Effect of body weight support variation on muscle activities during robot assisted gait: a dynamic simulation study

Background and Objectives: While body weight support (BWS) intonation is vital during conventional gait training of neurologically challenged subjects, it is important to evaluate its effect during robot assisted gait training. In the present research we have studied the effect of BWS intonation on muscle activities during robotic gait training using dynamic simulations. Methods: Two dimensional (2-D) musculoskeletal model of human gait was developed conjointly with another 2-D model of a robotic orthosis capable of actuating hip, knee and ankle joints simultaneously. The musculoskeletal model consists of eight major muscle groups namely; soleus (SOL), gastrocnemius (GAS), tibialis anterior (TA), hamstrings (HAM), vasti (VAS), gluteus maximus (GLU), uniarticular hip flexors (iliopsoas, IP), and Rectus Femoris (RF). BWS was provided at levels of 0, 20, 40 and 60% during the simulations. In order to obtain a feasible set of muscle activities during subsequent gait cycles, an inverse dynamics algorithm along with a quadratic minimization algorithm was implemented. Results: The dynamic parameters of the robot assisted human gait such as joint angle trajectories, ground contact force (GCF), human limb joint torques and robot induced torques at different levels of BWS were derived. The patterns of muscle activities at variable BWS were derived and analysed. For most part of the gait cycle (GC) the muscle activation patterns are quite similar for all levels of BWS as is apparent from the mean of muscle activities for the complete GC. Conclusions: Effect of BWS variation during robot assisted gait on muscle activities was studied by developing dynamic simulation. It is expected that the proposed dynamic simulation approach will provide important inferences and information about the muscle function variations consequent upon a change in BWS during robot assisted gait. This information shall be quite important while investigating the influence of BWS intonation on neuromuscular parameters of interest during robotic gait training.     

Effects of meal-time feeding and protein restriction on walking ability and some bone and carcass properties in broilers

This experiment was designed to investigate the effects of meal-time feeding and protein restriction on performance, gait score (GS) and carcass and bone traits in broilers. A total of 420 1-day-old chicks were wing banded and randomly distributed into 21 pens with 20 chicks each. At 7 days of age, chicks were weighed and randomly assigned to one of the three treatments: (1) control (C) feed (23.02% crude protein (CP)) was available ad libitum; (2) meal-time feeding (MF); control feed was available from 0100 to 0900 h and from 1500 to 2300 h. Food was withdrawn from 0900 to 1500 h and whole wheat (10 g/bird per day) was dispersed on the floor from 7 to 21 days; and (3) low-protein (LP) diet (19.71% CP) was fed to the chicks from 7 to 21 days. All of the groups were fed ad libitum from 1 to 7 days of age and from 21 to 45 days of age with a standard commercial diet. Individual body weight was measured on days 7, 21 and 45. Feed consumption was measured from 7 to 21 days and from 21 to 45 days. Forty-two chicks were humanly slaughtered and eviscerated for bone evaluation, on days 21 and 45. Also carcass characteristics were determined on day 45. Control group body weight was significantly higher (P < 0.05) at 21 and 45 days of age than the MF and LP groups, which did not differ. Feed intake was reduced by meal-time feeding and LP diet (P < 0.01). Feed efficiency was the best in the MF group during the period of 21 to 45 days of age (P < 0.01). In the control group, shank was significantly longer than that of the LP group and tibia breaking strength was higher than that of the MF group at 21 days (P < 0.05). However, shank width, tibia wet weight and tibia mid-diaphysis ash percentage of the MF group were significantly lower than those of the C and LP groups at 21 days of age (P < 0.05). GS, shank and carcass and tibia bone traits on day 45 were not significant among groups. No compensatory growth and walking ability improvement were observed at 45 days of age for broilers fed with MF and LP between 7 and 21 days of age.     

A preliminary study of modification of gait in real-time using surface electromyography

Modification of abnormal gait was attempted in real-time using a surface electromyography-based protocol to teach recruitment of the anterior tibialis at the correct time in the gait cycle. Two children diagnosed with cerebral palsy were able to learn volitional control of the anterior tibialis as demonstrated by improved clearance of the toe on the swing phase of the gait and newly learned ability to recruit and relax the anterior tibialis. The children were able to walk with the new gait pattern and reproduce the old one at will. Implications for future research in this area are discussed.     

Vertebrate Ichnopathology: Pathologies Inferred from Dinosaur Tracks and Trackways from the Mesozoic

Literature concerning dinosaur footprints or trackways exhibiting abnormal gait or morphology reflecting pathology (ichnopathology) is rare. We report on a number of Jurassic and Cretaceous occurrences of theropod footprints from western North America with unusual morphologies interpreted herein as examples of inferred pathologies, or ichnopathologies. The majority of ichnopathologies are primarily manifested in the digit impressions and include examples of swelling, extreme curvature, dislocation or fracture, and amputation. A number of occurrences are single tracks on ex situ blocks with substantial deformation (inferred dislocation or fracture), or absence of a single digit impression. Two occurrences are from in situ natural mould trackways, one of which is a lengthy trackway of a presumed allosauroid with no noticeable deformation of the digits or feet but with strong inward rotation of the left footprint toward the midline and a pronounced, waddling limp. The other is a tyrannosaurid trackway consisting of three footprints (one right, two left) with the two left prints exhibiting repetitive ichnopathology of a partially missing Digit II impression.     

Activating the somatosensory system enhances net quadriceps moment during gait

Quadriceps muscle rehabilitation following knee injury or disease is often hampered by pain, proprioception deficits or instability associated with inhibition of quadriceps activation during walking. The cross-modal plasticity of the somatosensory system with common sensory pathways including pain, pressure and vibration offers a novel opportunity to enhance quadriceps function during walking. This study explores the effectiveness of an active knee brace that used intermittent cutaneous vibration during walking to enhance the peak knee flexion moment (KFM) during early stance phase as a surrogate for net quadriceps moment (balance between knee extensor and flexor muscle moments). The stimulus was turned on prior to heel strike and turned off at mid-stance of the gait cycle. Twenty-one subjects with knee pathologies known to inhibit quadriceps function were tested walking under three conditions: control (no brace), a passive brace, and an active brace. Findings show that compared to the control, subjects wearing an active brace during gait exhibited a significant (p < 0.001) increase in peak KFM and no significant difference when wearing a passive brace (p = 0.17). Furthermore, subjects with low KFM and knee flexion angle (KFA) in control exhibited the greatest increase in KFA at loading response in the active brace condition (R = 0.47, p < 0.05). Intermittent cutaneous stimulation during gait, therefore, provides an efficient method for increasing the KFM in patients with knee pathologies. This study’s results suggest that intermittent vibration stimulus can activate the cross-modalities of the somatosensory system in a manner that gates pain stimulus and possibly restores quadriceps function in patients with knee pain.     

Evaluation of a method to scale muscle strength for gait simulations of children with cerebral palsy

Cerebral palsy (CP) is a neurological disorder that results in life-long mobility impairments. Musculoskeletal models used to investigate mobility deficits for children with CP often lack subject-specific characteristics such as altered muscle strength, despite a high prevalence of muscle weakness in this population. We hypothesized that incorporating subject-specific strength scaling within musculoskeletal models of children with CP would improve accuracy of muscle excitation predictions in walking simulations. Ten children (13.5 ± 3.3 years; GMFCS level II) with spastic CP participated in a gait analysis session where lower-limb kinematics, ground reaction forces, and bilateral electromyography (EMG) of five lower-limb muscles were collected. Isometric strength was measured for each child using handheld dynamometry. Three musculoskeletal models were generated for each child including a ‘Default’ model with the generic musculoskeletal model’s muscle strength, a ‘Uniform’ model with muscle strength scaled allometrically, and a ‘Custom’ model with muscle strength scaled based on handheld dynamometry strength measures. Muscle-driven gait simulations were generated using each model for each child. Simulation accuracy was evaluated by comparing predicted muscle excitations and measured EMG signals, both in the duration of muscle activity and the root-mean-square difference (RMSD) between signals. Improved agreement with EMG were found in both the ‘Custom’ and ‘Uniform’ models compared to the ‘Default’ model indicated by improvement in RMSD summed across all muscles, as well as RMSD and duration of activity for individual muscles. Incorporating strength scaling into musculoskeletal models can improve the accuracy of walking simulations for children with CP.     

A hexapedal jointed-leg model for insect locomotion in the horizontal plane

We develop a simple model for insect locomotion in the horizontal (ground) plane. As in earlier work by Seipel et al. (Biol Cybern 91(0):76–90, 2004) we employ six actuated legs that also contain passive springs, but the legs, with “hip” and ‘knee’ joints, better represent insect morphology. Actuation is provided via preferred angle inputs at each joint, corresponding to zero torques in the hip and knee springs. The inputs are determined from estimates of foot forces in the cockroach Blaberus discoidalis via an inverse problem. The head–thorax–body is modeled as a single rigid body, and leg masses, inertia and joint dissipation are ignored. The resulting three degree-of-freedom dynamical system, subject to feedforward joint inputs, exhibits stable periodic gaits that compare well with observations over the insect’s typical speed range. The model’s response to impulsive perturbations also matches that of freely-running cockroaches (Jindrich and Full, J Exp Biol 205:2803–2823, 2002), and stability is maintained in the face of random foot touchdowns representative of real insects. We believe that this model will allow incorporation of realistic muscle models driven by a central pattern generator in place of the joint actuators, and that it will ultimately permit the study of proprioceptive feedback pathways involving leg force and joint angle sensing.     

Quadrupedal locomotion in squirrel monkeys (Cebidae: Saimiri sciureus): a cineradiographic study of limb kinematics and related substrate reaction forces

Quadrupedal locomotion of squirrel monkeys on small-diameter support was analyzed kinematically and kinetically to specify the timing between limb movements and substrate reaction forces. Limb kinematics was studied cineradiographically, and substrate reaction forces were synchronously recorded. Squirrel monkeys resemble most other quadrupedal primates in that they utilize a diagonal sequence/diagonal couplets gait when walking on small branches. This gait pattern and the ratio between limb length and trunk length influence limb kinematics. Proximal pivots of forelimbs and hindlimbs are on the same horizontal plane, thus giving both limbs the same functional length. However, the hindlimbs are anatomically longer than the forelimbs. Therefore, hindlimb joints must be more strongly flexed during the step cycle compared to the forelimb joints. Because the timing of ipsilateral limb movements prevents an increasing amount of forelimb retraction, the forelimb must be more protracted during the initial stance phase. At this posture, gravity acts with long moment arms at proximal forelimb joints. Squirrel monkeys support most of their weight on their hindlimbs. The timing of limb movements and substrate reaction forces shows that the shift of support to the hindlimbs is mainly done to reduce the compressive load on the forelimb. The hypothesis of the posterior weight shift as a dynamic strategy to reduce load on forelimbs, proposed by Reynolds ([1985]) Am. J. Phys. Anthropol. 67:335-349; [1985] Am. J. Phys. Anthropol. 67:351-362), is supported by the high correlation of ratios between forelimb and hindlimb peak vertical forces and the range of motion of shoulder joint and scapula in primates.     

Leg kinematics and muscle activity during treadmill running in the cockroach, Blaberus discoidalis : I. Slow running

We have combined high-speed video motion analysis of leg movements with electromyogram (EMG) recordings from leg muscles in cockroaches running on a treadmill. The mesothoracic (T2) and metathoracic (T3) legs have different kinematics. While in each leg the coxa-femur (CF) joint moves in unison with the femur-tibia (FT) joint, the relative joint excursions differ between T2 and T3 legs. In T3 legs, the two joints move through approximately the same excursion. In T2 legs, the FT joint moves through a narrower range of angles than the CF joint. In spite of these differences in motion, no differences between the T2 and T3 legs were seen in timing or qualitative patterns of depressor coxa and extensor tibia activity. The average firing frequencies of slow depressor coxa (Ds) and slow extensor tibia (SETi) motor neurons are directly proportional to the average angular velocity of their joints during stance. The average Ds and SETi firing frequency appears to be modulated on a cycle-by-cycle basis to control running speed and orientation. In contrast, while the frequency variations within Ds and SETi bursts were consistent across cycles, the variations within each burst did not parallel variations in the velocity of the relevant joints. Accepted: 24 May 1997