The time it takes between consecutive foot contacts from the same leg is referred to as the stride-time interval. Several investigations have shown that the variations that are present in the stride time intervals are linked to walking balance. In this study, functional near infrared spectroscopy (fNIRS) was utilized to evaluate whether activation in the medial sensorimotor cortices reflects th...

The problem of biped locomotion at steady speeds is discussed through a Lagrangian formulation developed for velocity-dependent, body driving forces. Human walking on a level surface is analyzed in terms of the data on the resultant ground-reaction force and the external work. It is shown that the trajectory of the center of mass is due to a superposition of its rectilinear motion with a given ...

Swing-leg retraction, the backward rotation of the swing leg just prior to ground contact, is observed in human locomotion. While several advantages of swingleg retraction, like gait stability and perturbation rejection, are shown by conceptual models, there is currently very little experimental data on swing-leg retraction in human motion. In this paper, kinematic data for twenty-eight subject...

Crawling using muscular waves is observed in many species, including planaria, leeches, nemertea, aplysia, snails, chitons, earthworms and maggots. Contraction or extension waves propagate along the antero-posterior axis of the body as the crawler pushes the ground substratum backward. However, the observation that locomotory waves can be directed forward or backward has attracted much attentio...

When untrained subjects walk backward on a treadmill the amplitude of the soleus H-reflex in midswing is equal to or exceeds the value in stance. This is a surprising result because during the swing phase of backward walking the soleus is inactive and its antagonist, the tibialis anterior, is active. We suggested that the high amplitude of the soleus H-reflex in late swing reflects task uncerta...

The coordination of the movement of single and multiple limbs is essential for the generation of locomotion. Movement about single joints and the resulting stepping patterns are usually generated by the activity of antagonistic muscle pairs. In the stick insect, the three major muscle pairs of a leg are the protractor and retractor coxae, the levator and depressor trochanteris, and the flexor a...

In this study, the therapeutic effects of backward walking were examined. [Subjects and Methods] In all, 16 subjects were randomly assigned to an experimental group and 17 to a control group. All subjects walked barefoot on a treadmill (HM50EX, Daeho, Korea) for 20 min, five times per week, for a total of 4 weeks. The average gait velocity of the subjects was 3 km/h on a 10% slope. The experime...

Recent advances in control of humanoid robots have resulted in bipedal gaits that are dynamically stable on moderately rough terrain but are still limited to a small range of slopes. Humanoid robots, like humans, can take advantage of quadruped gaits to greatly extend this range. Cleverly designed gaits can provide robustness to rough terrain without requiring extensive feedback. In this paper,...

In stick insects walking forwards or backwards, a treading-on-tarsus (TOT) reflex of the middle leg could be elicited by mechanical stimulation of the ipsilateral front leg tarsus. The probability of eliciting a TOT reflex in the middle leg depended on the phase of the stimulus within the middle leg's step cycle and on the position of the middle leg relative to its normal anterior and posterior...