Biomechanics of Walking

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Locomotion
Gait Parameters During Level Walking
Kinematics of Level Walking
Kinetics of Level Walking

1. Simoneau G.G., 2002. Kinesiology of Walkign. In: Neumann, D.A. (ed). Kinesiology of the
Musculoskeletal System: Foundations for Physical Rehabilitation. St. Louis, Missouri: Mosby. pp.
523-569.
2. Hamilton, N., & Luttgens, K., 2002. Kinesiology, Scientific Basis of Human Motion, 10thed. Madison,
WI, Brown & Benchmark. Chapter 19, pp. 467-494.

Objectives: After studying this topic, the students will be able to

z identify different types of locomotion

z describe a typical fic Basis of Human Motion
 z on foot: walking, running, ascending or descending ramp or stairs, or jumping
z on wheels: bicycling, roller skating, ice skating, or wheelchair propelling
z on hands and/or knees or hands and feet: walking on hands, creeping or crawling, crutch walking,
stunts
z rotary locomotion: cartwheels, handsprings, or rolls

A Typical Gait Cycle

z the duration that occurs from the time when the heel of one leg strikes the ground to the time at
which the same leg contacts the ground again
z 2 phases
{ stance phase (62%)

{ swing phase (38%)

z A typical gait cycle lasts 1-2 sec, depending on speed.

Stance Phase (Support Phase)

z the duration when the foot in contact with the ground

z the duration from heel strike to toe off
z 3 subphases
{ initial contact period： from heel strike to foot flat

{ midstance period： from foot flat to heel off

{ propulsive period： from heel off to toe off

Swing Phase (Recovery Phase)

 z the duration when the foot in the air
z the duration from toe off to heel strike
z 3 subphases
{ acceleration

{ midswing

{ deceleration

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Gait Parameters During Level Walking

Recording the Gait Cycle

z pneumatic switch (Marey, 1873)： 1st person to record the duration of sole contact
z electric switch (Scherb, 1927)： using 3 separate switches
z interrupted-light photography (Murray et al., 1964)
z pressure transducer (Andriachi et al., 1977)
z motion analysis system

Time Variables

z stance time
z single support time
z double support time
{ duration： about 22% of the gait cycle totally

{ decrease when the speed of walking increases

{ increase in the elderly or patients with balanced disorders

z swing time
z stride or step time

Distance Variables

z stride length
{ decrease in the elderly and increase as the speed of walking increases

z step length
 z wide of base
z degree of toe-out

Velocity Variables

z cadence： steps per minute

{ comfortable speed： 80-110 steps/min

{ slow speed： <70 steps/min

{ fast speed： >120 steps/min

z walking speed： distance/unit of time

{ increase with increased cadence and stride length simultaneously
{ decrease with decreased angle of toe out and increased limb length or weight
{ increased speed results in decrease in duration of all the component phases
z walking velocity

Other Kinematic Variables

z displacement of center of mass

z angle change of each joint
z linear acceleration
z angular acceleration

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Kinematics of Level Walking

Displacement of Body COM

z Walking is a translatory motion of the body that is accomplished by the alternating rotary motions of
both lower extremities
z COM moves forward ⇒ COM beyond anterior edge of BOS Þ the other foot moves forward to BOS

Vertical Displacement of Body COM

 z path： a sinosoid curve
z amplitude： ~2"
z highest point: immediately after COM passes over the WB leg
z lowest point: at the termination of the swing phase of the other leg

Lateral Displacement of Body COM

z path： a sinosoid curve

z amplitude： ~2"
z to keep the COM over the weight-bearing foot

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Kinetics of Level Walking

Forces That Control Walking

z gravity (body weight)

z air resistance
z internal muscle forces
z ground reaction forces
{ normal component： vertical forces

{ shear component ： anterior-posterior and medial-lateral friction forces

Ground Reaction Forces

z definition： the forces applied to the body by the ground, as opposed to those applied to the ground,
when an individual takes a step

z in Cartesian ayatem： Fx, Fy, Fz, Mx, My, Mz

z vertical component
 { double peaks
„ 1st peak at heel strike： the action of body
momentum
„ 2nd peak at push-off： contraction of calf muscle
{ peak value = 120% BW
{ lower than BW during midstance as a result of balancing
the upward momentum of the COM

z anterior-posterior component
{ the magnitude and direction of the anterior-posterior
shear force depends on the position of the COM relative
to the location of the foot
„ in the posterior direction at heel strike for slowing
the forward progression of the body
„ in the anterior direction at toe off for propelling the

body forward
„ the larger the step length, the greater the shear

forces because of the greater angle of between the

lower extremity and the floor
{ peak value = 20% BW
{ sufficient friction force between foot and ground is
necessary for preventing slipping down
{ the propulsive force of one limb is applied simultaneously
to the braking force of the other limb when the weight is
transferred from one limb to the other

z medial-lateral
{ the magnitude of the medial-lateral shear force depends
on the position of the COM relative to the foot
„ in the lateral direction at heel strike

„ in the medial direction at the rest of stance phase

„ the larger the step width, the greater the shear

forces because of the greater angle of between the

lower extremity and the floor
{ peak value = ~5% BW
{ wide variety depending on different foot types
Trajectory of Center of Pressure

z At heel strike, the COP is located lateral to the midpoint of the heel
z At midestance, the COP moves more laterally
z From heel off to toe off, the COP moves medially from the metatarsal heads to the bog toe

Joint Moment

z At heel strike, the line of action of the ground reaction forces passes
posterior to the ankle joint, posterior to the knee joint, and anterior
to the hip joint, leading to promote ankle plantarflexion, knee flexion,
and hip flexion.
z To prevent collapse of the lower extremity, these external moments
are counterbalanced by internal joint reaction moments that are
created by ankle dorsiflexors, the knee extensors, and the hip
extensors.
z net moment： the summation of the external and internal moments
{ do NOT indicate the direction of motion
{ e.g. cocontraction of agonisits and antagonists
{ e.g. quadriceps avoidance

Joint Power

z definition
{ the rate of work performed by controlling muscles

{ the product of the net joint moment and the joint angular velocity

z significance： indicating the net rate of generating or absorbing energy by all muscles and other
connective tissues crossing the joint
{ positive value indicates power generation, reflecting a concentric contraction
 { negative value indicates power absorption, reflecting an eccentric contraction

Ankle Kinetics

z definition
{ the rate of work performed by controlling muscles

{ the product of the net joint moment and the joint angular velocity

z significance： indicating the net rate of generating or absorbing energy by all muscles and other
connective tissues crossing the joint
{ positive value indicates power generation, reflecting a concentric contraction

{ negative value indicates power absorption, reflecting an eccentric contraction

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Established on 05/05/2003 and Last Updated 05/20/2003 by Huei-Ming Chai, PT, Phd
© 2003 柴惠敏 at School of Physical Therapy, National Taiwan University, Taipei
All Right Reserved