Estimating Spatial Gait Parameters from the Planar Covariation of Lower Limb Elevation Angles: a Pilot Study

When characterizing human gait control strategies, theories based on the modularity of the neuromuscular system have been proven to be powerful in providing a compact description of the gait patterns. The planar covariation law of lower limb elevation angles has been proposed as a compact, modular description of gait kinematics. In this paper, we exploit this model for characterizing healthy subjects' spatial gait parameters during walking at different speeds, one self-selected and one slightly slower than the subject's comfortable pace. Different geometrical features have been calculated over the gait loop, that is the planar loop defined by the covariation of the thigh, shank and foot elevation angles. A correlation analysis has been carried out between these features and classical gait spatial parameters (step length, step width, stride length and foot clearance) by training a linear regressor on the dataset comprising both speeds. The results from this analysis have highlighted a correlation with some spatial gait parameters across the two speed conditions, indicating that this compact description of kinematics unravels a significant biomechanical meaning. These results can be exploited to guide the control mechanisms of external assistive devices, such as prostheses or exoskeletons, based purely on the measurement of few relevant kinematic quantities of the lower limb segments