Shortening amplitude affects the incomplete force recovery after active shortening in mouse soleus muscle

Compared to isometric contraction, the force producing capacity of muscle is reduced (force depression, FD) after a work producing shortening phase. It has been suggested that FD results from an inhibition of cross-bridge binding. Because the rate constants of the exponential force (re)development are thought to be primarily determined by cross-bridge attachment/detachment rate, we aimed to investigate the components of force redevelopment (REDEV) after 0.6, 1.2 and 2.4 mm shortening, resulting in varying amounts of FD (from about 5% to about 16%), in mouse soleus muscle (n=11). Compared to isometric force development (DEV), the time to reach steady-state during REDEV was about 3 times longer (370 versus 1261 ms) increasing with increasing amplitude. Contrary to a single, a double exponential function with one component set equal to the rate constant of DEV (14.3 s^?1), accurately described REDEV (RMS<0.8%). The rate constant of the additional slow component decreased with increasing shortening amplitude and was associated with work delivered during shortening (R²=0.75) and FD (R²=0.77). We concluded that a work related slow exponential component is induced to the trajectory of incomplete force recovery after shortening, causing FD. These results suggest that after shortening, aside from cross-bridges with normal attachment/detachment rate, cross-bridges with reduced cycling rate are active.     

The relationship between force depression following shortening and mechanical work in skeletal muscle

Force depression following muscle shortening was investigated in cat soleus (n=6) at 37 degrees C for a variety of contractile conditions with the aim to test the hypotheses that force depression was independent of the speed of shortening and was directly related to the mechanical work produced by the muscle during shortening. Force depression was similar for tests in which the mechanical work performed by the muscle was similar, independent of the speed of shortening (range of speeds: 4-256mm/s). On the other hand, force depression varied significantly at a given speed of shortening but different amounts of mechanical work, supporting the hypothesis that force depression was not speed - but work dependent. The variations in the mechanical work produced by the muscle during shortening accounted for 87-96% of the variance observed in the force depression following shortening further supporting the idea that the single scalar variable work accounts for most of the observed loss in isometric force after shortening. The results of the present study are also in agreement with the notion that the mechanism underlying force depression might be associated with an inhibition of cross-bridge attachments in the overlap zone formed during the shortening phase, as proposed previously (Herzog and Leonard, 1997. Journal of Bimechanics 30 (9), 865-872; Maréchal and Plaghki, 1979.     

History-dependence of isometric muscle force: effect of prior stretch or shortening amplitude

It is well-recognised that steady-state isometric muscle force is decreased following active shortening (force depression, FD) and increased following active stretch (force enhancement, FE). It has also been demonstrated that passive muscle force is increased following active stretch (passive FE). Several studies have reported that FD increases with shortening amplitude and that FE and passive FE increase with stretch amplitude. Here, we investigate whether these trends continue with further increases in shortening or stretch amplitude. Experiments were performed using in situ cat soleus muscles (n=8 for FD; n=7 for FE and passive FE). FD, FE and passive FE were measured after shortening or stretch contractions that covered as wide a range of amplitudes as practically possible without damaging the muscles. FD increased approximately linearly with shortening amplitude, over the full range of amplitudes investigated. This is consistent with the hypothesis that FD arises from a stress-induced inhibition of crossbridges. FE increased with stretch amplitude only up to a point, and then levelled off. Passive FE, and the transient increase in force at the end of stretch, showed relationships to stretch amplitude that were qualitatively very similar to the relationship for FE, increasing only until the same critical stretch amplitude had been reached. We conclude that FE and passive FE do not increase with stretch amplitude under all circumstances. This finding has important consequences for determining the mechanisms underlying FE and passive FE because any mechanism that is proposed to explain them must be able to predict it.     

Considerations on the history dependence of muscle contraction.

When a skeletal muscle that is actively producing force is shortened or stretched, the resulting steady-state isometric force after the dynamic phase is smaller or greater, respectively, than the purely isometric force obtained at the corresponding final length. The cross-bridge model of muscle contraction does not readily explain this history dependence of force production. The most accepted proposal to explain both, force depression after shortening and force enhancement after stretch, is a nonuniform behavior of sarcomeres that develops during and after length changes. This hypothesis is based on the idea of instability of sarcomere lengths on the descending limb of the force-length relationship. However, recent evidence suggests that skeletal muscles may be stable over the entire range of active force production, including the descending limb of the force-length relationship. The purpose of this review was to critically evaluate hypotheses aimed at explaining the history dependence of force production and to provide some novel insight into the possible mechanisms underlying these phenomena. It is concluded that the sarcomere nonuniformity hypothesis cannot always explain the total force enhancement observed after stretch and likely does not cause all of the force depression after shortening. There is evidence that force depression after shortening is associated with a reduction in the proportion of attached cross bridges, which, in turn, might be related to a stress-induced inhibition of cross-bridge attachment in the myofilament overlap zone. Furthermore, we suggest that force enhancement is not associated with instability of sarcomeres on the descending limb of the force-length relationship and that force enhancement has an active and a passive component. Force depression after shortening and force enhancement after stretch are likely to have different origins.     

Fatigue and recovery of dynamic and steady-state performance in frog skeletal muscle

Muscle fatigue reflects alterations of both activation and cross-bridge function, which will have markedly different affects on steady-state vs. dynamic performance. Such differences offer insight into the specific origins of fatigue, its mechanical manifestation, and its consequences for animal movement. These were inferred using dynamic contractions (twitches and cyclic work as might occur during locomotion) and steady-state performance with maximal, sustained activation (tetani, stiffness, and isokinetic force) during fatigue and then recovery of frog (Rana pipiens) anterior tibialis muscle. Stiffness remained unaltered during early fatigue of force and then declined only 25% as force dropped 50%, suggesting a decline with fatigue in first the force-generating ability and then the number of cross bridges. The relationship between stiffness and force was different during fatigue and recovery; thus the number of cross bridges and force per cross bridge are not intimately linked. Twitch duration increased with fatigue and then recovered, with trajectories that were remarkably similar to and linear with changes in tetanic force, perhaps belying a common mechanism. Twitch force increased and then returned to resting levels during fatigue, reflecting a slowing of activation kinetics and a decline in cross-bridge number and force. Net cyclic work fatigued to the degree of becoming negative when tetanic force had declined only 15%. Steady-state isokinetic force (i.e., shortening work) declined by 75%, while cyclic shortening work declined only 30%. Slowed activation kinetics were again responsible, augmenting cyclic shortening work but greatly augmenting lengthening work (reducing net work). Steady-state measures can thus seriously mislead regarding muscle performance in an animal during fatigue.     

Modelling concentric contraction of muscle using an improved cross-bridge model.

Despite its overwhelming acceptance in muscle research, the cross-bridge theory does not account for all phenomena observed during muscular contractions. A phenomenon which has received much attention in the biomechanics literature, but has evaded convincing explanation and is not accounted for in the formulation of the classic cross-bridge theory, is the persistent aftereffects of muscular length changes on force production. For example, following muscle shortening, the isometric force of a muscle is depressed for a long time period ( > 5 s) compared to the corresponding isometric force following no length change. In the present study, the classic cross-bridge model was modified in two ways in an attempt to account for the force depressions following muscle shortening. First, the steady-state force depressions following shortening were described by a single scalar variable: the work performed by the muscle during shortening; and second, the dynamic, history-dependent cross-bridge properties were described using a fading memory function. The proposed model was developed and tested for shortening of the cat soleus at constant speeds ranging from 4 to 32 mm/s, for shortening at changing speeds, and for shortening of different magnitudes ranging from 2 to 10 mm. The history-dependent forces during shortening and the steady-state force depressions following shortening were well captured with the modified cross-bridge model. The present model contains two mathematically simple adaptations to the classic cross-bridge model, and is the first such model to account for the long-lasting force depressions following muscle shortening using a single scalar variable.     

Shortening-induced force depression is primarily caused by cross-bridges in strongly bound states

The steady-state isometric force following active muscle shortening is smaller than the corresponding force obtained for purely isometric contractions. This so-called residual force depression has been observed consistently for more than half a century, however its mechanism remains a matter of scientific debate. [Maréchal, G., Plaghki, L., 1979. The deficit of the isometric tetanic tension redeveloped after a release of frog muscle at a constant velocity. J. Gen. Physiol. 73, 453–467] suggested that force depression might be caused by alterations in the cross-bridge kinetics following muscle shortening, but there is no research studying force depression systematically for altered cross-bridge kinetic conditions. The purpose of this study was to investigate if force depression affects so-called weakly and strongly bound cross-bridges to the same degree. In order to achieve this aim, we modified the ratio of weakly to strongly bound cross-bridges with 2,3-butanedione monoxime (BDM) in single frog fibers. BDM inhibits the formation of strongly bound cross-bridges in a dose-dependent manner, thus the ratio of weakly to strongly bound cross-bridges could be altered in a systematic way. We found that the absolute amount of force depression was decreased by 50% while the relative amount was decreased by 12% in BDM exposed fibers compared to fibers in normal Ringer's solution. Furthermore, force depression was accompanied by a decrease in stiffness that was much greater in normal compared to BDM exposed fibers, leading to the conclusion that force depression was caused by an inhibition of cross-bridge attachment following fiber shortening and that this inhibition primarily affected cross-bridges in the strongly bound states.     

Computer simulation of movement-generating cross-bridges.

A stochastic computational method was developed to study properties of cross-bridge models for muscle contraction, by following the time history of individual cross-bridge model of Andrew Huxley (1957) and a modified two-state model with more realistic behavior during steady stretching are used as examples. The method can readily compute steady-state force during shortening and stretching and force-transients following rapid changes in length. Computations of velocity with a steady load and of velocity transients are more sensitive to the randomness inherent in the stochastic method.     

Muscular force production after concentric contraction

The steady-state force following active shortening does not reach the maximum isometric force associated with the final length. Isolated extensor digitorum longus and soleus muscles from mice (NMRI strain) were used to investigate the force produced by a muscle, and some parameters hypothetically influencing this shortening-induced force depression. The muscles were pre-stimulated at fixed length, shortened and then held isometrically to give maximum post-shortening forces, before de-stimulation. The shortening magnitude was 0.18, 0.36 or 0.72mm (about 2-7% of optimal length), time of shortening was chosen as 0.03, 0.06 and 0.12s, and final length as +0.72, 0 and -0.72mm, related to optimal length. The mechanical work during active shortening was evaluated by integrating the product of force and shortening velocity over the shortening period. The results show a positive correlation between the force depression and the mechanical work, whereas the force depression was not correlated to the velocity of shortening. Depression of the passive force component was also observed following all stimulations. Experiments show that the fully stimulated redevelopment of isometric force following concentric contraction follows a time function similar to the creation of force when isometric muscle is initially stimulated. The conclusion is that the isometric force development after active shortening can be well described by an asymptotic force which is decided by the produced work, and the initial isometric time constant.     

A cross-bridge model that is able to explain mechanical and energetic properties of shortening muscle.

The responses of muscle to steady and stepwise shortening are simulated with a model in which actin-myosin cross-bridges cycle through two pathways distinct for the attachment-detachment kinetics and for the proportion of energy converted into work. Small step releases and steady shortening at low velocity (high load) favor the cycle implying approximately 5 nm sliding per cross-bridge interaction and approximately 100/s detachment-reattachment process; large step releases and steady shortening at high velocity (low load) favor the cycle implying approximately 10 nm sliding per cross-bridge interaction and approximately 20/s detachment-reattachment process. The model satisfactorily predicts specific mechanical properties of frog skeletal muscle, such as the rate of regeneration of the working stroke as measured by double-step release experiments and the transition to steady state during multiple step releases (staircase shortening). The rate of energy liberation under different mechanical conditions is correctly reproduced by the model. During steady shortening, the relation of energy liberation rate versus shortening speed attains a maximum (approximately 6 times the isometric rate) for shortening velocities lower than half the maximum velocity of shortening and declines for higher velocities. In addition, the model provides a clue for explaining how, in different muscle types, the higher the isometric maintenance heat, the higher the power output during steady shortening.     

Does the speed of shortening affect steady-state force depression in cat soleus muscle?

It has been stated repeatedly for the past 50 years that the steady-state force depression following shortening of an activated muscle depends on the speed of shortening. However, these statements were based on results from experiments in which muscles were shortened at different speeds but identical activation levels. Therefore, the force during shortening was changed in accordance with the force-velocity relationship of muscles: that is, increasing speeds of shortening were associated with decreasing forces, and vice versa. Consequently, it is not possible at present to distinguish whether force depression is caused by the changes in speed, as frequently stated, or the associated changes in force, or both. The purpose of this study was to test if force depression depends on the speed of shortening. We hypothesized that force depression was dependent on the force but not the speed of contraction. Our prediction is that the amount of force depression after shortening contractions at different speeds could be similar if the force during contraction was controlled at a similar level. Cat soleus muscles (n=7) were shortened by 9 or 12 mm at speeds of 3, 9, and 27 mm/s, first with a constant activation during shortening (30Hz), then with activation levels that were reduced (<30Hz) for the slow speeds (3 and 9 mm/s) to approximate the shortening forces of the fast speed contractions (27 mm/s). If done properly, force depression could be precisely matched at the three different speeds, indicating that force depression was related to the force during the shortening contraction but not to the speed. However, in order to match force depression, the forces during shortening had to be systematically greater for the slow compared to the fast speeds of shortening, suggesting that force depression also depends on the level of activation, as force depression at constant activation levels can only be matched if the force during shortening, evaluated by the mechanical work, is identical. Therefore, we conclude that force depression depends on the force and activation level during shortening, but does not depend on the speed of shortening as has been assumed for half a century. These results support, but do not prove, the current hypothesis that force depression is caused by a stress-related cross-bridge inhibition in the actin-myosin overlap zone that is newly formed during muscle shortening.     

Strain-dependent modulation of phosphate transients in rabbit skeletal muscle fibers.

When inorganic phosphate (Pi) is photogenerated from caged Pi during isometric contractions of glycerinated rabbit psoas muscle fibers, the released Pi binds to cross-bridges and reverses the working stroke of cross-bridges. The consequent force decline, the Pi-transient, is exponential and probes the kinetics of the power-stroke and Pi release. During muscle shortening, the fraction of attached cross-bridges and the average strain on them decreases (Ford, L. E., A.F. Huxley, and R.M. Simmons, 1977. Tension responses to sudden length change in stimulated frog muscle fibers near slack length. J. Physiol. (Lond.). 269:441-515; Ford, L. E., A. F. Huxley, and R.M. Simmons, 1985. Tension transients during steady state shortening of frog muscle fibers. J. Physiol. (Lond.). 361:131-150. To learn to what extent the Pi transient is strain dependent, muscle fibers were activated and shortened or lengthened at a fixed velocity during the photogeneration of Pi. The Pi transients observed during changes in muscle length showed three primary characteristics: 1) during shortening the Pi transient rate, Kpi, increased and its amplitude decreased with shortening velocity; Kpi increased linearly with velocity to > 110 s-1 at 0.3 muscle lengths per second (ML/s). 2) At a specific shortening velocity, increases in [Pi] produce increases in Kpi that are nonlinear with [Pi] and approach an asymptote. 3) During forced lengthening Kpi and the amplitude of the Pi transient are little different from the isometric contractions. These data can be approximated by a strain-dependent three-state cross-bridge model. The results show that the power stroke's rate is strain-dependent, and are consistent with biochemical studies indicating that the rate-limiting step at low strains is a transition from a weakly to a strongly bound cross-bridge state.     

Contraction transients of skinned muscle fibers: effects of calcium and ionic strength

Calcium and ionic strength are both known to modify the force developed by skinned frog muscle fibers. To determine how these parameters affect the cross-bridge contraction mechanism, the isotonic velocity transients following step changes in load were studied in solutions in which calcium concentration and ionic strength were varied. Analysis of the motion showed that calcium has no effect on either the null time or the amplitude of the transients. In contrast, the transient amplitude was increased in high ionic strength and was suppressed in low ionic strength. These results are consistent with the idea that calcium affects force in skeletal muscle by modulating the number of force generators in a simple switchlike "on-off" manner and that the steady force at a given calcium level is proportional to cross-bridge number. On the other hand, the effect of ionic strength on force is associated with changes in the kinetic properties of the cross-bridge mechanism.     

Stretch of active muscle during the declining phase of the calcium transient produces biphasic changes in calcium binding to the activating sites

In voltage-clamped barnacle single muscle fibers, muscle shortening during the declining phase of the calcium transient increases myoplasmic calcium. This extra calcium is probably released from the activating sites by a change in affinity when cross-bridges break (Gordon, A. M., and E. B. Ridgway, 1987. J. Gen. Physiol. 90:321-340). Stretching the muscle at similar times causes a more complex response, a rapid increase in intracellular calcium followed by a transient decrease. The amplitudes of both phases increase with the rate and amplitude of stretch. The rapid increase, however, appears only when the muscle is stretched more than approximately 0.4%. This is above the length change that produces the breakpoint in the force record during a ramp stretch. This positive phase in response to large stretches is similar to that seen on equivalent shortening at the same point in the contraction. For stretches at different times during the calcium transient, the peak amplitude of the positive phase has a time course that is delayed relative to the calcium transient, while the peak decrease during the negative phase has an earlier time course that is more similar to the calcium transient. The amplitudes of both phases increase with increasing strength of stimulation and consequent force. When the initial muscle the active force. A large decrease in length (which drops the active force to zero) decreases the extra calcium seen on a subsequent restretch. After such a shortening step, the extra calcium on stretch recovers (50 ms half time) toward the control level with the same time course as the redeveloped force. Conversely, stretching an active fiber decreases the extra calcium on a subsequent shortening step that is imposed shortly afterward. Enhanced calcium binding due to increased length alone cannot explain our data. We hypothesize that the calcium affinity of the activating sites increases with cross-bridge attachment and further with cross-bridge strain. This accounts for the biphasic response to stretch as follows: cross-bridges detached by stretch first decrease calcium affinity, then upon reattachment increase calcium affinity due to the strained configuration brought on by the stretch. The experiments suggest that cross-bridge attachment and strain can modify calcium binding to the activating sites in intact muscle.     

Extra calcium on shortening in barnacle muscle. Is the decrease in calcium binding related to decreased cross-bridge attachment,force, or length?

Barnacle single muscle fibers were microinjected with the calcium-specific photoprotein aequorin. We have previously shown (Ridgway, E. B., and A. M. Gordon, 1984, Journal of General Physiology, 83:75-104) that when barnacle fibers are stimulated under voltage clamp and length control and allowed to shorten during the declining phase of the calcium transient, extra myoplasmic calcium is observed. The time course of the extra calcium for shortening steps at different times during the calcium transient is intermediate between those of free calcium and muscle force. Furthermore, the amplitude increases with an increased stimulus, calcium transient, and force. Therefore, the extra calcium probably comes from the activating sites on the myofilaments, possibly as a result of changes in calcium binding by the activating sites. The change in calcium binding may be due, in turn, to the change in muscle length and/or muscle force and/or cross-bridge attachment per se. In the present article, we show that the amount of the extra calcium depends on the initial muscle length, declining at shorter lengths. This suggests length-dependent calcium binding. The relation between initial length and extra calcium, however, parallels that between initial length and peak active force. The ratio of extra calcium to active force is therefore virtually independent of initial length. These data do not distinguish between a direct effect of length on calcium binding and an indirect effect owing to changes in cross-bridge attachment and force through some geometrical factor. The amount of extra calcium increases with the size of the shortening step, tending toward saturation for steps of greater than or equal to 10%. This experiment suggests that calcium binding depends on muscle force or cross-bridge attachment, not just length (if at all). There is much less extra calcium seen with shortening steps at high force when the high force results from stretch of the active muscle than when it results from increased stimulation of muscle.(ABSTRACT TRUNCATED AT 400 WORDS)     

Mechanical work as predictor of force enhancement and force depression

The steady-state force following active muscle shortening or stretch differs from the maximum isometric force associated with the final length. This phenomenon proves that the isometric force production is not only dependent on current muscle length and length time derivative, but depends on the preceding contraction history. Isolated extensor digitorum longus and soleus muscles from mice (NMRI strain) were used to investigate the force produced by a muscle, and some parameters hypothetically influencing this history-dependent force modification. The muscles were pre-stimulated at a fixed length, then different stretch/shortening episodes were introduced, whereafter changes of the active force were recorded while the muscles were held isometrically to approach a steady-state force before de-stimulation. The mechanical work during active stretch and shortening was evaluated by integrating the product of force and ramp velocity over the length-varying period. The results show a negative linear correlation between the force modification and the mechanical work produced on or by the muscle, continuous between shortening and stretch. A corresponding modification of the passive force component following each stimulation was also observed. The conclusion is that the isometric force attained after stretch or shortening is well described by an asymptotic force which is determined by the mechanical work.     

Residual force depression is not abolished following a quick shortening step

Residual force depression is long lasting, but can be abolished instantaneously when a muscle is deactivated just long enough for force to drop to zero. According to the "cross-bridge inhibition theory" of force depression, this result is predicted as the release of stress on actin during deactivation restores the angular distortion of the actin binding sites, thereby establishing conditions identical to those of a purely isometric contraction. According to this theory, force depression should also be abolished if stress on actin is released through a quick shortening step. For slow (4.5mm/s) shortening of cat soleus (n=8), force depression was achieved in all muscles and averaged 5.3% (+/-1.9%) and 5.8% (+/-1.3%) for 9 and 18 mm shortening amplitudes. Following quick shortening (200 mm/s) of 18 mm, there was no statistically significant force depression. However, when slow shortening (4.5mm/s for 9 mm) was followed by quick shortening (200 mm/s for 9 mm) after delays of 0, 1, and 2s, there was a small but significant force depression in all cases averaging 3.2%, 3.7%, and 4.2%, respectively. We conclude from these results that a small amount of force depression persists following stress release caused by quick shortening, and therefore that the cross-bridge inhibition theory cannot be the sole cause of force depression.     

Cross-bridge induced force enhancement?

When a muscle is stretched while activated, its steady-state isometric force following stretch is greater than the corresponding purely isometric force. This so-called residual force enhancement (RFE) has been observed for half a century, yet its mechanism remains unknown. Recent experiments suggest that RFE is not caused by non-uniformities in sarcomere lengths, as had been assumed for a long time, and cannot be explained primarily with increases in passive force, but is directly related to the kinetics of the cross-bridge cycle. Specifically, it has been suggested that stretching an attached cross-bridge increases its dwell time and duty ratio; therefore, the proportion of attached cross-bridges in a muscle would be increased by stretch, thereby causing RFE. A three bead laser trap setup was used for testing single cross-bridge (myosin II) interactions with actin. Upon attachment of a cross-bridge, a stretch or shortening of the cross-bridge was applied with a force of about 1.0 pN. The hypothesis that stretching a single cross-bridge increases its dwell time and duty ratio was rejected. However, stretching caused an increase in the average steady-state force per cross-bridge (3.4±0.4 pN; n=433) compared to shortening (1.9±0.3 pN; n=689). Therefore, based on the results of this study, RFE cannot be explained by an increased duty ratio and the associated increase in proportion of attached cross-bridges, but might be associated with an increased force per cross-bridge.     

Mysteries of muscle contraction

According to the cross-bridge theory, the steady-state isometric force of a muscle is given by the amount of actin-myosin filament overlap. However, it has been known for more than half a century that steady-state forces depend crucially on contractile history. Here, we examine history-dependent steady-state force production in view of the cross-bridge theory, available experimental evidence, and existing explanations for this phenomenon. This is done on various structural levels, ranging from the intact muscle to the myofibrillar and isolated contractile protein level, so that advantages and limitations of the various preparations can be fully exploited and overcome. Based on experimental evidence, we conclude that steady-state force following active muscle stretching is enhanced, and this enhancement has a passive and an active component. The active component is associated with the cross-bridge kinetics, and the passive component is associated with a calcium-dependent increase in titin stiffness.