Minimum effort simulations of split-belt treadmill walking exploit asymmetry to reduce metabolic energy expenditure

Walking on a split-belt treadmill elicits an adaptation response that changes the baseline step length asymmetry of the walker. The underlying causes of this adaptation, however, are difficult to determine. It has been proposed that effort minimization may drive this adaptation, based on the idea that adopting longer steps on the fast belt, or positive step length asymmetry (SLA), can cause the treadmill to exert net-positive mechanical work on a bipedal walker. However, humans walking on split-belt treadmills have not been observed to reproduce this behavior when allowed to freely adapt. To determine if an energy minimization motor control strategy would result in experimentally observed adaptation patterns, we conducted simulations of walking on different combinations of belt speeds with a human musculoskeletal model which minimized muscle effort. The model adopted increasing amounts of positive step length asymmetry and decreased its net metabolic rate with increasing belt speed asymmetry, up to +25.6% SLA and −14.3% metabolic rate at a 3:1 belt speed ratio, relative to tied-belt walking. These gains were primarily enabled by an increase of braking work and a reduction of propulsion work on the fast belt. The results suggest that a purely energy minimization driven split belt walking strategy would involve substantial positive SLA, and that the lack of this characteristic in human behavior points to additional factors influencing the motor control strategy, such as aversion to excessive joint loads, asymmetry, or instability. New & Noteworthy Behavioral observations of split-belt treadmill adaptation have been inconclusive toward its underlying causes. To estimate gait patterns when driven exclusively by one of these possible causes, we simulated split-belt walking with a musculoskeletal model which minimized its energy cost. Our model took significantly longer steps on the fast belt and reduced its metabolic rate below tied-belt walking, unlike experimental observations. This suggests that asymmetry is energetically optimal, but human adaptation involves additional factors. ### Competing Interest Statement The authors have declared no competing interest.