Humans trade-off energetic cost with fatigue avoidance while walking

Abstract

Metabolic cost minimization is thought to underscore the neural control of locomotion. Yet, avoiding high muscle activation, a cause of fatigue, often outperforms energy minimization in computational predictions of human gait. Discerning the relative importance of these criteria in human walking has proved elusive, in part, because they have not been empirically decoupled. Here we explicitly decouple whole-body metabolic cost and fatigue-like muscle activation costs (estimated from electromyography) by pitting them against one another using two distinct gait tasks. When experiencing these competing costs, participants (N=10) chose the task that avoided overburdening muscles (fatigue avoidance) at the expense of higher metabolic power (p<0.05). Muscle volume-normalized activation more closely models energy use and was also minimized by the participants decision (p<0.05), demonstrating that muscle activation was, at best, an inaccurate signal for metabolic energy. Energy minimization was only observed when there was no adverse effect on muscle activation costs. By decoupling whole-body metabolic and muscle activation costs, we provide among the first empirical evidence of humans embracing non-energetic optimality in favor of a clearly defined neuromuscular objective. This finding indicates that local muscle fatigue and effort may well be key factors dictating human walking behavior and its evolution.