Running on uneven ground: Leg adjustment to vertical steps and self-stability

Journal of Experimental Biology

Volumn 211, Issue 18, 2008, Pages 2989-3000

  Grimmer, Sten ^a   Ernst, Michael ^a   Günther, Michael ^a,b   Blickhan, Reinhard ^a  

^a FRIEDRICH SCHILLER UNIVERSITY JENA   (Germany)

^b UNIVERSITY OF TÜBINGEN   (Germany)

Author keywords

Biomechanics; Human locomotion; Leg stiffness; Self stability; Spring mass model

Indexed keywords

ADAPTATION; ARTICLE; BIOLOGICAL MODEL; BIOMECHANICS; COMPUTER SIMULATION; ELASTICITY; GAIT; HUMAN; JOINT; LEG; MALE; MUSCLE CONTRACTION; PHYSIOLOGY; RUNNING; VIDEORECORDING;

ADAPTATION, PHYSIOLOGICAL; BIOMECHANICS; COMPUTER SIMULATION; ELASTICITY; GAIT; HUMANS; JOINTS; LEG; MALE; MODELS, BIOLOGICAL; MUSCLE CONTRACTION; RUNNING; VIDEO RECORDING;

ELAGATIS;

EID: 54349116532     PISSN: 00220949     EISSN: None     Source Type: Journal    
DOI: 10.1242/jeb.014357     Document Type: Article

References (73)

1. Alexander, R. M. (1997). Invited editorial on 'interaction of leg stiffness and surface stiffness during human hopping'. J. Appl. Physiol. 82, 13-14.
2. Aoi, S. and Tsuchiya, K. (2007). Self-stability of a simple walking model driven by a rhythmic signal. Nonlinear Dynamics Psychol. Life Sci. 48, 16.
3. Biewener, A. A. (1989). Scaling body support in mammals: limb posture and muscle mechanics. Science 245, 45-48.
4. Biewener, A. A. and Daley, M. A. (2007). Unsteady locomotion: integrating muscle function with whole body dynamics and neuromuscular control. J. Exp. Biol. 210, 2949-2960.
5. Biewener, A. A., Farley, C. T., Roberts, T. J. and Temaner, M. (2004). Muscle mechanical advantage of human walking and running: implications for energy cost. J. Appl. Physiol. 97, 2266-2274.
6. Blickhan, R. (1989). The spring-mass model for running and hopping. J. Biomech. 22, 1217-1227.
7. Blickhan, R. and Full, R. J. (1993). Similarity in multilegged locomotion: Bouncing like a monopode. J. Comp. Physiol. A: Neuroethol. Sens. Neural. Behav. Physiol. 173, 509-517.
8. Blickhan, R., Wagner, H. and Seyfarth, A. (2003). Brain or Muscles? In Recent Research Developments in Biomechanics 1 (ed. S. G. Pandalai), pp. 215-245. Thiru-anantha-puram (Trivandrum): Transworld Research Network.
9. Blickhan, R., Seyfarth, A., Geyer, H., Grimmer, S., Wagner, H. and Günther, M. (2007). Intelligence by mechanics. Philos. Transact. A Math. Phys. Eng. Sci. 365, 199-220.
10. Brown, I. E., Scott, S. H. and Loeb, G. E. (1996). Mechanics of feline soleus: II design and validation of a mathematical model. J. Muscle Res. Cell. Motil. 17, 221-233.
11. Cavanagh, P. R. and Lafortune, M. A. (1980). Ground reaction forces in distance running. J. Biomech. 13, 397-406.
12. Cham, J. G., Karpick, J. K. and Cutkosky, M. R. (2004). Stride Period Adaptation of a Biomimetic Running Hexapod. Int. J. Rob. Res. 23, 141-153.
13. Daley, M. A. and Biewener, A. A. (2006). Running over rough terrain reveals limb control for intrinsic stability. Proc. Natl. Acad. Sci. USA 103, 15681-15686.
14. Daley, M. A., Usherwood, J. R., Felix, G. and Biewener, A. A. (2006). Running over rough terrain, guinea fowl maintain dynamic stability despite a large unexpected change in substrate height. J. Exp. Biol. 209, 171-187.
15. de Wit, B., de Clercq, D. and Aerts, P. (2000). Biomechanical analysis of the stance phase during barefoot running. J. Biomech. 33, 269-278.
16. Farley, C. T. and Gonzalez, O. (1996). Leg stiffness and stride frequency in human running. J. Biomech. 29, 181-186.
17. Farley, C. T., Glasheen, J. and McMahon, T. A. (1993). Running springs: speed and animal size. J. Exp. Biol. 185, 71-86.
18. Farley, C. T., Blickhan, R., Saito, J. and Taylor, C. R. (1991). Hopping frequency in humans: a test of how springs set stride frequency in bouncing gaits. J. Appl. Physiol. 71, 2127-2132.
19. Farley, C. T., Houdijk, H. H., Van Strien, C. and Louie, M. (1998). Mechanism of leg stiffness adjustment for hopping on surfaces of different stiffnesses. J. Appl. Physiol. 85, 1044-1055.
20. Ferris, D. P. and Farley, C. T. (1997). Interaction of leg stiffness and surfaces stiffness during human hopping. J. Appl. Physiol. 82, 15-22.
21. Ferris, D. P., Louie, M. and Farley, C. T. (1998). Running in the real world: adjusting leg stiffness for different surfaces. Proc. Biol. Sci. 265, 989-994.
22. Ferris, D. P., Liang, K. and Farley, C. T. (1999). Runners adjust leg stiffness for their first step on a new running surface. J. Biomech. 32, 787-794.
23. Friedman, M. (1937). The use of ranks to avoid the assumption of normality implicit in the analysis of variance. J. Am. Stat. Assoc. 32 675-701.
24. Friedman, M. (1939). A correction: the use of ranks to avoid the assumption of normality implicit in the analysis of variance. J. Am. Stat. Assoc. 34, 109.
25. Full, R. J. and Koditschek, D. E. (1999). Templates and anchors: neuromechanical hypotheses of legged locomotion on land. J. Exp. Biol. 202, 3325-3332.
26. Full, R. J., Kubow, T., Schmitt, J., Holmes, P. and Koditschek, D. (2002). Quantifying dynamic stability and maneuverability in legged locomotion. Integr. Comp. Biol. 42, 149-157.
27. Geyer, H. (2005). Simple models of legged locomotion based on compliant limb behavior. PhD-Thesis, Friedrich-Schiller-Universität, Jena Germany, pp. 114.
28. Geyer, H., Blickhan, R. and Seyfarth, A. (2002). Natural dynamics of spring-like running: emergence of selfstability. In 5th International Conference on Climbing and Walking Robots (ed. P. Bidaud and F. B. Amar). Paris: Professional Engineering Publishing.
29. Geyer, H., Seyfarth, A. and Blickhan, R. (2003). Positive force feedback in bouncing gaits? Proc. Biol. Sci. 270, 2173-2183.
30. Geyer, H., Seyfarth, A. and Blickhan, R. (2005). Spring-mass running: simple approximate solution and application to gait stability. J. Theor. Biol. 232, 315-328.
31. Geyer, H., Seyfarth, A. and Blickhan, R. (2006). Compliant leg behaviour explains basic dynamics of walking and running. Proc. Biol. Sci. 273, 2861-2867.
32. Ghigliazza, R. M., Altendorfer, R., Holmes, P. and Koditschek, D. (2005). A simply stabilized running model. J. Appl. Dyn. Sys. 47, 519-549.
33. Greene, P. R. and McMahon, T. A. (1979). Reflex stiffness of man's anti-gravity muscles during kneebends while carrying extra weights. J. Biomech. 12, 881-891.
34. Günther, M. and Blickhan, R. (2002). Joint stiffness of the ankle and the knee in running. J. Biomech. 35, 1459-1474.
35. Günther, M., Sholukha, V. A., Kessler, D., Wank, V. and Blickhan, R. (2003). Dealing with skin motion and wobbling masses in inverse dynamics. J. Mech. Med. Biol. 3, 309-335.
36. Günther, M., Keppler, V., Seyfarth, A. and Blickhan, R. (2004). Human leg design: optimal axial alignment under constraints. J. Math. Biol. 48, 623-646.
37. Hoffer, J. A. and Andreassen, S. (1978). Factors affecting the gain of the stretch reflex and soleus muscle stiffness in premammillary cats. Soc. Neurosci. 4, 935.
38. Hoffer, J. A. and Andreassen, S. (1981). Regulation of soleus muscle stiffness in premammillary cats: intrinsic and reflex components. J. Neurophysiol. 45, 267-285.
39. Jindrich, D. L. and Full, R. (2002). Dynamic stabilization of rapid hexapedal locomotion. J. Exp. Biol. 205, 2803-2823.
40. Ker, R. F. (2007). Mechanics of tendon, from an engineering perspective. Int. J. Fatigue 29, 1001-1009.
41. Kerdok, A. E., Biewener, A. A., McMahon, T. A., Weyand, P. G. and Herr, H. M. (2002). Energetics and mechanics of human running on surfaces of different stiffnesses. J. Appl. Physiol. 92, 469-478.
42. Kubow, T. M. and Full, R. J. (1999). The role of the mechanical system in control: a hypothesis of self-stabilization in hexapedal runners. Philos. Trans. R. Soc. Lond., B, Biol. Sci. 354, 849-861.
43. Lindstedt, S. (2003). Springs in legs and running surfaces. J. Exp. Biol. 206, 8.
44. Maganaris, C. N. (2003). Force-length characteristics of the in vivo human gastrocnemius muscle. Clin. Anat. 16, 215-223.
45. Maganaris, C. N. and Paul, J. P. (1999). In vivo human tendon mechanical properties. J. Physiol. 521, 307-313.
46. McGeer, T. (1990a). Passive bipedal running. Proc. R. Soc. Lond., B, Biol. Sci. 240, 107-134.
47. McGeer, T. (1990b). Passive Dynamic Walking. Int. J. Rob. Res. 9, 62-82.
48. McMahon, T. A. and Cheng, G. C. (1990). The mechanics of running: how does stiffness couple with speed. J. Biomech. 23, 65-78.
49. Mombaur, K. D., Bock, H. G., Schloder, J. P. and Longman, R. W. (2005). Self-stabilizing somersaults. IEEE Trans. Rob. Autom. 21, 1148-1157.
50. Moritz, C. T. and Farley, C. T. (2004). Passive dynamics change leg mechanics for an unexpected surface during human hopping. J. Appl. Physiol. 97, 1313-1322.
51. Owaki, D. and lshiguro, A. (2007). Mechanical dynamics that enables stable passive dynamic bipedal running - Enhancing self-stability by exploiting nonlinearity in the leg elasticity. J. Rob. Mech. 19, 374-380.
52. Patla, A. E. and Rietdyk, S. (1993). Visual control of limb trajectory over obstacles during locomotion effect of obstacle height and width. Gait Posture 1, 45-60.
53. Ringrose, R. P. (1997a). Self-stabilizing robot. Proceedings of {IEEE} International Conference on Robotics and Automation 1, 487-493.
54. Ringrose, R. P. (1997b). Self-stabilizing running., PhD-Thesis, pp. 131. Boston: Massachusetts Institute of Technology.
55. Schaal, S., Atkeson, C. and Sternad, D. (1996). One-handed juggling: A dynamical approach to a rhythmic movement task. J. Mot. Behav. 28, 165-183.
56. Schmitt, J. and Holmes, P. (2000a). Mechanical models for insect locomotion: dynamics and stability in the horizontal plane I. Theory. Biol. Cybern. 83, 501-515.
57. Schmitt, J. and Holmes, P. (2000b). Mechanical models for insect locomotion: dynamics and stability in the horizontal plane-II. Application. Biol. Cybern. 83, 517-527.
58. Schmitt, J. and Holmes, P. (2001). Mechanical models for insect locomotion: stability and parameter studies. Physica D: Nonlinear Phenomena 156, 139-168.
59. Schmitt, J. and Holmes, P. (2003). Mechanical models for insect locomotion: active muscles and energy losses. Biol. Cybern. 89, 43-55.
60. Schmitt, J., Garcia, M., Razo, R. C., Holmes, P. and Full, R. J. (2002). Dynamics and stability of legged locomotion in the horizontal plane: a test case using insects. Biol. Cybern. 86, 343-353.
61. Seipel, J. and Holmes, P. (2005). Running in three dimensions: analysis of a point-mass sprung-leg model. Int. J. Rob. Res. 24, 657-674.
62. Seipel, J. and Holmes, P. (2006). Three-dimensional translational dynamics and stability of multi-legged runners. Int. J. Rob. Res. 25, 889-902.
63. Seipel, J. and Holmes, P. (2007). A simple model for clock-actuated legged locomotion. Reg. Chao. Dyn. 12, 502-520.
64. Seyfarth, A. (2000). Elastically operating legs-strategies and construction principles. PhD-Thesis, Friedrich-Schiller-Universität, Jena, Germany, pp. 108.
65. Seyfarth, A., Friedrichs, A., Wank, V. and Blickhan, R. (1999). Dynamics of the long jump. J. Biomech. 32, 1259-1267.
66. Seyfarth, A., Geyer, H., Günther, M. and Blickhan, R. (2002). A movement criterion for running. J. Biomech. 35, 649-655.
67. Seyfarth, A., Geyer, H. and Herr, H. (2003). Swing-leg retraction: a simple control model for stable running. J. Exp. Biol. 206, 2547-2555.
68. Seyfarth, A., Geyer, H., Blickhan, R., Lipfert, S., Rummel, J., Minekawa, Y. and Iida, F. (2006). Running and walking with compliant legs. In Fast Motions in Biomechanics and Robotics - Optimization and Feedback Control (ed. M. Diehl and K. Mombaur), pp. 383-402. Berlin, Heidelberg: Springer.
69. Siegel, S. and Castellan, N. J. J. (1988). Nonparametric Statistics for the Behavioral Sciences. New York: McGraw-Hill.
70. Wagner, H. and Blickhan, R. (1999). Stabilizing function of skeletal muscles: an analytical investigation. J. Theor. Biol. 199, 163-179.
71. Wagner, H. and Blickhan, R. (2003). Stabilizing function of antagonistic neuromusculoskeletal systems: an analytical investigation. Biol. Cybern. 89, 71-79.
72. Wagner, H. and Giesl, P. (2006). Self-stability in Biological Systems-Studies based on Biomechanical Models. In Fast Motions in Biomechanics and Robotics: Optimization and Feedback Control (ed. M. Diehl and K. Mombaur), pp. 403-410. Berlin, Heidelberg: Springer.
73. Winter, D. A. (2005). Biomechanics and Motor Control of Human Movement. Hoboken, NJ: John Wiley.