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.

Reviewing Editor

  1. Lena H Ting, Emory University, United States

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).

Version history

  1. Preprint posted: December 2, 2020 (view preprint)
  2. Received: December 3, 2020
  3. Accepted: January 10, 2022
  4. Accepted Manuscript published: January 11, 2022 (version 1)
  5. Version of Record published: March 14, 2022 (version 2)

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

  • 796
    views
  • 119
    downloads
  • 12
    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. Microbiology and Infectious Disease
    2. Physics of Living Systems
    Fabien Duveau, Céline Cordier ... Pascal Hersen
    Research Article

    Natural environments of living organisms are often dynamic and multifactorial, with multiple parameters fluctuating over time. To better understand how cells respond to dynamically interacting factors, we quantified the effects of dual fluctuations of osmotic stress and glucose deprivation on yeast cells using microfluidics and time-lapse microscopy. Strikingly, we observed that cell proliferation, survival, and signaling depend on the phasing of the two periodic stresses. Cells divided faster, survived longer, and showed decreased transcriptional response when fluctuations of hyperosmotic stress and glucose deprivation occurred in phase than when the two stresses occurred alternatively. Therefore, glucose availability regulates yeast responses to dynamic osmotic stress, showcasing the key role of metabolic fluctuations in cellular responses to dynamic stress. We also found that mutants with impaired osmotic stress response were better adapted to alternating stresses than wild-type cells, showing that genetic mechanisms of adaptation to a persistent stress factor can be detrimental under dynamically interacting conditions.

    1. Physics of Living Systems
    Josep-Maria Armengol-Collado, Livio Nicola Carenza, Luca Giomi
    Research Article Updated

    We formulate a hydrodynamic theory of confluent epithelia: i.e. monolayers of epithelial cells adhering to each other without gaps. Taking advantage of recent progresses toward establishing a general hydrodynamic theory of p-atic liquid crystals, we demonstrate that collectively migrating epithelia feature both nematic (i.e. p = 2) and hexatic (i.e. p = 6) orders, with the former being dominant at large and the latter at small length scales. Such a remarkable multiscale liquid crystal order leaves a distinct signature in the system’s structure factor, which exhibits two different power-law scaling regimes, reflecting both the hexagonal geometry of small cells clusters and the uniaxial structure of the global cellular flow. We support these analytical predictions with two different cell-resolved models of epithelia – i.e. the self-propelled Voronoi model and the multiphase field model – and highlight how momentum dissipation and noise influence the range of fluctuations at small length scales, thereby affecting the degree of cooperativity between cells. Our construction provides a theoretical framework to conceptualize the recent observation of multiscale order in layers of Madin–Darby canine kidney cells and pave the way for further theoretical developments.