Validating determinants for an alternate foot placement selection algorithm during human locomotion in cluttered...

Area of Science:

• Biomechanics
• Human locomotion
• Robotics

Background:

• Navigating complex environments requires dynamic adjustments in foot placement.
• Understanding the determinants of alternate foot placement is crucial for gait stability and forward progression.

Purpose of the Study:

• To validate dynamic stability and forward progression determinants for an alternate foot placement selection algorithm.
• To assess the impact of different foot placement strategies on gait stability and COM control.

Main Methods:

• Participants walked on level ground, avoiding virtual obstacles, with one step to select alternate foot placement.
• Two conditions: free (self-selected) and forced (cued) alternate foot placement.
• Calculated dynamic stability using center of mass (COM) and base of support (BOS) in double support phase.
• Measured COM deviation from straight ahead between adaptive and subsequent steps.

Main Results:

• Long and lateral foot placements were dominant in the free condition and maintained stability.
• Short and medial placements were infrequent and adversely affected stability.
• Changes in the plane of progression caused minimal COM deviation, maintaining forward progression.

Conclusions:

• Stability is a critical factor in selecting alternate foot placements, especially in cluttered terrains.
• The validated determinants of dynamic stability and forward progression are essential components of foot placement selection algorithms.