface cooling and ambient flow over topography in a statically stable environment, may give rise to special flow patterns, uncommon over flat terrain. Here we present a climatography of boundary-layer flows, based on a 2-year archive of simulations from a high-resolution operational mesoscale weather modelling system, 4DWX. The geographical context is Dugway Proving Ground, in north-western Utah, USA, target area of the field campaigns of the MATERHORN (Mountain Terrain Atmospheric Modeling and Observations Program) project. The comparison between model fields and available observations in 2012-2014 shows that the 4DWX model system provides a realistic representation of wind speed and direction in the area, at least in an average sense. Regions displaying strong spatial gradients in the field variables, thought to be responsible for enhanced nocturnal mixing, are typically located in transition areas from mountain sidewalls to adjacent plains. A key dynamical process in this respect is the separation of dynamically accelerated downslope flows from the surface.
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Project description:Recent studies have suggested that complex muscle activity during walking may be controlled using a reduced neural control strategy organized around the co-excitation of multiple muscles, or modules. Previous computer simulation studies have shown that five modules satisfy the sagittal-plane biomechanical sub-tasks of 2D walking. The present study shows that a sixth module, which contributes primarily to mediolateral balance control and contralateral leg swing, is needed to satisfy the additional non-sagittal plane demands of 3D walking. Body support was provided by Module 1 (hip and knee extensors, hip abductors) in early stance and Module 2 (plantarflexors) in late stance. In early stance, forward propulsion was provided by Module 4 (hamstrings), but net braking occurred due to Modules 1 and 2. Forward propulsion was provided by Module 2 in late stance. Module 1 accelerated the body medially throughout stance, dominating the lateral acceleration in early stance provided by Modules 4 and 6 (adductor magnus) and in late stance by Module 2, except near toe-off. Modules 3 (ankle dorsiflexors, rectus femoris) and 5 (hip flexors and adductors except adductor magnus) accelerated the ipsilateral leg forward in early swing whereas Module 4 decelerated the ipsilateral leg prior to heel-strike. Finally, Modules 1, 4 and 6 accelerated the contralateral leg forward prior to and during contralateral swing. Since the modules were based on experimentally measured muscle activity, these results provide further evidence that a simple neural control strategy involving muscle activation modules organized around task-specific biomechanical functions may be used to control complex human movements.
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Project description:During walking, uneven terrain alters the action of the ground reaction force from stride to stride. The extent to which such environmental inconsistencies are withstood may be revealed by the regulation of whole-body angular momentum (L) during walking. L quantifies the balance of momenta of the body segments (thigh, trunk, etc.) about their combined center of mass, and remains close to zero during level walking. A failure to constrain L has been linked to falls. The aim of this study was to explore the ability of young adults to orchestrate their movement on uneven terrain, illustrated by the range of L (LR) and its variability (vLR). In eleven male adults, we observed significant increases in sagittal plane LR, and vLR in all three planes of motion during walking on an uneven in comparison to a flat surface. No reductions in these measures were observed within a 12-minute familiarisation period, suggesting that unimpaired adults either are unable to, or do not need to eliminate the effects of uneven terrain. Transverse plane LR, in contrast, was lower on immediate exposure, and then increased, pointing to the development of a less restrictive movement pattern, and would support the latter hypothesis.
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