Johanna Vielemeyer

Walking on sloped terrain requires substantial mechanical and control adaptations for effective energy management compared to level ground locomotion. The Virtual Pivot Point (VPP) hypothesis explains sagittal plane angular momentum regulation during level walking, but its validity in slope walking remains unexplored. This study combines human experiments with template-model simulations to investigate how the VPP strategy is modulated during slope walking. Participants walked on an instrumented ramp at various inclinations (0°, ± 7.5°, ± 10°), while a 2D spring-loaded inverted-pendulum model with a trunk segment simulated the task. Experimental results confirmed that the VPP is a robust feature of slope walking ( R ² > 0.975). The simulation reproduced the change in hip torque and trunk adaptations by modulating VPP position. Results of this study indicate that VPP position and trunk dynamics could afford stability and energy management on gentle slopes, but to robustly navigate steeper ramps, humans recruit a multi-joint strategy where the knee and ankle joints play a crucial role in managing the energetic demands of sloped terrain. Beyond advancing our understanding of locomotor control, these insights have practical implications for the design of exoskeletons that adapt to uneven terrain.

3D motion capture data of healthy participants is of high value for research groups working in basic research, clinical settings, or the development of medical devices as a reference or for comparison purposes. This dataset provides kinematic and kinetic data from 13 healthy young adults (five women, eight men; mean age 28.2 ± 4.7 years) during ramp walking at three inclinations (0°, 7.5°, and 10°). Using a 3D motion capture system (Vicon Motion Systems Ltd) consisting of 10 infrared cameras, two video cameras and three force plates (Advanced Mechanical Technology, Inc.), data was recorded as participants walked up and down a 6 m instrumented ramp at self-selected speeds. In each trial, two consecutive strides over the force plates are captured. The dataset includes raw data and processes kinematic and kinetic data of the lower limb and upper body based on the Plug-in Gait full body model.

A main challenge in human walking is maintaining stability. One strategy to balance the whole body dynamically is to direct the ground reaction forces toward a point above the center of mass, called virtual pivot point (VPP). This strategy could be observed in various experimental studies for human and animal gait. A VPP was also observed when VPP input variables like center of mass or ground reaction forces were perturbed. In this study, the kinetic and kinematic consequences of a center of pressure manipulation and the influence on the VPP are investigated. Thus, eleven participants walked with manipulated center of pressure (i.e. barefoot, backwards, with a rigid sole, with stilts, and in handstand compared to shoe walking). In all conditions a VPP could be observed, only one participant showed no VPP in handstand walking. The vertical VPP position only differs between shoe walking and rigid sole walking, there are no significant differences between the conditions in the horizontal VPP position and the spread around the VPP. However, it is conceivable that for more severe gait changes, walking without VPP could be observed. To further analyze this issue, the authors provide a VPP calculation tool for testing data regarding the existence of the VPP.

Bipedal walking while keeping the upper body upright is a complex task. One strategy to cope with this task is to direct the ground reaction forces toward a point above the centre of mass of the whole body, called virtual pivot point (VPP). This behaviour could be observed in various experimental studies for human and animal walking, but not for the humanoid robot LOLA. The question arose whether humans still show a VPP when walking like LOLA. For this purpose, ten participants imitated LOLA in speed, posture, and mass distribution (LOLA-like walking). It could be found that humans do not differ from LOLA in spatio-temporal parameters for the LOLA-like walking, in contrast to upright walking with preferred speed. Eight of the participants show a VPP in all conditions ( R ² > 0.90 ± 0.09), while two participants had no VPP for LOLA-like walking ( R ² < 0.52). In the latter case, the horizontal ground reaction forces are not balanced around zero in the single support phase, which is presumably the key variable for the absence of the VPP.

Motor dysfunctions in patients with Down Syndrome (DS) result in poor locomotion and an altered gait phenotype, characterized by compromised stability management and frequent bilateral asymmetries. Directing ground reaction forces to a point above the center of mass, referred to as the virtual pivot point (VPP), is one means of maintaining stability during walking. This cross-sectional observational study compared the dynamic gait function of 33 individuals with DS (mean age: 17.7 ± 6.4 years, 13 females) to a group of 36 healthy controls (mean age: 15.5 ± 6.1 years, 15 females), using the concept of the VPP. Results showed that the VPP was located more anteriorly in individuals with DS compared to healthy controls, with no differences in the variability (R²) or symmetry of VPP coordinates. This anterior VPP position is likely due to the larger hip moments observed in patients with DS during the propulsive phase of stance. High R² values in DS suggest that the VPP is strongly related to dynamic stability during walking.

A main objective in bipedal walking is controlling the whole body to stay upright. One strategy that promotes this objective is to direct the ground reaction forces (GRF) to a point above the center of mass (COM). In humans such force patterns can be observed for unperturbed walking, but it is not known if the same strategy is used when humans walk across a change in walkway height. In this study, eleven volunteers stepped down off a visible (0, 10, and 20 cm) and a camouflaged (0 or 10 cm) curb while walking at two different speeds (1.2±0.1 m s⁻¹ and 1.7±0.1 m s⁻¹). The results showed that in all conditions the GRF pointed predominantly above the COM. Vectors directed from the center of pressure (COP) to the intersection point (IP) closely fitted the measured GRF direction not only in visible conditions (R²>97.5%), but also in camouflaged curb negotiation (R²>89.8%). Additional analysis of variables included in the calculation of the IP location showed considerable differences for the camouflaged curb negotiation: Compared to level walking, the COP shifted posterior relative to the COM and the vertical GRF were higher in the beginning and lower in later parts of the stance phase of the perturbed contact. The results suggest that IP behavior can be observed for both visible and camouflaged curb negotiation. For further regulation of the whole body angle the asymmetrical vertical GRF could counteract the effect of a posterior shifted step.