Variant and invariant spatiotemporal structures in kinematic coordination to regulate speed during walking and running

Humans walk, run, and change their speed in accordance with circumstances. These gaits are rhythmic motions generated by multi-articulated movements, which have specific spatiotemporal patterns. The kinematic characteristics depend on the gait and speed. In this study, we focused on the kinematic coordination of locomotor behavior to clarify the underlying mechanism for the effect of speed on the spatiotemporal kinematic patterns for each gait. In particular, we used seven elevation angles for the whole-body motion and separated the measured data into different phases depending on the foot-contact condition, that is, single-stance phase, double-stance phase, and flight phase, which have different physical constraints during locomotion. We extracted the spatiotemporal kinematic coordination patterns with singular value decomposition and investigated the effect of speed on the coordination patterns. Our results showed that most of the whole-body motion could be explained by only two sets of temporal and spatial coordination patterns in each phase. Furthermore, the temporal coordination patterns were invariant for different speeds, while the spatial coordination patterns varied. These findings will improve our understanding of human adaptation mechanisms to tune locomotor behavior for changing speed