Humans optimally anticipate and compensate for an uneven step during walking

  1. Osman Darici  Is a corresponding author
  2. Arthur D Kuo
  1. University of Calgary, Canada

Abstract

The simple task of walking up a sidewalk curb is actually a dynamic prediction task. The curb is a disturbance that could cause a loss of momentum if not anticipated and compensated for. It might be possible to adjust momentum sufficiently to ensure undisturbed time of arrival, but there are infinite possible ways to do so. Much of steady, level gait is determined by energy economy, which should be at least as important with terrain disturbances. It is, however, unknown whether economy also governs walking up a curb, and whether anticipation helps. Here we show that humans compensate with an anticipatory pattern of forward speed adjustments, predicted by a criterion of minimizing mechanical energy input. The strategy is mechanistically predicted by optimal control for a simple model of bipedal walking dynamics, with each leg's push-off work as input. Optimization predicts a tri-phasic trajectory of speed (and thus momentum) adjustments, including an anticipatory phase. In experiment, human subjects ascend an artificial curb with the predicted tri-phasic trajectory, which approximately conserves overall walking speed relative to undisturbed flat ground. The trajectory involves speeding up in a few steps before the curb, losing considerable momentum from ascending it, and then regaining speed in a few steps thereafter. Descending the curb entails a nearly opposite, but still anticipatory, speed fluctuation trajectory, in agreement with model predictions that speed fluctuation amplitudes should scale linearly with curb height. The fluctuation amplitudes also decrease slightly with faster average speeds, also as predicted by model. Humans can reason about the dynamics of walking to plan anticipatory and economical control, even with a sidewalk curb in the way.

Data availability

All data generated or analyzed during this study are included in the manuscript and supporting file

Article and author information

Author details

  1. Osman Darici

    Faculty of Kinesiology, University of Calgary, Calgary, Canada
    For correspondence
    osman.darici1@ucalgary.ca
    Competing interests
    The authors declare that no competing interests exist.
    ORCID icon "This ORCID iD identifies the author of this article:" 0000-0001-6217-5656
  2. Arthur D Kuo

    Faculty of Kinesiology, University of Calgary, Calgary, Canada
    Competing interests
    The authors declare that no competing interests exist.

Funding

National Science Foundation

  • Osman Darici
  • Arthur D Kuo

ONR ETOWL program

  • Osman Darici
  • Arthur D Kuo

NIH AG030815

  • Osman Darici
  • Arthur D Kuo

The Dr. Benno Nigg Research Chair University of Calgary

  • Osman Darici
  • Arthur D Kuo

NSERC Discovery program

  • Osman Darici
  • Arthur D Kuo

Canada Research Chair program

  • Osman Darici
  • Arthur D Kuo

The funders had no role in study design, data collection and interpretation, or the decision to submit the work for publication.

Ethics

Human subjects: All subjects provided written informed consent prior to the experiment, according to Institutional Review Board procedures (University of Michigan, Energetics, Balance, and Control of Human Locomotion HUM00020554).

Copyright

© 2022, Darici & Kuo

This article is distributed under the terms of the Creative Commons Attribution License permitting unrestricted use and redistribution provided that the original author and source are credited.

Metrics

  • 951
    views
  • 143
    downloads
  • 23
    citations

Views, downloads and citations are aggregated across all versions of this paper published by eLife.

Download links

A two-part list of links to download the article, or parts of the article, in various formats.

Downloads (link to download the article as PDF)

Open citations (links to open the citations from this article in various online reference manager services)

Cite this article (links to download the citations from this article in formats compatible with various reference manager tools)

  1. Osman Darici
  2. Arthur D Kuo
(2022)
Humans optimally anticipate and compensate for an uneven step during walking
eLife 11:e65402.
https://doi.org/10.7554/eLife.65402

Share this article

https://doi.org/10.7554/eLife.65402

Further reading

    1. Physics of Living Systems
    James E Hammond, Ruth E Baker, Berta Verd
    Research Article

    Vertebrates have evolved great diversity in the number of segments dividing the trunk body, however, the developmental origin of the evolvability of this trait is poorly understood. The number of segments is thought to be determined in embryogenesis as a product of morphogenesis of the pre-somitic mesoderm (PSM) and the periodicity of a molecular oscillator active within the PSM known as the segmentation clock. Here, we explore whether the clock and PSM morphogenesis exhibit developmental modularity, as independent evolution of these two processes may explain the high evolvability of segment number. Using a computational model of the clock and PSM parameterised for zebrafish, we find that the clock is broadly robust to variation in morphogenetic processes such as cell ingression, motility, compaction, and cell division. We show that this robustness is in part determined by the length of the PSM and the strength of phase coupling in the clock. As previous studies report no changes to morphogenesis upon perturbing the clock, we suggest that the clock and morphogenesis of the PSM exhibit developmental modularity.

    1. Physics of Living Systems
    Emmanuel Akabuogu, Victor Carneiro da Cunha Martorelli ... Thomas A Waigh
    Research Article

    Bacterial biofilms are communities of bacteria usually attached to solid strata and often differentiated into complex structures. Communication across biofilms has been shown to involve chemical signaling and, more recently, electrical signaling in Gram-positive biofilms. We report for the first time, community-level synchronized membrane potential dynamics in three-dimensional Escherichia coli biofilms. Two hyperpolarization events are observed in response to light stress. The first requires mechanically sensitive ion channels (MscK, MscL, and MscS) and the second needs the Kch-potassium channel. The channels mediated both local spiking of single E. coli biofilms and long-range coordinated electrical signaling in E. coli biofilms. The electrical phenomena are explained using Hodgkin-Huxley and 3D fire-diffuse-fire agent-based models. These data demonstrate that electrical wavefronts based on potassium ions are a mechanism by which signaling occurs in Gram-negative biofilms and as such may represent a conserved mechanism for communication across biofilms.