bioRxiv Science⌕ Search
Home/Archive/bioRxiv

bioRxiv · 10.64898/2026.04.16.719049

Generic versus personalized foot-ground contact models for predictive simulations of walking: Is personalization worth the effort?

Williams, S. T.·Li, G.·Fregly, B. J.
View original source ↗Export metadata ↓

Abstract

PurposeQuantification of walking function, including joint motions, ground reactions, and joint loads, outside the lab is a growing research area. Because only joint motions can currently be measured outside the lab, researchers are utilizing tracking optimizations of walking to estimate associated ground reactions and inverse dynamic joint loads. However, foot-ground contact models used in such optimizations have been generic rather than personalized, which may limit the accuracy of estimated ground reactions and joint loads. This study compares the predictive capabilities of generic versus personalized foot-ground contact models. MethodsGeneric and personalized foot-ground contact models were evaluated in calibration and tracking optimizations performed using experimental walking data collected from three subjects in varying states of health. Foot-only calibration optimizations evaluated how well both models could reproduce experimental ground reaction and foot motion data while tracking both types of data simultaneously, while whole-body tracking optimizations evaluated how well both models could reproduce experimental ground reactions, joint motion, and joint load data while tracking only experimental joint motion data and achieving dynamic consistency. ResultsFor all three subjects and both types of optimizations, personalized foot-ground contact models reproduced experimental ground reaction, joint motion, and joint load data more accurately than generic foot-ground contact models. ConclusionPersonalized foot-ground contact models can improve the accuracy with which ground reactions and joint loads can be estimated via tracking optimizations of walking using only experimental motion data as inputs. Personalized models require little time and effort to calibrate using freely available software tools and should improve the accuracy of predictive simulations of walking as well.

Explore related subjects

bioengineeringPreprint

Keep this discovery

Explore connections, maps & timelines

BibTeXRIS

Williams, S. T., Li, G., Fregly, B. J.. 2026-04-21. Generic versus personalized foot-ground contact models for predictive simulations of walking: Is personalization worth the effort?. https://doi.org/10.64898/2026.04.16.719049

Cite the original work for its findings. Save a collection to share your selection of sources.

KEEP EXPLORING

Related preprints

bioRxiv2026

RNASeek: A Cross-Phyla Generative Foundation Model for Multipurpose RNA Modeling and Reinforcement Learning-Based Design

RNA plays central roles in regulating information flow and provides a versatile substrate for engineering biological functions. While large language models (LLMs) have transformed natural language processing and protein design, a general framework connecting RNA foundation models to functional sequence design remains limited. Here, we present RNASeek, a 1.6-billion-parameter generative foundation model built on a DeepSeek architecture and trained on a cross-phyla transcriptomic corpus for RNA sequence representation and generation. Natural-language tokens enable flexible conditional prediction and sequence design using a unified backbone. RNASeek captures species-specific transcript features and intron-exon boundaries in a zero-shot setting. We then fine-tune RNASeek to predict ribozyme self-cleavage activity and viral mRNA stability, revealing interpretable sequence features associated with function, including ribozyme loop flexibility and stem stability, as well as AU-rich motifs associated with mRNA stability. We use these functional predictors as reward models and apply Group Relative Policy Optimization (GRPO) to update the generation policy of RNASeek toward sequences with desired properties. GRPO-guided generation produces faster-cleaving ribozymes and stability-enhancing 3' UTRs while satisfying user-specified IUPAC constraints. Experimentally validated RNASeek-generated ribozymes achieve wild-type levels of activity, while RNASeek-generated 3' UTR sequences exceed the performance of the training data and benchmarked AI-generated 3' UTRs. Together, RNASeek establishes a unified pretrain-predict-optimize framework that connects learned RNA function to controllable de novo sequence design and provides a general strategy for engineering regulatory RNAs with desired properties.

bioengineering↗
bioRxiv2026

Joint Vector Flow Mapping and Segmentation: Ill-Posedness,Differentiable Bayesian Inference, and Synthetic Vortex-FlowBenchmarks

Vector flow mapping (VFM) reconstructs left-ventricular (LV) blood velocity from color-Doppler echocardiography by combining the measured beamwise component with physical and regularizing constraints. Analysis of the discrete VFM formulation shows that the inverse problem is intrinsically ill posed: the occurrence of singular modes can be predicted from the geometry of the segmented blood-pool domain, the imposed boundary conditions, and the degree of smoothing. These modes can propagate uncertainty along entire transverse bands of the reconstructed velocity field, yet conventional VFM neither quantifies this uncertainty nor allows for correcting the blood-pool segmentation. We introduce Bayesian VFM (B--VFM), a hierarchical framework that jointly infers radial and transverse velocities, a probabilistic blood-pool mask, their spatially resolved uncertainties, and hyperparameters weighting Doppler and segmentation fidelity, mass conservation, boundary conditions, and smoothness. The discretized posterior admits a closed-form gradient and exact Hessian, enabling computationally efficient, gradient-based MAP estimation, sampling, and direct analysis of ill-posed modes. Posterior inference combines Gibbs sampling of conjugate Gamma-distributed hyperparameters with conditional maximum-a-posteriori estimation and a Laplace approximation for the high-dimensional velocity and mask fields. To accommodate systematic departures from planar mass conservation, B-VFM can learn the covariance of the planar divergence residual from an ensemble of flows and incorporate it as a structured model-discrepancy prior. Independent chains converged reproducibly, while covariance priors learned from flow ensembles illustrated how model discrepancies can be incorporated into the inference. B--VFM was evaluated using Lamb-Chaplygin dipoles under ideal conditions and with Doppler corruption, Doppler voids, and segmentation defects, and using the Hicks-Moffatt family of spherical vortices to assess violations of planar mass conservation. The method produced smooth reconstructions, localized uncertainty near unreliable measurements and regions of model inconsistency, and used flow information to correct segmentation errors. Within the tested vortex family, the data-informed planar divergence prior reduced velocity bias and mask distortion. B--VFM thus provides an uncertainty-aware reconstruction method and a flexible foundation for future VFM formulations incorporating additional priors, observations, and physical models. Future work will evaluate the method using clinical data and more complex three-dimensional benchmark flows.

bioengineering↗
bioRxiv2026

Computational design of a versatile, zero-radius proximity labeling enzyme

The ability to map protein interactomes and organelle proteomes is foundational for achieving a molecular understanding of living cells. Proximity labeling (PL) provides a powerful strategy for this, but existing enzymes and photocatalysts are limited by their spatial resolution, reliance on biotin, and/or in vivo compatibility. Here we report FlexID, an engineered promiscuous ligase that catalyzes the rapid attachment of diverse small-molecule probes to proximal endogenous proteins. Critically, FlexID operates through a zero-radius, direct-contact mechanism, offering superior spatial precision compared to existing PL tools. We engineered FlexID by combining the strengths of sequence- and structure-trained computational models to enhance its catalytic activity and structural stability. Biophysical analysis revealed that specific conformational changes in FlexID improve its ability to recognize diverse target proteins while simultaneously preventing the premature release of the reactive intermediate. We demonstrate FlexID's versatility through in vivo proximity labeling, comprehensive organelle proteome mapping, and a high-throughput, fluorescence-based screen for molecular glues. Our work shows that computational methods can be harnessed to create mechanistically distinct PL enzymes and establishes FlexID as a flexible, high-resolution tool for mapping protein interactions and proteomes in living cells.

bioengineering↗