Comparing different approaches for determining joint torque parameters from isovelocity dynamometer measurements

Strength, or maximum joint torque, is a fundamental factor governing human movement, and is regularly assessed for clinical and rehabilitative purposes as well as for research into human performance. This study aimed to identify the most appropriate protocol for fitting a maximum voluntary torque function to experimental joint torque data. Three participants performed maximum isometric and concentric-eccentric knee extension trials on an isovelocity dynamometer and a separate experimental protocol was used to estimate maximum knee extension angular velocity. A nine parameter maximum voluntary torque function, which included angle, angular velocity and neural inhibition effects, was fitted to the experimental torque data and three aspects of this fitting protocol were investigated. Using an independent experimental estimate of maximum knee extension angular velocity gave lower variability in the high concentric velocity region of the maximum torque function compared to using dynamometer measurements alone. A weighted root mean square difference (RMSD) score function, that forced the majority (73-92%) of experimental data beneath the maximum torque function, was found to best account for the one-sided noise in experimental torques resulting from sub-maximal effort by the participants. The suggested protocol (an appropriately weighted RMSD score function and an independent estimate of maximum knee extension angular velocity) gave a weighted RMSD of between 11 and 13 Nm (4-5% of maximum isometric torque). It is recommended that this protocol be used in generating maximum voluntary joint torque functions in all torque-based modelling of dynamic human movement.     

Static and dynamic assessment of the Biodex dynamometer

The validity and accuracy of the Biodex dynamometer was investigated under static and dynamic conditions. Static torque and angular position output correlated well with externally derived data (r = 0.998 and r greater than 0.999, respectively). Three subjects performed maximal voluntary knee extensions and flexions at angular velocities from 60 to 450 degrees.s-1. Using linear accelerometry, high speed filming and Biodex software, data were collected for lever arm angular velocity and linear accelerations, and subject generated torque. Analysis of synchronized angular position and velocity changes revealed the dynamometer controlled angular velocity of the lever arm to within 3.5% of the preset value. Small transient velocity overshoots were apparent on reaching the set velocity. High frequency torque artefacts were observed at all test velocities, but most noticeably at the faster speeds, and were associated with lever arm accelerations accompanying directional changes, application of resistive torques by the dynamometer, and limb instability. Isokinematic torques collected from ten subjects (240, 300 and 400 degrees.s-1) identified possible errors associated with reporting knee extension torques at 30 degrees of flexion. As a result of tissue and padding compliance, leg extension angular velocity exceeded lever arm angular velocity over most of the range of motion, while during flexion this compliance meant that knee and lever arm angles were not always identical, particularly at the start of motion. Nevertheless, the Biodex dynamometer was found to be both a valid and an accurate research tool; however, caution must be exercised when interpreting and ascribing torques and angular velocities to the limb producing motion.     

Power produced by maximal velocity elbow flexion

An analysis of horizontal elbow flexion at maximal velocity was made to determine how different loads affected power output. Twenty male subjects operated a specially constructed dynamometer initially performing a maximal effort isometric trial with the elbow fully extended and then three dynamic trials at each of three loads equal to 75, 50, and 25 per cent of the maximal isometric strength. Angular acceleration was used to calculate forearm torque, and power was obtained by taking the product of torque and angular velocity. Power was found to be a cubic function of time and a fourth-order polynomial function of angular displacement reaching a peak early in the movement. The 50 per cent load resulted in a higher peak level of power than either the 25 or 75 per cent loads.     

Modelling the maximum voluntary joint torque/angular velocity relationship in human movement

The force exerted by a muscle is a function of the activation level and the maximum (tetanic) muscle force. In "maximum" voluntary knee extensions muscle activation is lower for eccentric muscle velocities than for concentric velocities. The aim of this study was to model this "differential activation" in order to calculate the maximum voluntary knee extensor torque as a function of knee angular velocity. Torque data were collected on two subjects during maximal eccentric-concentric knee extensions using an isovelocity dynamometer with crank angular velocities ranging from 50 to 450 degrees s(-1). The theoretical tetanic torque/angular velocity relationship was modelled using a four parameter function comprising two rectangular hyperbolas while the activation/angular velocity relationship was modelled using a three parameter function that rose from submaximal activation for eccentric velocities to full activation for high concentric velocities. The product of these two functions gave a seven parameter function which was fitted to the joint torque/angular velocity data, giving unbiased root mean square differences of 1.9% and 3.3% of the maximum torques achieved. Differential activation accounts for the non-hyperbolic behaviour of the torque/angular velocity data for low concentric velocities. The maximum voluntary knee extensor torque that can be exerted may be modelled accurately as the product of functions defining the maximum torque and the maximum voluntary activation level. Failure to include differential activation considerations when modelling maximal movements will lead to errors in the estimation of joint torque in the eccentric phase and low velocity concentric phase.     

Do relevant shear forces appear in isokinetic shoulder testing to be implemented in biomechanical models?

Isokinetic dynamometers measure joint torques about a single fixed rotational axis. Previous studies yet suggested that muscles produce both tangential and radial forces during a movement, so that the contact forces exerted to perform this movement are multidirectional. Then, isokinetic dynamometers might neglect the torque components about the two other Euclidean space axes. Our objective was to experimentally quantify the shear forces impact on the overall shoulder torque, by comparing the dynamometer torque to the torque computed from the contact forces at the hand and elbow. Ten healthy women performed isokinetic maximal internal/external concentric/eccentric shoulder rotation movements. The hand and elbow contact forces were measured using two six-axis force sensors. The main finding is that the contact forces at the hand were not purely tangential to the direction of the movement (effectiveness indexes from 0.26 ± 0.25 to 0.54 ± 0.20), such that the resulting shoulder torque computed from the two force sensors was three-dimensional. Therefore, the flexion and abduction components of the shoulder torque measured by the isokinetic dynamometer were significantly underestimated (up to 94.9%). These findings suggest that musculoskeletal models parameters should not be estimated without accounting for the torques about the three space axes.     

Functional torque-velocity and power-velocity characteristics of elite athletes

Technical limitations of some isokinetic dynamometers have called into question the validity of some data on human muscle mechanics. The Biodex dynamometer has been shown to minimize the impact artefact while permitting automatic gravity correction. This dynamometer was used to study quadriceps muscle torque and power generation in elite power (n = 6) and elite endurance (n = 7) athletes over 12 randomly assigned isokinetic velocities from 30 degrees.s-1 to 300 degrees.s-1. The angle at peak torque varied as a negative, linear function of angular velocity, with the average angle across test velocities being 59.5 degrees (SD 10.2 degrees). Power athletes developed greater peak torque at each angular velocity (P less than 0.05) and experienced a 39.7% decrement in torque over the velocity range tested. Endurance athletes encountered a 38.8% decline in peak torque. Torques measured at 60 degrees of knee flexion followed a similar trend in both groups; however the greatest torques were recorded at 60 degrees.s-1 rather than at 30 degrees.s-1. Leg extensor muscle power increased monotonically with angular velocity in both power (r2 = 0.728) and endurance athletes (r2 = 0.839); however these curves diverged significantly so that the power athletes produced progressively more power with each velocity increment. These inter group differences probably reflected a combination of natural selection and training adaptation.     

Electrically evoked isokinetic plantar flexor torque in males

The involuntary angle-specific isokinetic plantar flexor torques of seven male subjects aged 18-21 yr were measured using a Cybex II dynamometer (Lumex) modified by the addition of a strain-gauge load cell to improve the dynamic response of the instrument. Supramaximal electrical stimuli were used to evoke a maximal tetanic response from the triceps surae and ensure constant muscle activation at each angular velocity studied. Angle-specific torques were measured over a range (0.5-5.0 rad/s) of preset velocities, torque decreasing in a nonlinear manner with increasing angular velocity. The torque-velocity data was adequately described by an exponential equation of the form: V = a(e-1/b - e-Po/b) where V = velocity (rad/s), P = torque (N.m), Po = isometric torque (N.m), and a and b are constants. The mean intrasubject coefficient of variation of torque over the range of velocities studies was 7.9 +/- 1.88% (SD).     

Technical report: Reliability and validity of the iSAM 9000 isokinetic dynamometer

This study assessed the mechanical reliability and validity of the INRTEK iSAM 9000 isokinetic dynamometer, and compared the obtained torque values of the prototype device with those from a traditional device. Sixty volunteers (40 men and 20 women) were tested at 60 degrees per second for shoulder, knee, and trunk flexion, and extension on both the Cybex 6000 and a new isokinetic dynamometer (iSAM 9000). Intraclass correlation coefficients (ICC) and standard errors of measurement (SEM) revealed a high level of reproducibility and precision in the device's torque measurements (ICC range = 0.94-0.98; SEM range = 5.2-29.7). Pearson r values revealed very high relationships between the two instruments (set 1: r = 0.84-0.93; set 2: r = 0.87-0.93; P < 0.05). Significantly higher peak torque for both sets of left and right knee flexion and extension, right shoulder extension and trunk extension was found for the iSAM 9000 compared to the Cybex 6000 (P < 0.05). The strong ICCs and small SEMs support the device's mechanical reliability and validity. The high correlation coefficients between the prototype dynamometer and the Cybex 6000 support the new device's validity in the measurement of isokinetic torque. The findings of this study will be used to refine the next generation of the INRTEK isokinetic device with respect to test protocols and the reliability of measuring human muscle performance.     

Estimating propulsive forces--sink or swim?

The purpose of this study was to investigate the validity of hydrodynamic force estimation in swimming as calculated by the quasi-static approach. To achieve this a full-scale mechanical arm was developed, built and tested. The mechanical arm, covered with a prosthetic shell and driven at the shoulder was used to simulate a single plane underwater rotation at four elbow configurations. A computer program controlled the shoulder movement to achieve a replicable angular velocity profile for each arm movement. A strain gauge system was used to directly measure the generated arm torque. Repeated trials were conducted at fixed elbow angles of 110 degrees, 135 degrees, 160 degrees and 180 degrees. All trials were filmed using a three-dimensional underwater set-up. Each trial was digitised at 25 Hz and the hydrodynamic drag force profile of the hand calculated using the quasi-static procedure. From these data, the estimated shoulder torque was calculated and compared to the direct measurement of shoulder torque from the mechanical arm. The results showed that the arm produced a repeatable movement through the water. The shoulder torque profiles using the direct measure (the arm) and the indirect measures (quasi-static approach) differed considerably. The quasi-static approach appears not to accurately reflect the hydrodynamic force profile generated by the arm movement in swimming. Furthermore, it seems that the swimmer's hand contribution is overstated in up to date studies. It is essential that the propulsive mechanisms in swimming be further investigated if factors underpinning an optimal technique are to be established.     

Torque and force production during shoulder external rotation: differences between transverse and sagittal planes

In joints with 3 degrees of freedom, such as the shoulder joint, the association of different movements results in changes in the behavior of the moment arm of the muscles. The capacity of torque production for the same movement can be changed when movements take place in a different plane. The objective of this study is to quantify differences between torque production and resultant force estimated during the shoulder external rotation in two movement planes: the transverse and sagittal planes (with 90 degrees of shoulder abduction). Eight individuals were evaluated using an isokinetic dynamometer and an eletrogoniometer for movements in the transverse plane and six individuals for movements in the sagittal plane. The results showed that the execution of the external rotation in the sagittal plane allowed greater torque magnitudes and resultant force compared with those in the transverse plane, probably owing to a prestretching of infraspinatus and teres minor.     

Isokinetic elbow flexion and coactivation following eccentric training.

The influence of an eccentric training on torque/angular velocity relationships and coactivation level during maximal voluntary isokinetic elbow flexion was examined. Seventeen subjects divided into two groups (Eccentric Group EG, n = 9 Control Group CG, n = 8) performed on an isokinetic dynamometer, before and after training, maximal isokinetic elbow flexions at eight angular velocities (from - 120 degrees s(-1) under eccentric conditions to 240 degrees s(-1) under concentric conditions), and held maximal and submaximal isometric actions. Under all conditions, the myoelectric activities (EMG) of the biceps and the triceps brachii muscles were recorded and quantified as the RMS value. Eccentric training of the EG consisted of 5x6 eccentric muscle actions at 100 and 120% of one maximal repetition (IRM) for 21 sessions and lasted 7 weeks. In the EG after training, torque was significantly increased at all angular velocities tested (ranging from 11.4% at 30 degrees (s-1) to 45.5% at - 120 degrees s(-1)) (p < 0.05). These changes were accompanied by an increase in the RMS activities of the BB muscle under eccentric conditions (from - 120 to - 30 degrees (s-1)) and at the highest concentric angular velocities (180 and 24 degrees s(-1)) (p < 0.05). The RMS activity of the TB muscle was not affected by the angular velocity in either group for all action modes. The influence of eccentric training on the torque gains under eccentric conditions and for the highest velocities was attributed essentially to neural adaptations.     

A new dynamometer measuring concentric and eccentric muscle strength in accelerated, decelerated, or isokinetic movements. Validity and reproducibility

A new computerized dynamometer (the SPARK System) is described. The system can measure concentric and eccentric muscle strength (torque) during linear or nonlinear acceleration or deceleration, isokinetic movements up to 400 degrees.s-1, and isometric torque. Studies were performed to assess: I. validity and reproducibility of torque measurements; II. control of lever arm position; III. control of different velocity patterns; IV. control of velocity during subject testing; and, V. intra-individual reproducibility. No significant difference was found between torque values computed by the system and known torque values (p greater than 0.05). No difference was present between programmed and external measurement of the lever arm position. Accelerating, decelerating and isokinetic velocity patterns were highly reproducible, with differences in elapsed time among 10 trials being never greater than 0.001 s. Velocity during concentric and eccentric isokinetic quadriceps contractions at 30 degrees.s-1, 120 degrees.s-1 and 270 degrees.s-1 never varied by more than 3 degrees.s-1 among subjects (N = 21). Over three days of testing, the overall error for concentric and eccentric quadriceps contraction peak torque values for 5 angular velocities between 30 degrees.s-1 and 270 degrees.s-1 ranged from 5.8% to 9.0% and 5.8% to 9.6% respectively (N = 25). The results indicate that the SPARK System provides valid and reproducible torque measurements and strict control of velocity. In addition, the intra-individual error is in accordance with those reported for other similar devices.     

Human skeletal muscle fibre types and force: velocity properties

It has been reported that there is a relationship between power output and fibre type distribution in mixed muscle. The strength of this relationship is greater in the range of 3–8 rad · s^–1 during knee extension compared to slower or faster angular knee extensor speeds. A mathematical model of the force: velocity properties of muscle with various combinations of fast- and slow-twitch fibres may provide insight into why specific velocities may give better predictions of fibre type distribution. In this paper, a mathematical model of the force: velocity relationship for mixed muscle is presented. This model demonstrates that peak power and optimal velocity should be predictive of fibre distribution and that the greatest fibre type discrimination in human knee extensor muscles should occur with measurement of power output at an angular velocity just greater than 7 rad · s^–1. Measurements of torque: angular velocity relationships for knee extension on an isokinetic dynamometer and fibre type distribution in biopsies of vastus lateralis muscles were made on 31 subjects. Peak power and optimal velocity were determined in three ways: (1) direct measurement, (2) linear regression, and (3) fitting to the Hill equation. Estimation of peak power and optimal velocity using the Hill equation gave the best correlation with fibre type distribution (r > 0.5 for peak power or optimal velocity and percentage of fast-twitch fibres). The results of this study confirm that prediction of fibre type distribution is facilitated by measurement of peak power at optimal velocity and that fitting of the data to the Hill equation is a suitable method for evaluation of these parameters.     

Quantitative measurement of spastic ankle joint stiffness using a manual device: A preliminary study

Quantitative measurement of ankle joint stiffness following stroke could prove useful in monitoring the progress of a rehabilitation programme. The objective of this study was to design a manual device for use in the clinical setting. Manual measurement of spastic ankle joint stiffness has historically been conducted using hand-held dynamometers or alternative devices, but some difficulties have been reported in controlling the velocity applied to the ankle during the measurement. In this study, a manually operated device was constructed with a footplate, a torquemeter and a potentiometer. It was mechanically designed to rotate around an approximated axis of the ankle joint and to measure ankle joint angular position and its corresponding resistive torque. Two stroke hemiplegic subjects pariticapted in a pilot study. The results suggested that difficulty in controlling the applied velocity might be complemented by presenting torque data as a function of peak angular velocity in each stretching cycle. Moreover, the results demonstrated that the device could potentially apply a wide range of angular velocities and provide potentially useful clinical information. Quantitative data successfully acquired using this method included the approximate ankle angular position, where the velocity-dependent characteristics of stiffness was notably initiated and its corresponding torque and velocity.     

Use of a Kin-Com dynamometer to study the stretch-shortening cycle during plantar flexion

The aim of this study was to evaluate the Kin-Com II dynamometer in the study of the stretch-shortening cycle (a concentric muscle action preceded by an eccentric muscle action). Measurements were made of plantar flexion at different angular velocities (120 degrees.s-1 and 240 degrees.s-1) with the knee at two different angles (0 degree and 90 degrees). Ten healthy women ranging in age from 22 to 41 years were studied. Torque values were recorded simultaneously with surface electromyograms (EMG): maximal voluntary concentric torque values were recorded and, after a short rest, the torque values of the concentric action which followed immediately after an eccentric action of the same velocity, both with maximal effort. Mean values were taken at different ankle positions and also averaged over different ranges. A concentric action preceded by an eccentric action generated a torque value on an average about 100% larger than a concentric action alone. The EMG activity was lower or unchanged. It was concluded that the present method could be useful in the study of the stretch-shortening cycle in plantar flexion and in the testing of the behaviour of the elastic components in people with disabilities in the lower limbs.     

Specificity of leg power changes to velocities used in bicycle endurance training

Increases in leg power production resulting from 8 wk of bicycle endurance training (30 min/day, 5 times/wk) were studied using an isokinetic dynamometer. In addition, biopsies of vastus lateralis were analyzed to characterize muscle ultrastructural changes. Performance increased on the dynamometer specifically near the estimated average knee angular velocity used during the bicycle training (200 degrees/s). Power measurements were made during the first 5 contractions (maximal power: Pmax) and last 5 contractions (final power: Pend) of 25 and 50 consecutive contractions (at 60 and 240 degrees/s, respectively). Pmax and Pend increased only at 240 degrees/s but not at 60 degrees/s. These increases in Pmax (86 W) and Pend (78 W) resulted primarily from longer torque maintenance but also from increased peak torque during each contraction and were close to the increase in mechanical power output maintained on the bicycle (Pb; 78 W) during the training sessions. The specificity of these changes to the angular velocities used in the bicycle training indicates a neural basis to these adaptations. We suggest that these neural adaptations, coupled with the observed enhancement of muscle mitochondrial and capillary density (+41 and +15%, respectively) underlie the increased ability to maintain power production on a bicycle after endurance training.     

Reliability of concentric and eccentric strength of hip abductor and adductor muscles in young soccer players

The concentric and eccentric strength profile and muscular balance of the hip joint are important parameters for success in soccer. This study evaluated the reliability for the assessment of hip abduction and adduction isokinetic strength over a range of angular velocities (30 and 90°/s) and types of muscular actions (concentric and eccentric) in young soccer players. The reliability for the assessment of reciprocal (conventional and functional) and bilateral torque ratios was also examined. Fifteen male soccer players (15±1 years) performed two sessions, separated by three days. The testing protocol consisted of five maximal concentric and eccentric hip abductions and adductions of both legs at angular velocities of 30°/s and 90°/s. The peak torque was evaluated in young soccer players using an isokinetic dynamometer (Cybex Norm), and the reciprocal strength ratios (conventional and functional) and bilateral ratios (non-preferred to preferred leg ratios) were calculated. The test-retest reliability for the assessment of peak torque (ICC = 0.71-0.92) and of reciprocal muscle group ratios (ICC = 0.44-0.87) was found to be moderate to high. Bilateral torque ratios exhibited low to moderate reliability (ICC = 0.11-0.64). In conclusion, isokinetic strength of hip abductor and adductor muscles and the conventional and functional strength ratios can be reliably assessed in young soccer players, especially at low angular velocities. The assessment, however, of bilateral strength ratios for hip abductor/adductor muscles should be interpreted with more caution.     

Zeroing of six-component handrim dynamometer for biomechanical studies of manual wheelchair locomotion

A six-component handrim dynamometer (HRD) is a dynamometer that rotates around the wheel axle during measurements. For this kind of dynamometer, static zero level calibration is insufficient because the proportion of the forces (i.e. handrim weight and centrifugal force) measured by each sensor varies according to the angular position and velocity of the dynamometer. The dynamic calibration presented in this paper is based on the direct correction of the sensor signals using Fourier's polynomials that take into account the influences of both the handrim weight distribution on the sensors with respect to the wheel's angular position and the effect of the wheel's angular velocity. When these corrections were applied to the signals produced by the sensors while the HRD was rotating and no effort was being exerted on the handrim, the calculated forces and torques remained close to zero, as expected. Based on these results, the wheel dynamometer can be confidently used for studying manual wheelchair locomotion under various real conditions. The method could also be applied in other situations in which a dynamometer rotates during measurements.     

Kinematics of biophysically asymmetric limbs within rate of velocity development

The purpose of this study was to investigate the movement speed characteristics of 2 intrinsically different limbs. Twenty subjects volunteered to participate (10 men and 10 women). Each subject performed 5 repetitions of concentric knee and elbow extension and flexion movements at 60 through 500 d.s(-1) on an isokinetic dynamometer. Kinematic data were collected at 1,000 Hz and separated into rate of velocity development (RVD) and peak torque. Results demonstrated a significant (p < 0.05) main effect for sex for RVD and peak torque. Significant (p < 0.05) differences were also demonstrated between knee and elbow RVD and between knee and elbow peak torque at every speed tested. Neither knee and elbow RVD nor peak torque demonstrated any significant Pearson correlations at any speed tested (r = -0.17-0.41). These results collectively point to the specificity of limb speed and torque as a result of biophysical differences such as length and mass. Therefore, strength and speed may be modulated by neuromotor patterns that differ based on individual limbs.     

Modeling of a simple motor task in man: intentional arrest of an ongoing movement

Normal subjects and cerebellar patients were instructed to arrest “as soon as possible” a ballistically initiated flexion movement of the forearm. The intentional actions consist essentially of a downward torque, the peak value of which has almost a constant latency (about 200 msec) from the beginning of the movement. A variable number of oscillations precede the arrest of the movement, the characteristics of which depend on the initial velocity of the flexion and on the mass with which the forearm is loaded. The motor commands responsible for the intentionally produced downward torque are controlled centrally as to leave the ratio between the peak values of the angular velocity which precede and follow the peak of the torque almost constant, under all conditions. To describe the oscillations a simple analytical model was proposed which includes the mechanical as well as the reflex factors, the latter under the form of a delayed velocity term. The satisfactory fitting of this model to the experimental findings permitted to establish the following points:

1. The oscillations are sustained by both a mechanical and a reflex stiffness. The contribution of the reflex loop is however quantitatively dominant since it accounts for about 75% of the inertial torque. It is fairly constant over the range of frequency of the oscillations considered.
2. Under the imposed experimental conditions angular velocity appears to be the parameter of the movement which is predominantly sensed and fed back by the reflex loop.

Data were also presented on the performance of the motor task by patients who underwent surgical ablations of the cerebellar cortex. Comparison of these results with those of normal subjects strongly supports the hypothesis that cerebellar-related activities are instrumental in determining the sensitivity of the stretch reflex to angular velocity.