Identification of passive elastic joint moments in the lower extremities.

Musculotendon actuators produce active and passive moments at the joints they span. Due to the existence of bi-articular muscles, the passive elastic joint moments are influenced by the angular positions of adjacent joints. To obtain quantitative information about this passive elastic coupling between lower limb joints, we examined the passive elastic joint properties of the hip, knee, and ankle joint of ten healthy subjects. Passive elastic joint moments were found to considerably depend on the adjacent joint angles. We present a simple mathematical model that describes these properties on the basis of a double-exponential expression. The model can be implemented in biomechanical models of the lower extremities, which are generally used for the simulation of multi-joint movements such as standing-up, walking, running, or jumping.     

The three-dimensional determination of internal loads in the lower extremity

A three-dimensional model of the lower limb containing 47 muscles was developed to study the differences between a two- and three-dimensional approach for determining internal loads, the role of the dynamic joint representation, and the behavior of different load-bearing criteria in walking and running. The problem of redundancy of the musculo-skeletal system was resolved by applying inverse dynamics and static optimization methods. Different hypothetical load-bearing capabilities of hinge, spherical and intermediate joint types for the knee and the ankle joints were tested. It was found that even almost planar movements such as walking and running are associated with significant three-dimensional intersegment moments, especially in the frontal plane. Thus, a two-dimensional approach may underestimate internal loads up to 60%. It is shown that pure hinge joints are inappropriate for modeling the dynamical joint function of the knee and ankle joints. A more flexible joint representation in combination with a squared muscle stress minimization criterion predicted a lot of synergistic as well as antagonistic muscle activation which was also found in the EMG patterns. The results indicate the importance of muscular joint stabilization in natural human movements. Compared to in vivo measurements it is speculated that the predicted force magnitudes are considerably overestimated due to error propagation and still insufficient anatomical models. Thus, increased efforts to improve further the reliability of internal load calculations should be made in the future.     

Quantitation of articular surface topography and cartilage thickness in knee joints using stereophotogrammetry

An analytical stereophotogrammetry (SPG) technique has been developed based upon some of the pioneering work of Selvik [Ph.D. thesis, University of Lund, Sweden (1974)] and Huiskes and coworkers [J. Biomechanics 18, 559-570 (1985)], and represents a fundamental step in the construction of biomechanical models of diarthrodial joints. Using this technique, the precise three-dimensional topography of the cartilage surfaces of various diarthrodial joints has been obtained. The system presented in this paper delivers an accuracy of 90 microns in the least favorable conditions with 95% coverage using the same calibration method as Huiskes et al. (1985). In addition, a method has been developed, using SPG, to quantitatively map the cartilage thickness over the entire articular surface of a joint with a precision of 134 microns (95% coverage). In the present study, our SPG system has been used to quantify the topography, including surface area, of the articular surfaces of the patella, distal femur, tibial plateau, and menisci of the human knee. Furthermore, examples of cartilage thickness maps and corresponding thickness data including coefficient of variation, minimum, maximum, and mean cartilage thickness are also provided for the cartilage surfaces of the knee. These maps illustrate significant variations over the joint surfaces which are important in the determination of the stresses and strains within the cartilage during diarthrodial joint function. In addition, these cartilage surface topographies and thickness data are essential for the development of anatomically accurate finite element models of diarthrodial joints.(ABSTRACT TRUNCATED AT 250 WORDS)     

The investigation of control mechanisms of stepping rhythm in human in the air-stepping conditions during passive and voluntary leg movements

In unloading condition the degree of activation of the central stepping program was investigated during passive leg movements in healthy subjects, as well as the excitability of spinal motoneurons during passive and voluntary stepping movement. Passive stepping movements with characteristics maximally approximated to those during voluntary stepping were accomplished by experimenter. The comparison of the muscle activity bursts during voluntary and imposed movements was made. In addition to that the influence of artificially created loading onto the foot to the leg movement characteristics was analyzed. Spinal motoneuron excitability was estimated by means of evaluation of amplitude modulation of the soleus H-reflex. The changes of H-reflexes under the fixation of knee or hip joints were also studied. In majority of subjects the passive movements were accompanied by bursts of EMG activity of hip muscles (and sometimes of knee muscles), which timing during step cycle was coincided with burst timing of voluntary step cycle. In many cases the bursts of EMG activity during passive movements exceeded activity in homonymous muscles during voluntary stepping. The foot loading imitation exerted essential influence on distal parts of moving extremity during voluntary as well passive movements, that was expressed in the appearance of movements in the ankle joint and accompanied by emergence and increasing of phasic EMG activity of shank muscles. The excitability of motoneurons during passive movements was greater then during voluntary ones. The changes and modulation of H-reflex throughout the step cycle without restriction of joint mobility and during exclusion of hip joint mobility were similar. The knee joint fixation exerted the greater influence. It is supposed that imposed movements activate the same mechanisms of rhythm generation as a supraspinal commands during voluntary movements. In the conditions of passive movements the presynaptic inhibition depend on afferent influences from moving leg in the most degree then on central commands. It seems that afferent inputs from pressure receptors of foot in the condition of "air-stepping" actively interact with central program of stepping and, irrespective of type of the performing movements (voluntary or passive), form the final pattern activity.     

An analysis of possible movements of human upper rib cage

A geometrically realistic mathematical model of the first six ribs and vertebrae of the human rib cage is described. Under the assumption that the individual elements of the rib cage do not deform significantly, the possible range of movements of the model are determined subject to the constraint that the joint surfaces remain in contact. It is shown that normal movements of the ribs cannot be described as a rotation about a single fixed axis. The possible movements of the ribs are analyzed in terms of the misfit incurred at the costovertebral joint surfaces. This analysis shows that there is a movement, corresponding to lateral expansion of the rib for an increase in anteroposterior diameter, in which the misfit at the joint is minimized and also that small deviations from this movement involve only very small degrees of misfit at the joint surfaces. It is concluded that many observed "deformations" of the chest wall can be explained by rigid ribs and normal movements at the costovertebral joints. The interaction between the ribs and the spine is analyzed. It is shown that there can be considerable independent movement of the sternum and the spine, thus allowing mobility of the spine without forcing concomitant movements of rib cage.     

Bilateral differences in the net joint torques during the squat exercise

Bilateral movements are common in human movement, both as exercises and as daily activities. Because the movement patterns are similar, it is often assumed that there are no bilateral differences (BDs; differences between the left and right sides) in the joint torques that are producing these movements. The aim of this investigation was to test the assumption that the joint torques are equal between the left and right lower extremities by quantifying BDs during the barbell squat. Eighteen recreationally trained men (n = 9) and women (n = 9) completed 3 sets of 3 repetitions of the squat exercise, under 4 loading conditions: 25, 50, 75, and 100% of their 3 repetition maximum, while instrumented for biomechanical analysis. The average net joint moment (ANJM) and maximum flexion angle (MFA) for the hip, knee, and ankle as well as the average vertical ground reaction force (AVGRF) and the average distance from the ankle joint center to the center of pressure (ADCOP) were calculated. Group mean and individual data were analyzed (alpha = 0.05). At each joint, there was a significant main effect for side and load, no main effect for gender, with few significant interactions. The hip ANJM was 12.4% larger on the left side, the knee ANJM was 13.2% larger on the right side, and the ankle ANJM was 16.8% larger on the left side. Differences in MFAs between sides were less than 2 degrees for all 3 joints (all p > 0.20 except for the knee at 75% [p = 0.024] and 100% [p = 0.025]), but the AVGRF and the ADCOP were 6% and 11% larger on the left side. Few subjects exhibited the pattern identified with the group mean data, and no subject exhibited nonsignificant BDs for all 3 joints. These findings suggest that joint torques should not be assumed to be equal during the squat and that few individual subjects follow the pattern exhibited by group mean data.     

Motion analysis of leg joints associated with escape turns of the cockroach,Periplaneta americana

Considerable information is now available on the neural organization of the escape system of the American cockroach. To relate these data to the behavior, we need detailed information on the movements made at the principle leg joints that produce the turn. We used motion analysis of high speed video records to acquire such information. Records from both free ranging and tethered animals were analyzed. 1. We analyzed individual joint movements using a tethered preparation. Stimuli from 4 different angles around the animal were used. For all wind angles, the femur-tibia (FT) joint on the mesothoracic leg that is ipsilateral to the wind source extended while the contralateral mesothoracic FT joint flexed. This moved both of these legs laterally toward the wind source. In freely moving animals the FT movements provide forces that turn the animal away from the wind source. 2. The ipsilateral mesothoracic coxa-femur (CF) joint extended for all wind angles. The contralateral mesothoracic CF joint extended in response to most winds from the rear, but switched to flexion in response to wind from the side and front. As a result of these joint movements, rear wind resulted in rearward movements of the contralateral mesothoracic leg, while side and front wind resulted in more forward movements of that leg. 3. The CF and FT joints for both ipsilateral and contralateral metathoracic legs extended to wind from the rear and switched to flexion as the wind was placed at more anterior positions around the animal. In freely moving animals, extension of these joints would push the animal forward. Flexion would pull the animal backward. 4. Several of the joints showed correlations between rate of movement and initial joint angle. That is, joints that were already flexed at the onset of stimulation tended to move at a faster rate to a final position than joints that started at a more extended position. 5. Metathoracic FT and CF joints showed a high degree of positive correlation during the escape movements. Indeed, many curves showing movement of metathoracic FT and CF joints with time were virtually identical.     

Joit torque and energy patterns in normal gait

Experiments were conducted on normal level gait to determine the synergistic patterns present in the forces causing joint moments and those associated with the generation, absorption and transfer of mechanical energy. The following generalizations can be made about the patterns: (i) During swing phase three forces (gravitational, muscle and knee joint acceleration) are responsible for shank rotation, and are shown to act together during both acceleration and deceleration.—(ii) The patterns of generation, absorption and transfer of mechanical energy at the joints are detailed. These patterns demonstrate inter-segment transfers of energy through the joint centres, and through the muscles, as well as the more recognized generation and absorption by the muscles themselves.—As a result of the complexity shown in these patterns it is cautioned that fundamental relationships that may have been derived from controlled biomechanical experiments (such as horizontal flexion and extension of the forearm) are not likely to apply to more normal movements such as gait.     

Morphology and function of the shoulder joint of bats (Mammalia: Chiroptera)1

The shoulder joint of the Microchiroptera shows a remarkable morphological variation that has been studied in 20 individual bats from 15 species and 11 families. The basic morphology of the shoulder joint, with a globular humeral head and a corresponding glenoid cavity, is found in the Megachiroptera and, within the Microchiroptera, in the Rhinopomatidae. Besides this basic shoulder joint, there are two derived joint types: the derived and specialized shoulder joint with a single articular surface on the scapula and a more-or-less oblong humeral head, and the derived and specialized shoulder joint with secondary articular surfaces on the trochiter and on the dorsal aspect of the scapula. The first type of derived joint is most strikingly developed in the Mormoopidae and the Noctilionidae, the second one in the Vespertilionidae and the Molossidae. It is suggested that both types of derived shoulder joints have the functional significance of reducing the pronatory movements of the abducted forearm during the downstroke of the wing-beat cycle. This suggested function of the secondary shoulder joint is a new approach to understanding this very peculiar structure. In species with these specialized shoulder joints, the downstroke musculature is comparatively better developed and the M. serratus ant. post. div. comparatively less well developed. A hypothesis is offered to explain and combine the osteological and myological findings. Each of the derived types of shoulder joints has developed independently more than once through parallel evolution.     

The relationship between joint strength and standing vertical jump performance

The effect of joint strengthening on standing vertical jump height is investigated by computer simulation. The human model consists of five rigid segments representing the feet, shanks, thighs, HT (head and trunk), and arms. Segments are connected by frictionless revolute joints and model movement is driven by joint torque actuators. Each joint torque is the product of maximum isometric torque and three variable functions of instantaneous joint angle, angular velocity, and activation level, respectively. Jumping movements starting from a balanced initial posture and ending at takeoff are simulated. A matching simulation reproducing the actual jumping movement is generated by optimizing joint activation level. Simulations with the goal of maximizing jump height are repeated for varying maximum isometric torque of one joint by up to +/-20% while keeping other joint strength values unchanged. Similar to previous studies, reoptimization of activation after joint strengthening is necessary for increasing jump height. The knee and ankle are the most effective joints in changing jump height (by as much as 2.4%, or 3 cm). For the same amount of percentage increase/decrease in strength, the shoulder is the least effective joint (which changes height by as much as 0.6%), but its influence should not be overlooked.     

Degenerative joint disease in African great apes: an evolutionary perspective

Degenerative joint disease is investigated in the spine and major peripheral joints (shoulder, elbow, hip and knee) in samples of chimpanzees (Pan troglodytes schweinfurthii; P. troglodytes troglodytes), lowland gorillas (Gorilla gorilla gorilla), and bonobos (P. paniscus). The P. troglodytes schweinfurthii sample comes from Gombe National Park, Tanzania, while the other samples are derived from museum materials originally collected in west/central Africa. Total data for African ape samples include 5807 surfaces for ascertainment of vertebral osteophytosis, 12,479 surfaces for determination of spinal osteoarthritis, and 1211 joints for evaluation of peripheral joint osteoarthritis. All apes display significantly less spinal disease than in a comparable human sample, and these differences are most likely a consequence of human biomechanical adaptations for bipedal locomotion. Apes are also generally less involved in the major peripheral joints than are humans, but human groups are themselves highly variable in prevalence of peripheral osteoarthritis. These data agree with other findings of low prevalence of degenerative joint prevalence in free-ranging apes, but contrast markedly with evidence derived from colony-reared Old World monkeys.     

Response properties of thick myelinated group II afferents in the medial articular nerve of normal and inflamed knee joints of the cat.

This study investigated the responses to innocuous and noxious mechanical stimuli of joint mechanoreceptors with thick myelinated articular afferents (conduction velocities 21-65 m/sec) in the medial articular nerve of the cat's knee. In nine experiments, we examined whether acute arthritis would modify the discharge properties. The vast majority of the group II afferents were excited by gentle local stimuli and by movements in the working range of the knee. Although they encoded pressure and particular movement stimuli up to the noxious range, their responses were more closely related to the particular type of stimulus (e.g., a movement in a specific direction) than to its intensity (innocuous vs. noxious). In inflamed joints, the response patterns of group II units were similar with regard to local mechanical thresholds, thresholds for passive movements, and patterns of responses to passive movements. In both situations, most units had no resting activity. These results suggest that articular group II afferents do not play a significant role in nociception. Rather, they subserve proprioceptive functions such as deep pressure sensation and kinesthesia in normal as well as inflamed joints.     

Biarticular hip extensor and knee flexor muscle moment arms of the feline hindlimb

Moment arms are important for understanding muscular behavior and for calculating internal muscle forces in musculoskeletal simulations. Biarticular muscles cross two joints and have moment arms that depend on the angle of both joints the muscles cross. The tendon excursion method was used to measure the joint angle-dependence of hamstring (biceps femoris, semimembranosus and semitendinosus) moment arm magnitudes of the feline hindlimb at the knee and hip joints. Knee angle influenced hamstring moment arm magnitudes at the hip joint; compared to a flexed knee joint, the moment arm for semimembranosus posterior at the hip was at most 7.4 mm (25%) larger when the knee was extended. On average, hamstring moment arms at the hip increased by 4.9 mm when the knee was more extended. In contrast, moment arm magnitudes at the knee varied by less than 2.8 mm (mean=1.6 mm) for all hamstring muscles at the two hip joint angles tested. Thus, hamstring moment arms at the hip were dependent on knee position, while hamstring moment arms at the knee were not as strongly associated with relative hip position. Additionally, the feline hamstring muscle group had a larger mechanical advantage at the hip than at the knee joint.     

Study of probe-sample distance for biomedical spectra measurement

Background

There have been many studies that utilize the bio-impedance measurement method to analyze the movements of the upper and lower limbs. A fixed electrical current flows into the limbs through four standard disposable electrodes in this method. The current flows in the muscles and blood vessels, which have relatively low resistivity levels in the human body. This method is used to measure bio-impedance changes following volume changes of muscles and blood vessels around a knee joint. The result of the bio-impedance changes is used to evaluate the movements. However, the method using the standard disposable electrodes has a restriction related to its low bio-impedance changes: the standard disposable electrodes are only able to measure bio-impedance from a limited part of a muscle. Moreover, it is impossible to use continuously, as the electrodes are designed to be disposable. This paper describes a conductive fabric sensor (CFS) using a bio-impedance measurement method and determines the optimum configuration of the sensor for estimating knee joint movements.

Methods

The upper side of subjects' lower limbs was divided into two areas and the lower side of subjects' lower limbs was divided into three areas. The spots were matched and 6 pairs were selected. Subjects were composed of 15 males (age: 30.7 ± 5.3, weight: 69.8 ± 4.2 kg, and height: 173.5 ± 2.8 cm) with no known problems with their knee joints. Bio-impedance changes according to knee joint flexion/extension assessments were calculated and compared with bio-impedance changes by an ankle joint flexion/extension test (SNR I) and a hip joint flexion/extension test (SNR II).

Results

The bio-impedance changes of the knee joint flexion/extension assessment were 35.4 ± 20.0 Ω on the (1, 5) pair. SNR I was 3.8 ± 8.4 and SNR II was 6.6 ± 7.9 on the (1, 5) pair.

Conclusions

The optimum conductive fabric sensor configuration for evaluating knee joint movements were represented by the (1, 5) pair.     

Neuromuscular changes for hopping on a range of damped surfaces.

Humans hopping and running on elastic and damped surfaces maintain similar center-of-mass dynamics by adjusting stance leg mechanics. We tested the hypothesis that the leg transitions from acting like an energy-conserving spring on elastic surfaces to a power-producing actuator on damped surfaces during hopping due to changes in ankle mechanics. To test this hypothesis, we collected surface electromyography, video kinematics, and ground reaction force while eight male subjects (body mass: 76.2 +/- 1.7 kg) hopped in place on a range of damped surfaces. On the most damped surface, most of the mechanical work done by the leg appeared at the ankle (52%), whereas 23 and 25% appeared at the knee and hip, respectively. Hoppers extended all three joints during takeoff further than they flexed during landing and thereby did more net positive work on more heavily damped surfaces. Also, all three joints reached peak flexion sooner after touchdown on more heavily damped surfaces. Consequently, peak moment occurred during joint extension rather than at peak flexion as on elastic surfaces. These strategies caused the positive work during extension to exceed the negative work during flexion to a greater extent on more heavily damped surfaces. At the muscle level, surface EMG increased by 50-440% in ankle and knee extensors as surface damping increased to compensate for greater surface energy dissipation. Our findings, and those of previous studies of hopping on elastic surfaces, show that the ankle joint is the key determinant of both springlike and actuator-like leg mechanics during hopping in place.     

Maintenance of Human Vertical Posture upon Asymmetric Leg Loading and Fixation of the Knee Joint of One Leg

Maintenance of a vertical posture was studied in standing subjects with a fixed knee joint of one leg and a different weight distribution between the legs. Knee fixation on one leg did not affect the speed of movements of the common center of pressure (CP) at any weight distribution between the legs, and the stability of vertical posture was therefore unchanged. However, the relative contributions of the legs to the posture control changed when knee movements of one leg were restricted. The speed of CP movements of the free leg was independent of the weight loading on the leg. The speed of CP movements of the leg with the knee fixed depended on the weight distribution and was higher when the leg was loaded. Thus, the leg with the fixed knee joint made a greater contribution to maintaining vertical posture when the leg was loaded. Yet its contribution was comparable with that of the unloaded free contralateral leg even in this case, as was evident from lack of differences in CP movements between the two legs. It was assumed that the leg with the free knee joint played a major role in maintaining equilibrium of vertical posture, while the leg with the fixed knee joint mostly acted to more finely adjust the body position.     

The movement of the normal tibio-femoral joint

This review describes the anatomy of the articular surfaces and their movement in the normal tibio-femoral joint, together with methods of measurement in volunteers. Forces and soft tissues are excluded. To measure movement, the articular surfaces and natural or inserted movement markers must be imaged by some combination of MRI, CT, RSA or fluoroscopy. With the aid of computer-imaging, the movements can then be related to an anatomy-based co-ordinate system to avoid kinematic cross-talk. Methods of depicting these movements which are understandable to engineers and clinicians are discussed. The shapes of the articular surfaces are reported. They are relevant to landmarks and co-ordinate systems and form a basis for inferring the nature of the movements which take place in the knee. The movements of the condyles are described from hyperextension to full passive flexion. Medially the condyle hardly moves antero-posteriorly from 0 degrees to 120 degrees but the contact area transfers from an anterior pair of tibio-femoral surfaces at 10 degrees to a posterior pair at about 30 degrees . Thus because of the shapes of the bones, the medial contact area moves backwards with flexion to 30 degrees but the condyle does not. Laterally the femoral condyle and the contact area move posteriorly but to a variable extent in the mid-range causing tibial internal rotation to occur with flexion around a medial axis. From 120 degrees to full flexion both condyles roll back onto the posterior horn so that the tibio-femoral joint subluxes.     

Knee and ankle joint torque-angle relationships of multi-joint leg extension

The force-length-relation (F-l-r) is an important property of skeletal muscle to characterise its function, whereas for in vivo human muscles, torque-angle relationships (T-a-r) represent the maximum muscular capacity as a function of joint angle. However, since in vivo force/torque-length data is only available for rotational single-joint movements the purpose of the present study was to identify torque-angle-relationships for multi-joint leg extension. Therefore, inverse dynamics served for calculation of ankle and knee joint torques of 18 male subjects when performing maximum voluntary isometric contractions in a seated leg press. Measurements in increments of 10° knee angle from 30° to 100° knee flexion resulted in eight discrete angle configurations of hip, knee and ankle joints. For the knee joint we found an ascending-descending T-a-r with a maximum torque of 289.5° ± 43.3 Nm, which closely matches literature data from rotational knee extension. In comparison to literature we observed a shift of optimum knee angle towards knee extension. In contrast, the T-a-r of the ankle joint vastly differed from relationships obtained for isolated plantar flexion. For the ankle T-a-r derived from multi-joint leg extension subjects operated over different sections of the force-length curve, but the ankle T-a-r derived from isolated joint efforts was over the ascending limb for all subjects. Moreover, mean maximum torque of 234.7 ± 56.6 Nm exceeded maximal strength of isolated plantar flexion (185.7 ± 27.8 Nm). From these findings we conclude that muscle function between isolated and more physiological multi-joint tasks differs. This should be considered for ergonomic and sports optimisation as well as for modelling and simulation of human movement.