Perturbations During Gait on a Split-Belt Treadmill: A Scoping Review
Abstract
:1. Introduction
2. Materials and Methods
2.1. Search Strategy
2.2. Eligibility
2.3. Review Process
2.4. Quality Assessment
3. Results
3.1. Perturbations in the Anterior–Posterior (AP) Direction
3.1.1. Characteristics of Participants
3.1.2. Measurement Tools
Study/ Quality | Study Group Age [Years]; Body Mass [kg]; Body Height [cm]; Leg Dominance | Aim | Equipment/ Perturbed Limb/ Perturbed Moment/ Walking Speed/ Perturbation Intensity/ Perturbation Characteristics | Results |
---|---|---|---|---|
Mediolateral (ML) shifts of the treadmill (N = 6) | ||||
Sheehan, et al. [46] 15/32 | Post-transtibial amputation Y: 9M Age: 30.7 ± 6.8; Weight: 90.2 ± 16.1; Height: 176 ± 11 Leg dominance: nd. Control group 13 (3F, 10M) Age: 24.8 ± 6.9; Weight: 79.3 ± 11.6; Height: 175 ± 8; Leg dominance: nd. | To determine how lateral walking surface perturbations affect the regulation of whole-body and individual leg angular momentum in able-bodied controls and individuals with unilateral transtibial amputation. | Treadmill Caren Motek: nd.; 24-cameras MoCap Vicon: 60 Hz (full-body model, 57 markers). Perturbed limb: nd.; Perturbation moment: nd.; Walking speed: 1.22 ± 0.28 m/s. Perturbation intensity: 4 incommensurate sine waves; 5 trials with 3 min unperturbed walking; 5 trials with 3 min continuous, pseudorandom ML platform oscillations. | The range and variability of angular momentum for the whole body and legs were significantly higher during platform oscillations. There were no significant differences between groups in whole-body angular momentum during unperturbed walking. In the frontal plane, individuals with amputation had greater angular momentum ranges than controls across all segments. While patients with amputation had higher angular momentum ranges for the whole body and intact leg, they had lower ranges for the prosthetic leg compared to controls. Overall, patients with amputation were more affected by the perturbations. |
Afschrift, et al. [47] 14/32 | Y: 18 Age: 21 ± 2; Weight: nd.; Height: nd.; Leg dominance: nd. | To determine the contribution of the gluteus medius muscle of the stance and swinging limb in response to mediolateral perturbations at different phases of the gait cycle. | Treadmill Grail Motek: 1000 Hz; 12-cameras MoCap Vicon: 200 Hz; (full-body model, 48 markers); EMG Bortec: 1000 Hz; bilaterally: gluteus medius; OpenSim: gait2392_model. Perturbed limb: left; Perturbation moments: LR (7.5% gait cycle), MS (22.5% gait cycle), TS (37.5% gait cycle), PSw (52.5% gait cycle); Walking speed: 1.1 m/s. Perturbation intensity: 48 perturbations: 3 magnitudes (small, medium, large) and 4 directions (left/right platform translation, increase/decrease in belt speed). | Step width increased during perturbations at 7.5% and 22.5% of the gait cycle and decreased during the second double support phase. Gluteus medius activity significantly increased at 7.5% of the gait cycle and was higher in the stance limb at 22.5%, 37.5%, and 52.5%. |
Rosenblum, et al. [48] 17/32 | Y: 20 (10F, 10M) Age: 27 ± 2.8; Weight: 62.54 ± 10.65; Height: 167 ± 8; Leg dominance: nd. | To investigate balance recovery differences between single-support and double-support phases in biomechanical behavior and lower limb muscle activation. | Treadmill Caren Motek; nd. 18-cameras Vicon MoCap; nd. EMG: 2048 Hz; bilaterally: vastus lateralis, tibialis anterior. Perturbed limb: nd.; Perturbation moment: single or double-support phase; Walking speed: self-selected. Perturbation intensity: randomly induced platform shifts of 15 cm for 0.92 s, occurring in various directions and timings (25–35 s). | Following a perturbation, lower extremity muscle spectral power significantly increased during the first three seconds. In the double-support phase, different muscle fiber recruitment patterns were observed between the vastus lateralis and tibialis anterior. No significant differences were found in muscle fiber recruitment during single-support phases. |
Kao and Pierro [49] 13/32 | Y: 18 (8F, 10M) Age: 20.4 ± 1.5; Weight: 69.2 ± 11.7; Height: 172 ± 10; Leg dominance: nd. | To examine:
| Treadmill M-Gait Motek; nd. MoCap Motion Analysis Corporation: 100 Hz; (full-body model). Perturbed limb: nd.; Perturbation moment: Walking speed: ~1.25 m/s. Perturbation intensity: ML translation distance ranged from −0.05 m to 0.05 m. Participants walked under 2 conditions: with and without continuous ML sways (perturbed vs. unperturbed) and under 5 task conditions: PASAT (Paced Auditory Serial Addition Test), Clock, V-Stroop, A-Stroop, and Walk Only. | Participants showed greater local instability and variability in gait with perturbations. They increased average MoS in the ML direction during Clock and PASAT tasks compared to Walk Only, regardless of perturbations. While participants prioritized walking under challenging conditions, adjustments were insufficient to maintain balance. Cognitive tasks affecting working memory, visuospatial recognition, or attention had a greater impact on gait, especially with perturbations. |
Castano, et al. [50] 16/32 | Y: 10 (5F, 5M) Age: 23 ± 4.2; Weight: nd.; Height: nd; Leg dominance: nd. E: 10 (4F, 6M) Age: 70 ± 6.6 Weight: nd.; Height: nd; Leg dominance: nd. | To investigate how healthy young and older adults adjust their gait strategies when responding to ML perturbations of varying unpredictability. | Treadmill M-Gait Motek; nd.; MoCap OptiTrack: nd.; (lower body model). Perturbed limb: left; Perturbation moment: LR, TS, MSw; Walking speed: self-selected, (Y: 1.27 ± 0.13 m/s; E: 1.45 ± 0.16 m/s). Perturbation intensity: ML treadmill shifts of 1 cm, 3 cm, or 5 cm. | During perturbations, participants took faster, wider, and longer steps. Older individuals walked faster than younger ones. Gait kinematic variability, including step width, increased with perturbation unpredictability. |
Molina, et al. [51] 15/32 | Y: 15 (8F, 7M) Age: 25 ± 4; Weight: 69 ± 12; Height: 169 ± 13; Leg dominance: nd. |
| Treadmill Motek: 960 Hz; 10-cameras MoCap Vicon: 120 Hz; (full-body model, 56 markers). EMG Motion Labs Systems: 2160 Hz; bilaterally: medial gastrocnemius, soleus, tibialis anterior and gluteus medius. Perturbed limb: nd.; Perturbation moment: IC; Walking speed: self-selected. Perturbation intensity: ML treadmill shifts of 2.5 cm, lasting 0.25 s. Walking at 3 widths: narrow (25% narrower), SS (self-selected), wide (50% wider), and extra-wide (100% wider) step widths. | During steady-state walking, wider steps led to decreased balance control increased gluteus medius activity and reduced hip abduction and ankle inversion moments, indicating a reliance on lateral ankle strategies. Plantarflexion moments were unchanged. During perturbed walking, only lateral surface translations affected balance. Wider steps did not alter balance response strategies, suggesting consistent responses to perturbations across different step widths. |
Mediolateral (ML) shifts of the treadmill and Acceleration/Deceleration of one belt in anterior–posterior (AP) direction (N = 6) | ||||
Punt, et al. [52] 16/32 | 38 stroke survivors: Non fallers: 23 (13F, 10M) Age: 55.0 ± 12.2; Weight: 87 ± 19; Height: 172 ± 10; Leg dominance: nd. Fallers: 15 (7F, 8M) Age: 65.4 ± 6.7; Weight: 83 ± 20.1; Height: 171 ± 13; Leg dominance: nd. | To examine the differences in walking perturbation responses between post-stroke individuals who have experienced falls and those who have not. | Treadmill Grail Motek; nd.; 10-cameras MoCap Vicon; nd.; (full-body model, 47 markers). Perturbed limb: nd.; Perturbation moment: IC; Walking speed: 0.41 m/s; Perturbation intensity: ML treadmill shifts of 4.5 cm; deceleration to 0 m/s, acceleration: −3.9 m/s2. | During steady walking, individuals who fell had shorter step duration and length with the affected limb. During ML perturbations, they reacted faster and took shorter initial steps. |
Chien and Hsu [53] 16/32 | E: 17 (12F, 5M) Age: 68.33 ± 5.80; Weight: 58.92 ± 7.69; Height: 157.09 ± 5.35; Leg dominance: nd. | To investigate balance control in static and dynamic conditions in older adults after eight weeks of perturbation training focused on both AP and ML sway perturbations. | Treadmill custom-made, AMTI force plates: 960 Hz; 10-cameras MoCap Vicon: 120 Hz; (full-body model, 14 markers). Perturbed limb: both randomly; Perturbation moment: nd.; Walking speed: self-selected. Perturbation intensity: 2 sessions per week, 1 h each, for 8 weeks. Walking perturbations: AP 20 forward (0.5–0.6 m/s) and 20 backward (0.4–0.6 m/s); ML 20 left-to-right and 20 right-to-left in random order (0.09–0.18 m/s). Standing perturbations: forward (0.15–0.2 m/s), backward (0.20–0.25 m/s), lateral (0.09–0.18 m/s). | After training, older adults showed significant improvement in CoM control during quiet standing with perturbations, but no change in CoP control during unperturbed standing. These findings suggest that perturbation-based balance training enhances dynamic control in older adults. |
Roeles, et al. [9] 17/32 | Y: 9 (3F, 6M) Age: 25.1 ± 3.4; Weight: 76.6 ± 15.1; Height: 176 ± 9; Leg dominance: nd. E: 9 (7F, 2M) Age: 70.1 ± 8.1; Weight: 77.9 ± 10.5; Height: 170 ± 11; Leg dominance: nd. |
| Treadmill Caren Motek: nd.; 12-cameras MoCap Vicon: 100 Hz; (full-body model, 47 markers). Perturbed limb: non-dominant; Perturbation moment: IC; Walking speed: self-selected. Perturbations intensity: ipsilateral: 5 cm platform translation to the non-dominant side (0.7 s, 2.04 m/s2). Contra-lateral: same as ipsilateral but to the dominant side. Unilateral belt acceleration of the non-dominant side to 160% of the comfortable speed (0.4 s, 2.43–5.13 m/s2). Unilateral belt deceleration to 40% of the comfortable speed (0.4 s, 2.43–5.13 m/s2). Visual: rapid room darkening for 5 s to < 1 lux. Auditory: 0.5 s air horn at 82 dB. | The perturbation effect, measured by MoS deviation over six post-perturbation steps, showed that contra-lateral sway and deceleration caused the largest ML and AP effects, 1.9 to 5.6 times greater than other perturbations. Participants responded with wider, shorter, and faster steps, with no differences between young and older adults. |
Aprigliano, et al. [54] 16/32 | E: 6M Age: 68.7 ± 5.2; Weight: 76.9 ± 7.9; Height: 176 ± 10; Leg dominance: nd. | Investigation of the effectiveness of balance recovery strategies following unexpected, multi-directional slips using an active pelvis orthosis (APO) robot. | Treadmill Senly: nd.; 6-cameras MoCap Vicon: 250 Hz; (full-body model, 34 markers). Perturbed limb: right; Perturbation timing: IC; Walking speed: self-selected (0.89 ± 0.12 m/s); Perturbations intensity: sudden forward or lateral movement of the right belt. | The APO was effective in helping restore stability in the sagittal plane after perturbations in both the AP and ML directions but was not helpful for perturbations in the frontal plane. |
Rieger, et al. [55] 17/32 | Treatment group 15 (8F, 7M): Age: 70.33 ± 3.99; Weight: 74.93 ± 9.22; Height: 172.93 ± 10.48; Leg dominance: nd. Control group 15 (7F, 8M): Age: 71.67 ± 4.98; Weight: 75.40 ± 11.17; Height: 172.33 ± 8.77; Leg dominance: nd. | To evaluate the transfer and retention effects of gait training with treadmill perturbations in AP direction to ML reactive recovery. | Treadmill Grail Motek: 1000 Hz; 10-cameras MoCap Vicon: 100 Hz; (full-body model, 26 markers). Perturbed limb: both randomly; Perturbation moment: IC; Walking speed: 1 m/s; Perturbation intensity: 4 ML shifts to the opposite side (5 cm, 0.31 s); 4 AP belt accelerations/decelerations (9 m/s2 for 0.12 s). Training: Treadmill belt speed changes (low: 8 m/s2, 0.11 s; high: 10 m/s2, 0.13 s). | Both groups showed improved balance recovery after AP and ML perturbations immediately and one week post-intervention, with no differences between groups. Short-term training may effectively enhance dynamic trunk stabilization. |
Rosenblum, et al. [56] 16/32 | Y: 12 (5F, 7M) Age: 26.92 ± 3.40; Weight: 63.67 ± 10.26; Height: 168.42 ± 7.32; Leg dominance: nd. E: 12 (6F, 6M) Age: 69.50 ± 5.20; Weight: 78.34 ± 16.22; Height: 169.67 ± 6.68; Leg dominance: nd. |
| Treadmill Caren Motek: nd.; 18-cameras Vicon MoCap: 120 Hz (full-body model, 41 markers). Perturbed limb: both randomly; Perturbation moment: IC, MS, TS; Walking speed: self-selected; Perturbation intensity: ML shifts (15 cm; 0.92 s); AP (Level 12—reducing the speed by 1.2 m/s with a deceleration of 5 m/s2). | A novel algorithm was developed to determine total recovery time for regaining stable step length and width after perturbations, using PCA. Both older and younger individuals took 4–6 s to return to free walking, regardless of perturbation type. |
Mediolateral (ML) shifts of the treadmill, Acceleration/Deceleration of one belt in anterior–posterior (AP) direction and tilt (N = 3) | ||||
Aprigliano, et al. [57] 13/32 | Y: 15 (5F, 10M) Age: 26.1 ± 1.3; Weight: 68.8 ± 12.3; Height: 178 ± 6; Leg dominance: nd. | To investigate how multi-directional slipping-like perturbations affect inter-segmental coordination, as described by the planar covariation law. | Treadmill Senly: nd.; 6-camera MoCap Vicon: 100 Hz (full-body model, 46 markers). Perturbed limb: both randomly; Perturbation moment: IC; Walking speed: Fr = 0.15. Perturbation intensity: displacement of each treadmill belt (forward, sideways, forward–sideways, sideways–backward, backward). | In response to perturbations, step time decreased from 1.21 ± 0.07 s to 0.75 ± 0.22 s, and stance phase reduced from 59.5 ± 1% to 53.7 ± 12.9%. Hip joint range of motion decreased from 37.8 ± 3.5° to 29.1 ± 8.5°, while knee joint motion reduced from 60.9 ± 5° to 48.2 ± 8.9°. Ankle joint motion increased from 27 ± 4.7° to 38.8 ± 27.6° on the perturbed side and 32.8 ± 8.1° on the non-perturbed side. |
Onushko, et al. [58] 15/32 | Y: 15 (7F, 8M) Age: 21.3 ± 1.4; Weight: 68.8 ± 10.7; Height: 170 ± 10; Leg dominance: nd. | Examine changes in spatiotemporal gait parameters and mediolateral stability in response to sinusoidal perturbations of different amplitudes, types, and directions. | Treadmill Woodway: nd.; 14-cameras MoCap OptiTrack: 120 Hz; (lower body model). Perturbed limb: nd.; Perturbation moment: IC; Walking speed: 0.78 ±0.19 m/s; Perturbation intensity: the same speed and acceleration were for ML and AP perturbations and the roll and pitch rotational trials. 13 perturbation conditions: for 12 conditions, continuous sinusoidal oscillations (0.12 Hz) were with pitch and roll (±5°, ±10°, ±15°); ML and AP (±8 cm, ±16.5 cm, ±25 cm). The 13th condition involved a combination of roll, pitch, and yaw oscillations at frequencies of 0.15, 0.16, and 0.17 Hz, with an amplitude of ±8°. Participants walked for 80 s with 60 s of rest between trials. | In response to perturbations, participants increased step width and decreased step length while simultaneously increasing ML MoS, especially during oscillations that were in the frontal plane. Surface rotations induced the greatest changes in spatiotemporal parameters of gait. |
Gerards, et al. [59] 17/32 | Treatment group 39 (31F, 8M): Age: 73 ± 10; Weight: 71.1 ± 19; Height: 161.0 ± 11.6; Leg dominance: nd. Control group 43 (34F, 9M) Age: 73 ± 8; Weight: 69.7 ± 18.5; Height: 164 ± 10; Leg dominance: nd. | To evaluate the effect of adding a Perturbation Training Protocol (PTP) to standard care on balance control and fall-related fear in older adults at higher risk of falls. | Treadmill Caren Motek: nd.; MoCap: nd.; Fear of falling assessment: FES-I questionnaire. Balance control assessment: Mini-BESTest tool. Perturbed limb: nd.; Perturbation moment: nd.; Walking speed: self-selected. Perturbation intensity: PBT involved three 30 min sessions over 3 weeks with unilateral treadmill belt accelerations/decelerations and platform shifts/tilts. Perturbations lasted 0.2–0.7 s. | Post-intervention, the median Mini-BESTest scores showed no clinically significant improvement and did not differ between groups. Similarly, FES-I test results remained unchanged in both groups. |
3.1.3. Characteristics of Perturbations
3.1.4. Summary of Results and Measurement Outcomes
3.2. Perturbations in the Mediolateral (ML) Direction
3.2.1. Characteristics of Participants
3.2.2. Measurement Tools
3.2.3. Characteristics of Perturbations
3.2.4. Summary of Results and Measurement Outcomes
4. Discussion
4.1. Differences in Used Treadmills
4.2. Terminology of Slip-Like and Trip-Like Perturbations
4.3. Studies on Mediolateral Perturbations and Treadmill Tilts
4.4. Limitations of the Reviewed Studies and Suggestions for Future Research
5. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
References
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Study/ Quality | Study Group Age [Years]; Body Mass [kg]; Body Height [cm]; Leg Dominance | Aim | Equipment/ Perturbed Limb/ Perturbed Moment/ Walking Speed/ Perturbation Intensity/ Perturbation Characteristics | Results |
---|---|---|---|---|
Acceleration of one belt in anterior–posterior (AP) direction—slipping-like effect (N = 9) | ||||
Aprigliano, et al. [30] 11/32 | Y: 5 (2F, 3M) Age: 25.4 ± 3.1; Weight: 63.2 ± 11; Height: 170 ± 10; Leg dominance: right. | To examine the effect of sudden, unexpected, slipping-like perturbations of increasing intensities (soft, medium, and strong) on the dynamical stability described by the margin of stability (MoS) during gait. | Treadmill Senly: nd.; 6-cameras MoCap Vicon: 100 Hz (full-body model, 46 markers). Perturbed limb: both randomly; Perturbation moment: IC; Walking speed: Froude number (Fr = 0.15). Perturbation intensity: Fr = 0.10—soft; Fr = 0.20—medium; Fr = 0.30—strong. Acceleration level: 8 m/s2. | Strong perturbations against soft, reduced dynamic stability, requiring more time for compensatory steps (0.39 ± 0.02 s vs. 0.35 ± 0.004 s) and reducing MoS (−61.3 ± 13.2 mm vs. −97.3 ± 34.8 mm). |
Aprigliano, et al. [31] 16/32 | Y: 10 Age: 24.4 ± 2.5; Weight: 63.1 ± 9.1; Height: 169 ± 7; Leg dominance: nd. E: 10 Age: 66.3 ± 5.1; Weight: 66.9 ± 10.8; Height: 166 ± 8; Leg dominance: nd. | To check whether aging modifies intra-limb coordination strategy during corrective responses elicited by unexpected slip-like perturbations delivered during steady walking on a treadmill. | Treadmill Senly: nd.; 6-cameras MoCap Vicon: 100 Hz (lower body model, 25 markers). Perturbed limb: 4 times right, 4 times left; Perturbation moment: IC; Walking speed: Fr = 0.15. Perturbation intensity: belt speed ramped up and decelerated at 8 m/s2. Belt displacement was 60% of limb length. Maximum speeds corresponded intensity of perturbations: Fr = 0.1, 0.2, 0.3, and 0.4. | Step time decreased from 1.04 ± 0.07 to 0.56 ± 0.05 s, stance phase from 65.6 ± 1% to 62.3 ± 6.9% (younger) and 53.1 ± 5.7% (older), step length from 0.58 ± 0.05 to 0.51 ± 0.08 m, and step width from 0.15 ± 0.04 to 0.12 ± 0.04 m. Despite these differences, aging did not affect intra-limb coordination during slip-like perturbations; both age groups used similar control strategies. |
Martelli, et al. [32] 17/32 | Y: 8 (4F, 4M) Age: 24 ± 2.7; Weight: 64.9 ± 10.9; Height: 169 ± 7; Leg dominance: nd. E: 8 (3F, 5M) Age: 65 ± 4.8; Weight: 67.6 ± 12.0; Height: 167 ± 9; Leg dominance: nd. | To compare the effectiveness of the motor responses of young and elderly people while managing unexpected slip-like perturbations of different intensities. | Treadmill Senly: nd.; 6-cameras MoCap Vicon: 100 Hz (full-body model, 40 markers). Perturbed limb: right; Perturbation moment: IC; Walking speed: , where: g is the gravitational acceleration, L is the leg length, Fr = 0.15. Perturbation intensity: Fr = 0.10—soft; Fr = 0.20—medium; Fr = 0.30—strong. Acceleration level: 8 m/s2. | Older subjects had a significantly longer recovery step time than younger subjects (0.48 ± 0.02 s vs. 0.41 ± 0.01 s). Older subjects performed a longer recovery step (0.420 ± 0.011 m vs. 0.365 ± 0.010 m). Perturbations were significantly more destabilizing for older than younger subjects (−154.75 ± 26.20 mm vs. −78.99 ± 22.69 mm). |
van den Bogaart, et al. [33] 16/32 | Y: 19 (9F, 10M) Age: 24.4 ± 1.8; Weight: 70.3 ± 10.2; Height: 175 ± 8; Leg dominance: nd. | To assess the contribution of two mechanisms for stabilizing gait and controlling the center of mass (CoM) in the AP direction during a normal step and the first recovery step after a slip-like perturbation in healthy adults. These mechanisms include:
| Treadmill Grail Motek: 1000 Hz; MoCap Vicon: 100 Hz (full-body model, 55 markers). Perturbed limb: right;Perturbation moment: IC; Walking speed: 1.2 m/s. Perturbation intensity: 5 perturbation magnitudes with speed differences from 0.1 to 0.5 m/s in 0.1 m/s increments, designed to complete before the left IC. 5 trials with 15 perturbations each. Magnitude and interval: random, with 15 repetitions per magnitude. Intervals between perturbations ranged from 10 to 15 strides. | CoP mechanism plays a significant role in adjusting the CoM acceleration following perturbations in the AP direction. The counter-rotation mechanism appeared to prevent interference with the gait pattern rather than using it to control the CoM after the perturbation. Thus, it operates to oppose CoM acceleration, especially during the initial stages of the first step post-perturbation. |
Swart, et al. [34] 17/32 | Y: 30 (13F, 17M) Age: 21.6 ± 2.2; Weight: 70.1 ± 9.8; Height: 178 ± 8.5; Leg dominance: nd. | To assess if and how people adjust spatiotemporal step characteristics and MoS to accommodate the requirements of a gait perturbation task. | Treadmill M-gait Motek: 300 Hz; MoCap: nd. Perturbed limb: right; Perturbation moment: IC; Walking speed: 1 m/s. Perturbation intensity: up to a maximum of 0.5 s. Both belts accelerated forward to 0.35 m/s after the right IC, then returned to normal walking speed when the perturbation intensity was matched. | Participants initially walked with wider and shorter steps following the perturbation warning, but this effect faded without further perturbations. During actual perturbations, participants shortened the step of the perturbed leg and lengthened the step of the unperturbed leg. |
Debelle, et al. [35] 16/32 | Y: 17 (9F, 8M) Age: 25.2 ± 3.7; Weight: 71.8 ± 10.1; Height: 176.1 ± 8.1; Leg dominance: nd. |
| Treadmill Motek: 1200 Hz; 12-cameras MoCap Vicon: 120 Hz (full-body model, 68 markers). Perturbed limb: right; Perturbation moment: IC; Walking speed: 1.2 m/s. Perturbation intensity: The right belt accelerated at 5 m/s2 starting at 20% of the right leg stance phase and returned to normal at 70%. | Participants regained balance within 10.9 ± 7 steps. Recovery from FFSs involved larger hip flexor and knee extensor moments to support the CoM during the slip, a longer first recovery step with large hip extensor moments to halt the fall, and large knee extensor moments to advance the CoM into the next step (p < 0.001 compared to normal gait). Subsequent steps progressively normalized. |
Hirata, et al. [36] 16/32 | Y: 10M Age: 21.0 ± 1.0; Weight: 63.1 ± 6.2; Height: 171 ± 8; Leg dominance: nd. |
| Treadmill Bertec: 1000 Hz; 17-cameras MoCap Vicon: 100 Hz; (full-body model, 39 markers). Perturbed limb: right/left, 4 times, random order; Perturbation moment: IC; Walking speed: metronome (slow—80 BPM, fast—140 BPM). Perturbation intensity: The treadmill belt accelerates to 1.6 m/s at 5.3 m/s2 for 0.3 s, then decelerates to 0 m/s at 5.3 m/s2 for 0.3 s. The ground reaction force (GRF) threshold on the slipping side: 5 N. Maximum slip velocity: 1.6 m/s. | All participants overcame slipping and continued walking while walking fast at maximum slip velocity. During slow walking, at a velocity less than the maximum slip velocity, most participants took wide steps or stepped backward and stopped walking. In slow walking, step length (r = 0.84, p < 0.01) and hip flexion angle (r = 0.78, p < 0.01) strongly correlated with the corrective response. |
Golyski, et al. [37] 14/32 | Y: 10 (2F, 8M) Age: 24 ± 3; Weight: 74.1 ± 12; Height: 176.4 ± 11.1; Leg dominance: nd. |
| Treadmill Caren Motek: nd.; 10-cameras MoCap Vicon: 100 Hz (lower body model). Perturbed limb: both, 10 times (80 per participant); Perturbation moment: 10, 15, 20, and 30% of the gait cycle; Walking speed: 1.25 m/s. Perturbation intensity: belts accelerated from 1.25 m/s to 2.5 m/s, held at that speed, then decelerated back to 1.25 m/s. The acceleration and deceleration rate was 15 m/s2, and the perturbation duration was approximately 30% (~340 ms) of the gait cycle. | The mean perturbation delay was 56 ± 9 ms. Later perturbations led to greater MoS in the AP and ML directions and longer steps on the perturbed side. Delayed perturbations resulted in shorter recovery steps, while those at 20% of the gait cycle produced the widest consecutive steps. |
Ciunelis, et al. [4] 17/32 | Y: 21F Age: 21.38 ± 1.32; Weight: 61.38 ± 6.48; Height: 165.9 ± 4.53; Leg dominance: right. | To examine the effect of the acceleration of one belt of the treadmill during three different phases of the gait cycle on kinematic and kinetic parameters and relate these changes to unperturbed gait. | Treadmill Grail Motek: 1000 Hz; 10-cameras MoCap Vicon: 100 Hz (full-body model, 25 markers). Perturbed limb: left; Perturbation moment: Initial Contact (IC), Mid Stance (MS), Pre-Swing (PSw) phases. Perturbations introduced every 10 s, repeated 5 times. Walking speed: 1.2 m/s; Perturbation intensity: magnitude of 5 (scale 1–5), changing belt speed by 0.5–0.6 m/s. The left lane velocity was 1.7–1.8 m/s for ~0.82 s. | All perturbations significantly affected the gait pattern, mainly by decreasing the knee extension angle. The perturbation in the IC phase had the most significant effect, resulting in a 248.48% increase in knee flexion torque. The perturbation in the MS phase mainly affected plantar flexion torque, increasing it by 118.18%, while perturbation in the PS phase primarily increased the hip extension torque by 73.02%. The presence of perturbations in the IC and PS phases caused the most aggressive and significant changes in gait parameters. |
Deceleration of one belt in anterior–posterior (AP) direction—trip-like effect (N = 3) | ||||
Ren, et al. [38] 17/32 | E: 14 (4F, 10M) Age: 68.29 ± 3.41; Weight: 81.14 ± 14.52; Height: 176 ± 1.3; Leg dominance: right. | To investigate whether gait variability parameters associated with falls remain consistent in healthy older adults during perturbation-based balance training while shod and barefoot walking to determine which footwear condition is more appropriate. | Treadmill Grail Motek: 1000 Hz; 10-cameras MoCap Vicon: 100 Hz (full-body model, 26 markers). Perturbed limb: right; Perturbation moment: IC; Walking speed: self-selected; Perturbation intensity: belt deceleration at 3 m/s2 for 300 ms. Perturbation training: 2 sessions of shod and barefoot walking, each with 4 trials, 6 min walking at a self-selected speed. 1st trial: 3 min walk shod at a self-selected speed. 2nd trial: 6 trip perturbations with 15–20 s intervals. 3rd and 4th trials: barefoot walking, following the same process as shod walking. | Barefoot walking may be more stable and beneficial for perturbation-based balance training in older adults, particularly in swing time variability. There was a significant decrease in barefoot walking speed compared to shod walking in normal and trip-like gaits. |
Shokouhi, et al. [19] 13/32 | Y: 24M Age: 24.72 ± 2.46; BMI: 21.49 ± 3.75; Leg dominance: right. | To investigate lower limb joint power and work adjustments in response to an unexpected trip-induced perturbation. | Treadmill Caren Motek: 1000 Hz; 10-cameras MoCap Vicon: 100 Hz; (full-body model, 26 markers). Perturbed limb: right Perturbation moment: IC; Walking speed: 1.1 m/s. Perturbation intensity: 2 unexpected trip-like perturbations involved rapidly decelerating the treadmill belt to 0.5 m/s for 0.5 s with a maximum acceleration of 3 m/s2, then quickly accelerating back to baseline speed. | Recovery from a trip required a significant increase in both positive (+27%, p < 0.05) and negative (+28%, p < 0.05) leg work compared to normal walking. During unperturbed walking, the ankle was the main contributor to both positive (50%) and negative (62%) leg work. During recovery, knee eccentric work increased significantly (+83%, p < 0.05), making it the primary contributor to negative leg work (46%), while hip-positive work also increased (+62.7%, p < 0.05). Positive work from the ankle and knee remained unchanged. |
Liss, et al. [39] 14/32 | Y: 16 (7F, 9M) Age: 22.4 ± 2.80; Leg dominance: right, left—one subject. | To investigate the role of whole-body and local sensory feedback on the perception of locomotor disturbances. | Treadmill Bertec: 1000 Hz; 10-cameras MoCap Vicon: 100 Hz; (lower-body plug-in gait model). Perturbed limb: right/left; Perturbation moment: IC; Walking speed: self-selected. Perturbation intensity: the treadmill belt slowed by 0, 0.02, 0.05, 0.1, 0.15, 0.2, 0.3, and 0.4 m/s, 5 times per leg (80 total deceleration perturbations). | In the perception of slips in young individuals, both proprioceptive sensation from the ankle joint and feedback from the entire body are involved. |
Acceleration and deceleration of one belt in anterior–posterior (AP) direction (N = 6) | ||||
Mueller, et al. [40] 15/32 | Y: 13 (5F, 8M) Age: 28 ± 3; Weight: 77 ± 12; Height: 180 ± 10; Leg dominance: nd. | To analyze the neuromuscular reflex activity of the trunk muscles during four different walking perturbations. | Treadmill Woodway: nd.; MoCap: nd. EMG: 4000 Hz; 12 muscles bilaterally: rectus abdominis, external and internal obliques, pectoralis, lumbar erector spinae, and latissimus dorsi. Perturbed limb: randomly both; Moment of perturbation: IC; Walking speed: 1 m/s. Perturbation intensity: 5 times, with 4 random 50 ms perturbations: forward accelerations of +20 m/s2 (+2 m/s) and +40 m/s2 (+3 m/s); backward accelerations of −20 m/s2 (0 m/s) and −40 m/s2 (−1 m/s). | Muscle activity increased by 428 ± 289% in response to perturbations compared to normal gait. Magnitude significantly affects neuromuscular trunk responses. Ventral muscles consistently showed a greater relative increase in activity, while back muscles had an 88.4 ± 17.0 ms delay and abdominal muscles had an 87.0 ± 21.7 ms delay in activation. |
Lee, et al. [41] 16/32 | Y: 20 (10F, 10M) Age: 23.3 ± 3.3; Weight: 67.6 ± 12.2; Height: 173.2 ± 7.6; Leg dominance: right. | To investigate the influence of two types of gait perturbation (trip and slip) on the body’s compensatory responses. | Treadmill Bertec: 1000 Hz; 12-cameras MoCap Vicon: 100 Hz (full-body model, 35 markers). EMG Trigno Delsys: 1000 Hz; bilaterally: tibialis anterior, gastrocnemius (medialis and lateralis), rectus femoris, biceps femoris. Perturbed limb: left, between the 31st and 40th steps; Perturbation moment: PSw; Walking speed: self-selected (0.9 ± 0.2 m/s). Perturbation intensity: 2 trials of trip perturbation (deceleration: −10 m/s2); 2 trials of slip perturbation (acceleration: 20 m/s2). Each trial lasted ~60 s (15 s standing, ~40 s normal walking, ~5 s recovery). | Reactions to slip-related perturbations were faster. Trunk, arms, and CoM motion after slip-related perturbations were higher. The EMG results showed that the activity of the tibialis anterior, gastrocnemius, rectus femoris, and biceps femoris muscles was also higher. |
Ren, et al. [42] 18/32 | Y: 15 (9F, 6M) Age: 26.53 ± 3.04; Weight: 66.81 ± 11.44; Height: 173 ± 7; Leg dominance: right. E: 15 (4F, 11M) Age: 68.33 ± 3.29; Weight: 81.13 ± 13.99; Height: 176 ± 10; Leg dominance: right. | To explore the mechanism of perturbation compensation by investigating the gait characteristics and lower extremity joint moment effects in young (Y) and older subjects (E) during the first recovery gait following slipping and tripping. | Treadmill Grail Motek: 1000 Hz; 10-cameras MoCap Vicon: 100 Hz (full-body model, 26 markers). Perturbed limb: right; Perturbation moment: IC; Walking speed: self-selected. Perturbation intensity: 300 ms duration, with acceleration and deceleration of 3 m/s2 (1.2 m/s). | In slipping and tripping, the gait pattern primarily changed with a significant increase in step width. Aging did not alter overall gait but affected hip extension moments during slipping. Slipping was more challenging than tripping for recovery. Older individuals should focus on ankle and hip strategies for gait disturbances. |
Ren, et al. [43] 15/32 | Knee osteoartrisis (KOA): 9 Age: 68.89 ± 3.59; Weight: 97.53 ± 19.16; Height: 169 ± 1.1; Leg dominance: right. E: 15 Age: 68.33 ± 3.29; Weight: 81.13 ± 13.99; Height: 176 ± 1.02; Leg dominance: right. | To examine compensatory strategies in response to backward slip perturbations in patients with KOA and healthy older adults, focusing on differences and similarities between the first recovery step and normal gait. | Treadmill Grail Motek: 1000 Hz; 10-cameras MoCap Vicon: 100 Hz (full-body model, 26 markers). Perturbed limb: right; Perturbation moment: IC; Walking speed: self-selected. Perturbation intensity: 300 ms duration, with acceleration and deceleration of 3 m/s2 (1.2 m/s). | Patients with KOA had significantly lower step length, gait speed, and vertical GRF than older adults during normal walking and the first recovery step after backward slip perturbations. Inadequate joint flexion, extension, and moment generation increase fall risk in KOA patients. They should focus on quadriceps muscle strength and improving hip extensor strength through specific exercises. |
Shokouhi, et al. [44] 16/32 | Y: 18 (9F, 9M) Age: 24.7 ± 2.5; Weight: 70.1 ± 9.8; Height: 171 ± 9; Leg dominance: nd. | To investigate the effects of slips and trips on balance recovery during level and sloped walking using a treadmill-based framework. | Treadmill Caren Motek: 1000 Hz; 10-cameras MoCap Vicon: 100 Hz (full-body model, 26 markers). Perturbed limb: right; Perturbation moment: IC; Walking speed: 1.25 m/s. Perturbation intensity: At each slope (−8°, 0°, +8°), walk for 1 min at baseline speed, then 2 trip and slip perturbations lasting 20 s each. Trip-like perturbation: deceleration to 0.4 m/s with 5 m/s2 acceleration. Slip-like perturbation: acceleration to 2.1 m/s followed by rapid deceleration to baseline speed. | Trips were more destabilizing than slips, causing larger perturbation responses and greater whole-body angular momentum, especially in the sagittal plane. The response was highest on level ground and lowest downhill. Consistent recovery strategies across slopes and perturbations included a wider, shorter first recovery step, with trips requiring the most adjustment. |
Błażkiewicz and Hadamus [2] 17/32 | Y: 21F Age: 21.38 ± 1.32; Weight: 61.38 ± 6.48; Height: 165.9 ± 4.53; Leg dominance: right. | To investigate how treadmill belt acceleration (Acc) and deceleration (Dec) during Initial Contact (IC), Mid Stance (MS), and Pre-Swing (PSw) phases affect gait regularity in young adults, measured using sample entropy (SampEn). | Treadmill Grail Motek: 1000 Hz; 10-cameras MoCap Vicon: 100 Hz (full-body model, 26 markers). Perturbed limb: left; Perturbation moment: IC, MS, PSw Walking speed: 1.2 m/s. Perturbation intensity: acceleration and deceleration with a magnitude of 5 on a scale of 1–5, shifting treadmill belt speed by 0.5 m/s. Each participant completed one trial for all six perturbation conditions (type x phases). Perturbations 4 times, every 10 s. | CoM displacement was the most regular (low SampEn) in the AP and vertical directions during Dec_PSw for all m values. It was also true for the ML direction with m = 2 and 4. The last regular CoM trajectories (high SampEn) were during Dec_MS in the AP direction for all m values and in the ML direction for m = 2 and 4. Irregular ML displacements occurred during Dec_PSw for other m values, while vertical CoM displacements were most irregular during Dec_IC for m ≥ 4. |
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Chodkowska, K.; Borkowski, R.; Błażkiewicz, M. Perturbations During Gait on a Split-Belt Treadmill: A Scoping Review. Appl. Sci. 2024, 14, 9852. https://doi.org/10.3390/app14219852
Chodkowska K, Borkowski R, Błażkiewicz M. Perturbations During Gait on a Split-Belt Treadmill: A Scoping Review. Applied Sciences. 2024; 14(21):9852. https://doi.org/10.3390/app14219852
Chicago/Turabian StyleChodkowska, Katarzyna, Rafał Borkowski, and Michalina Błażkiewicz. 2024. "Perturbations During Gait on a Split-Belt Treadmill: A Scoping Review" Applied Sciences 14, no. 21: 9852. https://doi.org/10.3390/app14219852
APA StyleChodkowska, K., Borkowski, R., & Błażkiewicz, M. (2024). Perturbations During Gait on a Split-Belt Treadmill: A Scoping Review. Applied Sciences, 14(21), 9852. https://doi.org/10.3390/app14219852