Principles of Energetics and Stability in Legged Locomotion

[1]  Ilse de Bourdeaudhuij,et al.  How many steps/day are enough? For older adults and special populations , 2011, The international journal of behavioral nutrition and physical activity.

[2]  J. Nielsen,et al.  Major role for sensory feedback in soleus EMG activity in the stance phase of walking in man , 2000, The Journal of physiology.

[3]  Yin-Biao Sun,et al.  Effects of sarcomere length and temperature on the rate of ATP utilisation by rabbit psoas muscle fibres , 2001, The Journal of physiology.

[4]  A Hreljac,et al.  Preferred and energetically optimal gait transition speeds in human locomotion. , 1993, Medicine and science in sports and exercise.

[5]  J. O'Loughlin,et al.  Incidence of and risk factors for falls and injurious falls among the community-dwelling elderly. , 1993, American journal of epidemiology.

[6]  Maarten F Bobbert,et al.  Robust passive dynamics of the musculoskeletal system compensate for unexpected surface changes during human hopping. , 2009, Journal of applied physiology.

[7]  Jesse C. Dean,et al.  The Effect of Lateral Stabilization on Walking in Young and Old Adults , 2007, IEEE Transactions on Biomedical Engineering.

[8]  A. Kuo,et al.  Energetic cost of walking with increased step variability. , 2012, Gait & posture.

[9]  Andy Ruina,et al.  DESIGN AND CONTROL OF RANGER: AN ENERGY-EFFICIENT, DYNAMIC WALKING ROBOT , 2012 .

[10]  M. Srinivasan,et al.  The metabolic cost of changing walking speeds is significant, implies lower optimal speeds for shorter distances, and increases daily energy estimates , 2015, Biology Letters.

[11]  R. Blickhan,et al.  Spring-mass running: simple approximate solution and application to gait stability. , 2005, Journal of theoretical biology.

[12]  A. V. van Soest,et al.  Running biomechanics: shorter heels, better economy , 2008, Journal of Experimental Biology.

[13]  M. Harrison,et al.  The structure of the high-pressure gas jet from a spark plug fuel injector for direct fuel injection , 2010, J. Vis..

[14]  Rall Ja,et al.  Energetic aspects of skeletal muscle contraction: implications of fiber types. , 1985 .

[15]  T. McGeer,et al.  Passive bipedal running , 1990, Proceedings of the Royal Society of London. B. Biological Sciences.

[16]  V. Dietz,et al.  Neuronal mechanisms of human locomotion. , 1979, Journal of neurophysiology.

[17]  Arthur D. Kuo,et al.  Stabilization of Lateral Motion in Passive Dynamic Walking , 1999, Int. J. Robotics Res..

[18]  Philip E. Martin,et al.  Mechanical power and efficiency of level walking with different stride rates , 2007, Journal of Experimental Biology.

[19]  K. R. Williams,et al.  The effect of stride length variation on oxygen uptake during distance running. , 1982, Medicine and science in sports and exercise.

[20]  K. Aminian,et al.  Fall detection with body-worn sensors , 2013, Zeitschrift für Gerontologie und Geriatrie.

[21]  Hartmut Geyer,et al.  A Muscle-Reflex Model That Encodes Principles of Legged Mechanics Produces Human Walking Dynamics and Muscle Activities , 2010, IEEE Transactions on Neural Systems and Rehabilitation Engineering.

[22]  A. Kuo,et al.  Active control of lateral balance in human walking. , 2000, Journal of biomechanics.

[23]  Alexander Rm,et al.  Energy-saving mechanisms in walking and running. , 1991 .

[24]  M. Coleman,et al.  The simplest walking model: stability, complexity, and scaling. , 1998, Journal of biomechanical engineering.

[25]  S. Kurdak,et al.  Contraction duration affects metabolic energy cost and fatigue in skeletal muscle. , 1998, American journal of physiology. Endocrinology and metabolism.

[26]  Daniel P. Ferris,et al.  Running in the real world: adjusting leg stiffness for different surfaces , 1998, Proceedings of the Royal Society of London. Series B: Biological Sciences.

[27]  Rodger Kram,et al.  Energetics of running: a new perspective , 1990, Nature.

[28]  I. Hunter,et al.  Preferred and optimal stride frequency, stiffness and economy: changes with fatigue during a 1-h high-intensity run , 2007, European Journal of Applied Physiology.

[29]  Marc H. Raibert,et al.  Running on four legs as though they were one , 1986, IEEE J. Robotics Autom..

[30]  Brett R. Fajen,et al.  Visual control of precise foot placement when walking over complex terrain , 2013 .

[31]  P. Weyand,et al.  Faster top running speeds are achieved with greater ground forces not more rapid leg movements. , 2000, Journal of applied physiology.

[32]  Seungmoon Song,et al.  A neural circuitry that emphasizes spinal feedback generates diverse behaviours of human locomotion , 2015, The Journal of physiology.

[33]  A. Kuo,et al.  Direction-dependent control of balance during walking and standing. , 2009, Journal of neurophysiology.

[34]  M. Woollacott,et al.  Control of reactive balance adjustments in perturbed human walking: roles of proximal and distal postural muscle activity , 1998, Experimental Brain Research.

[35]  S. Collins,et al.  The advantages of a rolling foot in human walking , 2006, Journal of Experimental Biology.

[36]  A. Craig.  How do you feel? Interoception: the sense of the physiological condition of the body , 2002, Nature Reviews Neuroscience.

[37]  H. Elftman,et al.  Biomechanics of muscle with particular application to studies of gait. , 1966, The Journal of bone and joint surgery. American volume.

[38]  C. Ward.  Interpreting the posture and locomotion of Australopithecus afarensis: where do we stand? , 2002, American journal of physical anthropology.

[39]  A. Minetti,et al.  A theory of metabolic costs for bipedal gaits. , 1997, Journal of theoretical biology.

[40]  A. Hof,et al.  Balance responses to lateral perturbations in human treadmill walking , 2010, Journal of Experimental Biology.

[41]  C. Marsden,et al.  Stretch reflex and servo action in a variety of human muscles. , 1976, The Journal of physiology.

[42]  Lida Mademli,et al.  Predictive and Reactive Locomotor Adaptability in Healthy Elderly: A Systematic Review and Meta-Analysis , 2015, Sports Medicine.

[43]  E. Atzler,et al.  Arbeitsphysiologische Studien , 1927, Pflüger's Archiv für die gesamte Physiologie des Menschen und der Tiere.

[44]  J V Basmajian.  The human bicycle: an ultimate biological convenience. , 1976, The Orthopedic clinics of North America.

[45]  E. Zehr,et al.  What functions do reflexes serve during human locomotion? , 1999, Progress in Neurobiology.

[46]  Dmitry Berenson,et al.  No falls, no resets: Reliable humanoid behavior in the DARPA robotics challenge , 2015, 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids).

[47]  Russ Tedrake,et al.  Efficient Bipedal Robots Based on Passive-Dynamic Walkers , 2005, Science.

[48]  J. Hutchinson,et al.  Scaling of sensorimotor control in terrestrial mammals , 2010, Proceedings of the Royal Society B: Biological Sciences.

[49]  R. F. Ker,et al.  The spring in the arch of the human foot , 1987, Nature.

[50]  R. Blickhan,et al.  Running on uneven ground: leg adjustment to vertical steps and self-stability , 2008, Journal of Experimental Biology.

[51]  Arend L. Schwab,et al.  Basin of Attraction of the Simplest Walking Model , 2001 .

[52]  B Decchi,et al.  Flexibility of lower limb reflex responses to painful cutaneous stimulation in standing humans: evidence of load‐dependent modulation. , 1994, The Journal of physiology.

[53]  A. Kuo.  A simple model of bipedal walking predicts the preferred speed-step length relationship. , 2001, Journal of biomechanical engineering.

[54]  R. Waters,et al.  The energy expenditure of normal and pathologic gait. , 1999, Gait & posture.

[55]  E Hultman,et al.  Energy cost and fatigue during intermittent electrical stimulation of human skeletal muscle. , 1988, Journal of applied physiology.

[56]  A A Biewener,et al.  Muscle and Tendon Contributions to Force, Work, and Elastic Energy Savings: A Comparative Perspective , 2000, Exercise and sport sciences reviews.

[57]  R. Full,et al.  Tail-assisted pitch control in lizards, robots and dinosaurs , 2012, Nature.

[58]  D. Sutherland.  The evolution of clinical gait analysis part l: kinesiological EMG. , 2001, Gait & posture.

[59]  D. Burke,et al.  The afferent volleys responsible for spinal proprioceptive reflexes in man , 1983, The Journal of physiology.

[60]  M. Pandy,et al.  In vivo behavior of the human soleus muscle with increasing walking and running speeds. , 2015, Journal of applied physiology.

[61]  Ian E. Brown,et al.  A Reductionist Approach to Creating and Using Neuromusculoskeletal Models , 2000 .

[62]  Steven H. Collins,et al.  Prosthetic ankle push-off work reduces metabolic rate but not collision work in non-amputee walking , 2014, Scientific Reports.

[63]  R. Margaria,et al.  Energy cost of running. , 1963, Journal of applied physiology.

[64]  D. Bramble,et al.  Endurance running and the evolution of Homo , 2004, Nature.

[65]  C. T. Farley,et al.  Human hoppers compensate for simultaneous changes in surface compression and damping. , 2006, Journal of biomechanics.

[66]  W. O. Fenn.  The relation between the work performed and the energy liberated in muscular contraction , 1924, The Journal of physiology.

[67]  Martijn Wisse,et al.  The effects of swing-leg retraction on running performance: analysis, simulation, and experiment , 2014, Robotica.

[68]  A Hreljac,et al.  Determinants of the gait transition speed during human locomotion: kinematic factors. , 1995, Journal of biomechanics.

[69]  G. Cavagna,et al.  Mechanical work in terrestrial locomotion: two basic mechanisms for minimizing energy expenditure. , 1977, The American journal of physiology.

[70]  J. Duysens,et al.  Biceps femoris tendon jerk reflexes are enhanced at the end of the swing phase in humans , 1996, Brain Research.

[71]  I. Kingma,et al.  Armed against falls: the contribution of arm movements to balance recovery after tripping , 2010, Experimental Brain Research.

[72]  A. C. Laing,et al.  Hip protectors: recommendations for biomechanical testing—an international consensus statement (part I) , 2009, Osteoporosis International.

[73]  R. Kram,et al.  Mechanical and metabolic determinants of the preferred step width in human walking , 2001, Proceedings of the Royal Society of London. Series B: Biological Sciences.

[74]  H. Ralston.  Energy-speed relation and optimal speed during level walking , 1958, Internationale Zeitschrift für angewandte Physiologie einschließlich Arbeitsphysiologie.

[75]  Chet T Moritz,et al.  Passive dynamics change leg mechanics for an unexpected surface during human hopping. , 2004, Journal of applied physiology.

[76]  J Maxwell Donelan,et al.  Dynamic Principles of Gait and Their Clinical Implications , 2010, Physical Therapy.

[77]  J. P. Paul,et al.  Tensile properties of the in vivo human gastrocnemius tendon. , 2002, Journal of biomechanics.

[78]  Rodger Kram,et al.  Simultaneous positive and negative external mechanical work in human walking. , 2002, Journal of biomechanics.

[79]  W. O. Fenn.  WORK AGAINST GRAVITY AND WORK DUE TO VELOCITY CHANGES IN RUNNING , 1930 .

[80]  Hartmut Geyer,et al.  Swing-leg retraction: a simple control model for stable running , 2003, Journal of Experimental Biology.

[81]  Emanuel Azizi,et al.  Flexible mechanisms: the diverse roles of biological springs in vertebrate movement , 2011, Journal of Experimental Biology.

[82]  James A Levine,et al.  Measurement of energy expenditure. , 2005, Public health nutrition.

[83]  C. Lovejoy.  The natural history of human gait and posture. Part 2. Hip and thigh. , 2005, Gait & posture.

[84]  Caroline H Soo,et al.  Mechanics and energetics of step-to-step transitions isolated from human walking , 2010, Journal of Experimental Biology.

[85]  Daniel P. Ferris,et al.  10 Biomechanics of Walking and Running: Center of Mass Movements to Muscle Action , 1998, Exercise and sport sciences reviews.

[86]  James A Levine,et al.  Non-exercise activity thermogenesis (NEAT). , 2002, Best practice & research. Clinical endocrinology & metabolism.

[87]  J L Mayhew.  Oxygen cost and energy expenditure of running in trained runners. , 1977, British journal of sports medicine.

[88]  Reinhard Blickhan,et al.  Compliant leg behaviour explains basic dynamics of walking and running , 2006, Proceedings of the Royal Society B: Biological Sciences.

[89]  C. T. Farley,et al.  Human hopping on very soft elastic surfaces: implications for muscle pre-stretch and elastic energy storage in locomotion , 2005, Journal of Experimental Biology.

[90]  Rodger Kram,et al.  Metabolic energy and muscular activity required for leg swing in running. , 2005, Journal of applied physiology.

[91]  C. T. Farley,et al.  Minimizing center of mass vertical movement increases metabolic cost in walking. , 2005, Journal of applied physiology.

[92]  Tad McGeer,et al.  Passive Dynamic Walking , 1990, Int. J. Robotics Res..

[93]  S. Harkema,et al.  Locomotor activity in spinal cord-injured persons. , 2004, Journal of applied physiology.

[94]  Peter J Beek,et al.  Energy cost of balance control during walking decreases with external stabilizer stiffness independent of walking speed. , 2013, Journal of biomechanics.

[95]  Dagmar Sternad,et al.  Dynamic primitives of motor behavior , 2012, Biological Cybernetics.

[96]  G. Lichtwark,et al.  Muscle fascicle and series elastic element length changes along the length of the human gastrocnemius during walking and running. , 2007, Journal of biomechanics.

[97]  R. M. Alexander,et al.  Optimization of structure and movement of the legs of animals. , 1993, Journal of biomechanics.

[98]  V. Tucker.  The energetic cost of moving about. , 1975, American Scientist.

[99]  R. Kram,et al.  Energetic cost and preferred speed of walking in obese vs. normal weight women. , 2005, Obesity research.

[100]  S. Grillner.  The role of muscle stiffness in meeting the changing postural and locomotor requirements for force development by the ankle extensors. , 1972, Acta physiologica Scandinavica.

[101]  Greta C Bernatz,et al.  How humans walk: bout duration, steps per bout, and rest duration. , 2008, Journal of rehabilitation research and development.

[102]  Jesse M. Lingeman,et al.  How Do You Learn to Walk? Thousands of Steps and Dozens of Falls per Day , 2012, Psychological science.

[103]  Daniel P. Ferris,et al.  Metabolic and mechanical energy costs of reducing vertical center of mass movement during gait. , 2009, Archives of physical medicine and rehabilitation.

[104]  T. Garland.  Scaling the Ecological Cost of Transport to Body Mass in Terrestrial Mammals , 1983, The American Naturalist.

[105]  R H Rozendal,et al.  Graphic representation of the relationship between oxygen-consumption and characteristics of normal gait of the human male. , 1972, Proceedings of the Koninklijke Nederlandse Akademie van Wetenschappen. Series C. Biological and medical sciences.

[106]  P. Willems,et al.  The energy cost of walking in children , 2000, Pflügers Archiv.

[107]  R J Full,et al.  How animals move: an integrative view. , 2000, Science.

[108]  A. Gollhofer,et al.  Regulation of bipedal stance: dependency on “load” receptors , 2004, Experimental Brain Research.

[109]  J. Donelan,et al.  Mechanical work for step-to-step transitions is a major determinant of the metabolic cost of human walking. , 2002, The Journal of experimental biology.

[110]  R. Marsh,et al.  Partitioning the Energetics of Walking and Running: Swinging the Limbs Is Expensive , 2004, Science.

[111]  T J Roberts,et al.  Muscular Force in Running Turkeys: The Economy of Minimizing Work , 1997, Science.

[112]  C. Lovejoy,et al.  The natural history of human gait and posture. Part 1. Spine and pelvis. , 2005, Gait & posture.

[113]  Jessica C. Selinger,et al.  Humans Can Continuously Optimize Energetic Cost during Walking , 2015, Current Biology.

[114]  E. Hultman,et al.  ATP utilization and force during intermittent and continuous muscle contractions. , 1987, Journal of applied physiology.

[115]  Han Houdijk,et al.  Differentiation between solid-ankle cushioned heel and energy storage and return prosthetic foot based on step-to-step transition cost. , 2014, Journal of rehabilitation research and development.

[116]  R. Waters,et al.  Energy cost of walking of amputees: the influence of level of amputation. , 1976, The Journal of bone and joint surgery. American volume.

[117]  A. Ruina,et al.  Multiple walking speed-frequency relations are predicted by constrained optimization. , 2001, Journal of theoretical biology.

[118]  John C. Rothwell,et al.  What do reflex and voluntary mean? Modern views on an ancient debate , 2000, Experimental Brain Research.

[119]  G Colombo,et al.  Influence of body load on the gait pattern in Parkinson's disease , 1998, Movement disorders : official journal of the Movement Disorder Society.

[120]  S. Piazza,et al.  Built for speed: musculoskeletal structure and sprinting ability , 2009, Journal of Experimental Biology.

[121]  J. Brockway.  Derivation of formulae used to calculate energy expenditure in man. , 1987, Human nutrition. Clinical nutrition.

[122]  Andy Ruina,et al.  Energetic Consequences of Walking Like an Inverted Pendulum: Step-to-Step Transitions , 2005, Exercise and sport sciences reviews.

[123]  S. Javad Hasaneini,et al.  Two steps is enough: No need to plan far ahead for walking balance , 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

[124]  R. Olshen,et al.  The development of mature gait. , 1980, The Journal of bone and joint surgery. American volume.

[125]  A. Ruina,et al.  A collisional model of the energetic cost of support work qualitatively explains leg sequencing in walking and galloping, pseudo-elastic leg behavior in running and the walk-to-run transition. , 2005, Journal of theoretical biology.

[126]  Manoj Srinivasan,et al.  Computer optimization of a minimal biped model discovers walking and running , 2006, Nature.

[127]  Maarten F. Bobbert,et al.  The contribution of muscle properties in the control of explosive movements , 1993, Biological Cybernetics.

[128]  G. Cavagna,et al.  Energetics and mechanics of terrestrial locomotion. IV. Total mechanical energy changes as a function of speed and body size in birds and mammals. , 1982, The Journal of experimental biology.

[129]  G. Cavagna,et al.  The sources of external work in level walking and running. , 1976, The Journal of physiology.

[130]  Daniel P. Ferris,et al.  Runners adjust leg stiffness for their first step on a new running surface. , 1999, Journal of biomechanics.

[131]  A. Minetti,et al.  The transition between walking and running in humans: metabolic and mechanical aspects at different gradients. , 1994, Acta physiologica Scandinavica.

[132]  C. T. Farley,et al.  Determinants of the center of mass trajectory in human walking and running. , 1998, The Journal of experimental biology.

[133]  Martijn Wisse,et al.  The effect of swing leg retraction on running energy efficiency , 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[134]  Kevin Blankespoor,et al.  BigDog, the Rough-Terrain Quadruped Robot , 2008 .

[135]  A. Prochazka.  Sensorimotor gain control: A basic strategy of motor systems? , 1989, Progress in Neurobiology.

[136]  Joel E. Chestnutt,et al.  Design and Philosophy of the BiMASC, a Highly Dynamic Biped , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[137]  C. T. Farley,et al.  Leg stiffness and stride frequency in human running. , 1996, Journal of biomechanics.

[138]  Monica A Daley.  Biomechanics: Running Over Uneven Terrain Is a No-Brainer , 2008, Current Biology.

[139]  A E Patla,et al.  Where and when do we look as we approach and step over an obstacle in the travel path? , 1997, Neuroreport.

[140]  T. McMahon,et al.  The mechanics of running: how does stiffness couple with speed? , 1990, Journal of biomechanics.