New perspectives in locomotion dynamics

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This proposal describes a novel program of study based on investigating a key feature of locomotion dynamics that has been largely neglected in studies of locomotion function and control. The work is based on the recognition that a key factor that determines the effectiveness of legged locomotion is the potential to lose momentum as the new stance limb diverts the path of the mass of the organism (individual). The gait strategies chosen under specific circumstances are selected to manage the loss of momentum to the best benefit of the individual. Although substantial evidence demonstrates the advantage of analyzing locomotion from this perspective, we currently understand little about the limits of the individual's capacity to functionally adapt to varied physical circumstances or how these strategies are determined. This program of study describes three approaches to investigating these features; (i) use of a novel harness that simulates changes in gravity level as a direct test of the momentum-based predictions, (ii) use of a newly designed computer controlled oscillator backpack that allows the direct testing of gait adaptation to momentum conserving opportunities, (iii) evaluation of momentum in the adaptive gait strategies in dogs with pathological gait. The results of these studies will be valuable in interpreting morphological specialization in extant and extinct forms (including human ancestors), in the design of legged robots and prosthetics that integrate with the coordination of normal gait, and in the development of alternative strategies to manage abnormal gait in humans and animals.