Rotating horizontal ground reaction forces to the body path of progression

When studying the biomechanics of a transient turn, the orientation of the body will change relative to the orientation of the force plates over the progression of the turn. To express ground reaction forces relative to the body, this study investigated possible origin locations and axis alignments of body reference frames. The gait patterns of 10 subjects were recorded as subjects negotiated a 90 degrees hallway corner. Body reference frames were chosen whose origins were the center of mass (COM) and the pelvis origin (PEL). A finite-difference method was used to align the axes of the reference frames according to the horizontal paths of the COM and PEL. The ground reaction impulses (GRIs) were calculated relative to the COM and PEL reference frames. GRI differences were small between the PEL and COM frames, suggesting that either is acceptable for turning studies. Based on an investigation of finite-difference parameters, the COM frame should be used when using a kinematic sampling rate of 60 Hz. Either frame is acceptable when sampling at higher rates.     

Gait biomechanics of skipping are substantially different than those of running

The inherit injury risk associated with high-impact exercises calls for alternative ways to achieve the benefits of aerobic exercise while minimizing excessive stresses to body tissues. Skipping presents such an alternative, incorporating double support, flight, and single support phases. We used ground reaction forces (GRFs), lower extremity joint torques and powers to compare skipping and running in 20 healthy adults. The two consecutive skipping steps on each limb differed significantly from each other, and from running. Running had the longest step length, the highest peak vertical GRF, peak knee extensor torque, and peak knee negative and positive power and negative and positive work. Skipping had the greater cadence, peak horizontal GRF, peak hip and ankle extensor torques, peak ankle negative power and work, and peak ankle positive power. The second vs first skipping step had the shorter step length, higher cadence, peak horizontal GRF, peak ankle extensor torque, and peak ankle negative power, negative work, and positive power and positive work. The first skipping step utilized predominately net negative joint work (eccentric muscle action) while the second utilized predominately net positive joint work (concentric muscle action). The skipping data further highlight the persistence of net negative work performed at the knee and net positive work performed at the ankle across locomotion gaits. Evidence of step segregation was seen in distribution of the braking and propelling impulses and net work produced across the hip, knee, and ankle joints.ConclusionsSkipping was substantially different than running and was temporally and spatially asymmetrical with successive foot falls partitioned into a dominant function, either braking or propelling whereas running had a single, repeated step in which both braking and propelling actions were performed equally.     

A hypothesis for the function of braking forces during running turns

We examined the functional role of braking forces observed when humans execute turning maneuvers. Deceleration caused by braking forces contributes to changing the movement direction of the center of mass (COM) and maintaining constant velocity. We argue that braking forces also prevent over-rotation of the body about the vertical axis during maneuvers. We analyzed data from sidestep and crossover cuts at average initial running velocities of 3 m s(-1). Absent braking, lateral forces would result in body rotations 1.4-3 times the change in COM movement direction, causing the orientation of the body to be substantially mis-aligned with the direction of movement at the end of the step. A simple model based on the hypothesis that body rotation should match COM deflection can explain 70% of the variance in braking forces employed during running turns.     

Functional assessment in the rat by ground reaction forces

Although the rat sciatic nerve model is used extensively in the investigation of repair techniques, and a variety of evaluation methods utilized to assess the results, a means to measure directly and accurately the return of function in these animals is absent. Histologic, histomorphometric, and electrophysiologic methods can be reliable indicators of nerve regeneration but do not correlate to functional recovery. The purposes of this study were to develop apparatus to continuously measure ground reaction forces (GRF) and use GRF parameters in the assessment of gait parameters in normal rats preoperatively and following peripheral nerve severance and repair. Three neurorrhaphy methods: direct sciatic nerve repair, direct tibial nerve repair and double sciatic nerve repair simulating autograft, as well as a non-repaired tibial nerve transection were evaluated. The testing apparatus was designed to measure the spontaneous and voluntary effort of the rat with objective data. Three orthogonal components - vertical, craniocaudal (braking and propulsion), and mediolateral - of the ground reaction force were measured. Preoperative data showed that vertical forces were comparable among the four limbs but propulsion and braking forces displayed significant differences. At 12 weeks, functional recovery was most evident in the direct tibial nerve repair group and absent in the non-repaired tibial defect group. Direct sciatic nerve repairs and sciatic nerve grafts resulted in lesser degrees of improvement. Results indicated that the propulsive force is the optimal GRF parameter for evaluating recovery of useful function.     

Lower-extremity ground reaction forces in collegiate baseball pitchers

The purpose of this study was to investigate ground reaction forces (GRF) in collegiate baseball pitchers and their relationship to pitching mechanics. Fourteen healthy collegiate baseball pitchers participated in this study. High-speed video and force plate data were collected for fastballs from each pitcher. The average ball speed was 35 ± 3 m/sec (78 ± 7 mph). Peak GRFs of 245 ± 20% body weight (BW) were generated in an anterior or braking direction to control descent. Horizontal GRFs tended to occur in a laterally directed fashion, reaching a peak of 45 ± 63% BW. The maximum vertical GRF averaged 202 ± 43% BW approximately 45 milliseconds after stride foot contact. A correlation between braking force and ball velocity was evident. Because of the downward inclination and rotation of the pitching motion, in addition to volume, shear forces may occur in the musculoskeletal tissues of the stride limb leading to many of the lower-extremity injuries seen in this athletic population.     

Lower extremity control during turns initiated with and without hip external rotation

The pirouette turn is often initiated in neutral and externally rotated hip positions by dancers. This provides an opportunity to investigate how dancers satisfy the same mechanical objectives at the whole-body level when using different leg kinematics. The purpose of this study was to compare lower extremity control strategies during the turn initiation phase of pirouettes performed with and without hip external rotation. Skilled dancers (n=5) performed pirouette turns with and without hip external rotation. Joint kinetics during turn initiation were determined for both legs using ground reaction forces (GRFs) and segment kinematics. Hip muscle activations were monitored using electromyography. Using probability-based statistical methods, variables were compared across turn conditions as a group and within-dancer. Despite differences in GRFs and impulse generation between turn conditions, at least 90% of each GRF was aligned with the respective leg plane. A majority of the net joint moments at the ankle, knee, and hip acted about an axis perpendicular to the leg plane. However, differences in shank alignment relative to the leg plane affected the distribution of the knee net joint moment when represented with respect to the shank versus the thigh. During the initiation of both turns, most participants used ankle plantar flexor moments, knee extensor moments, flexor and abductor moments at the push leg׳s hip, and extensor and abductor moments at the turn leg׳s hip. Representation of joint kinetics using multiple reference systems assisted in understanding control priorities.     

Biomechanics of skateboarding: kinetics of the Ollie

Seven top amateur or professional skateboarders (BW=713 N+/-83 N) performed Ollie maneuvers onto and off an elevated wooden platform (45.7 cm high). We recorded ground reaction force (GRF) data for three Ollie Up (OU) and Ollie Down (OD) trials per participant. The vertical GRF (VGRF) during the OU has a characteristic propulsive peak (M=2.22 body weight [BW]+/-0.22) resulting from rapidly rotating the tail of the board into the ground to propel the skater and board up and forward. The anterior-posterior (A-P) GRF also shows a pronounced peak (M=0.05+/-0.01 BW) corresponding with this propulsive VGRF peak. The initial phase of landing in the OD shows an impact peak in VGRF rising during the first 30 to 80 ms to a mean of 4.74+/-0.46 BW. These impact peaks are higher than expected given the relatively short drop of 45.7 cm and crouched body position. But we observed that our participants intentionally affected a firm landing to stabilize the landing position; and the Ollie off the platform raised the center of mass, also contributing to higher forces.     

Ground reaction forces during downhill and uphill running

We investigated the normal and parallel ground reaction forces during downhill and uphill running. Our rationale was that these force data would aid in the understanding of hill running injuries and energetics. Based on a simple spring-mass model, we hypothesized that the normal force peaks, both impact and active, would increase during downhill running and decrease during uphill running. We anticipated that the parallel braking force peaks would increase during downhill running and the parallel propulsive force peaks would increase during uphill running. But, we could not predict the magnitude of these changes. Five male and five female subjects ran at 3m/s on a force treadmill mounted on the level and on 3 degrees, 6 degrees, and 9 degrees wedges. During downhill running, normal impact force peaks and parallel braking force peaks were larger compared to the level. At -9 degrees, the normal impact force peaks increased by 54%, and the parallel braking force peaks increased by 73%. During uphill running, normal impact force peaks were smaller and parallel propulsive force peaks were larger compared to the level. At +9 degrees, normal impact force peaks were absent, and parallel propulsive peaks increased by 75%. Neither downhill nor uphill running affected normal active force peaks. Combined with previous biomechanics studies, our normal impact force data suggest that downhill running substantially increases the probability of overuse running injury. Our parallel force data provide insight into past energetic studies, which show that the metabolic cost increases during downhill running at steep angles.     

Regulation of angular impulse during two forward translating tasks

Angular impulse generation is dependent on the position of the total body center of mass (CoM) relative to the ground reaction force (GRF) vector during contact with the environment. The purpose of this study was to determine how backward angular impulse was regulated during two forward translating tasks. Control of the relative angle between the CoM and the GRF was hypothesized to be mediated by altering trunk-leg coordination. Eight highly skilled athletes performed a series of standing reverse somersaults and reverse timers. Sagittal plane kinematics, GRF, and electromyograms of lower extremity muscles were acquired during the take-off phase of both tasks. The magnitude of the backward angular impulse generated during the push interval of both tasks was mediated by redirecting the GRF relative to the CoM. During the reverse timer, backward angular impulse generated during the early part of the take-off phase was negated by limiting backward trunk rotation and redirecting the GRF during the push interval. Biarticular muscles crossing the knee and hip coordinated the control of GRF direction and CoM trajectory via modulation of trunk-leg coordination.     

A gravitational impulse model predicts collision impulse and mechanical work during a step-to-step transition

The simplest walking model, which assumes an instantaneous collision with negligible gravity effect, is limited in its representation of the collision mechanics of human gaits because the actual step-to-step transition occurs over a finite duration of time with finite impulsive ground reaction forces (GRFs) that have the same order of magnitude as the gravitational force. In this study, we propose a new collision model that includes the contribution of the gravitational impulse to the momentum change of the center of mass (COM) during a step-to-step transition. To validate the model, we measured the GRFs of six subjects' over-ground walking at five different gait speeds and calculated the collision impulses and mechanical work. The data showed a significant contribution of the gravitational impulse to the momentum change during collision. To compensate for the gravity, the magnitudes of collision impulse and COM work were estimated to be much greater than in previous predictions. Consistent with the model prediction, push-off propulsion fully compensated for the collision loss, implying the step-to-step transition occurred in an energetically optimal manner. The new model predicted a moderate change in the collision mechanics with gait speed, which seems to be physiologically achievable. The gravitational collision model enables us to better understand collision dynamics during a step-to-step transition.     

Can treadmill walking be used to assess propulsion generation?

Instrumented treadmills offer significant advantages for analysis of human locomotion, including recording consecutive steady-state gait cycles, precisely controlling walking speed, and avoiding force plate targeting. However, some studies of hemiparetic walking on a treadmill have suggested that the moving treadmill belt may fundamentally alter propulsion mechanics. Any differences in propulsion mechanics during treadmill walking would be problematic since recent studies assessing propulsion have provided fundamental insight into hemiparetic walking. The purpose of this study was to test the hypothesis that there would be no difference in the generation of anterior/posterior (A/P) propulsion by performing a carefully controlled comparison of the A/P ground reaction forces (GRFs) and impulses in healthy adults during treadmill and overground walking. Gait data were collected from eight subjects walking overground and on a treadmill with speed and cadence controlled. Peak negative and positive horizontal GRFs in early and late stance, respectively, were reduced by less than 5% of body weight (p<0.05) during treadmill walking compared to overground walking. The magnitude of the braking impulse was similarly lower (p<0.05) during treadmill walking, but no significant difference was found between propulsion impulses. While there were some subtle differences in A/P GRFs between overground and treadmill walking, these results suggest there is no fundamental difference in propulsion mechanics. We conclude that treadmill walking can be used to investigate propulsion generation in healthy and by implication clinical populations.     

Fore-Aft Ground Force Adaptations to Induced Forelimb Lameness in Walking and Trotting Dogs

Animals alter their locomotor mechanics to adapt to a loss of limb function. To better understand their compensatory mechanisms, this study evaluated the changes in the fore-aft ground forces to forelimb lameness and tested the hypothesis that dogs unload the affected limb by producing a nose-up pitching moment via the exertion of a net-propulsive force when the lame limb is on the ground. Seven healthy Beagles walked and trotted at steady speed on an instrumented treadmill while horizontal force data were collected before and after a moderate lameness was induced. Peak, mean and summed braking and propulsive forces as well as the duration each force was exerted and the time to reach maximum force were evaluated for both the sound and the lame condition. Compared with the sound condition, a net-propulsive force was produced by the lame diagonal limbs due to a reduced braking force in the affected forelimb and an increased propulsive force in the contralateral hindlimb when the dogs walked and trotted. To regain pitch stability and ensure steady speed for a given locomotor cycle, the dogs produced a net-braking force when the sound diagonal limbs were on the ground by exerting greater braking forces in both limbs during walking and additionally reducing the propulsive force in the hindlimb during trotting. Consistent with the proposed mechanism, dogs maximize their double support phases when walking. Likely associated with the fore-aft force adaptations to lameness are changes in muscle recruitment that potentially result in short- and long-term effects on the limb and trunk muscles.     

The effectiveness of scaling procedures for comparing ground reaction forces

Various scaling methods are used when attempting to remove the influence of anthropometric differences on ground reaction forces (GRF) when comparing groups. Though commonly used, ratio scaling often results in an over-correction. Allometric scaling has previously been suggested for kinetic variables but its effectiveness in partialing out the effect of anthropometrics is unknown due to a lack of consistent application. This study examined the effectiveness of allometric scaling vertical, braking and propulsive GRF and loading rate for 84 males and 47 females while running at 4.0 m/s. Raw, unfiltered data were ratio scaled by body mass (BM), height (HT), and BM multiplied by HT (BM1HT). Gender specific exponents for allometric scaling were determined by performing a log-linear (for BM and HT individually) or log-multilinear regression (BMHT). Pearson productmoment correlations were used to assess the effectiveness of each scaling method. Ratio scaling by BM, HT, or BM1HT resulted in an over-correction of the data for most variables and left a considerable portion of the variance still attributable to anthropometrics. Allometric scaling by BM successfully removed the effect of BM and HT for all variables except for braking GRF in males and vertical GRF in females. However, allometric scaling for BMHT successfully removed the effect of BM and HT for all reactionary forces in both genders. Based on these results, allometric scaling for BMHT was the most appropriate scaling method for partialing out the effect of BM and HT on kinetic variables to allow for effective comparisons between groups or individuals.     

An 18-base-pair sequence is sufficient for termination of rolling-circle replication of plasmid pT181.

pT181 and related plasmids of gram-positive bacteria replicate by a rolling-circle mechanism. The replication initiator protein of pT181, RepC, has origin-specific nicking-closing activities. Replication of the plasmid pT181 leading strand initiates by covalent extension of the RepC-generated nick, and the origin of replication contains signals for both initiation and termination of DNA replication. We have investigated the sequence requirements for the initiation and termination steps by using plasmids containing two pT181 origins. In vitro replication experiments showed that 18- and 24-bp synthetic oligonucleotides containing the RepC nick site were active in the termination of replication. However, initiation of replication required a larger region which also includes the RepC binding site. Plasmids containing the 18- and 24-bp region were also found to be nicked by the RepC protein. Our results demonstrate that sequence requirements for initiation and termination of pT181 replication overlap, but while the RepC binding site is required for initiation, it is dispensable for termination.     

Distinct Motor Strategies Underlying Split-Belt Adaptation in Human Walking and Running

The aim of the present study was to elucidate the adaptive and de-adaptive nature of human running on a split-belt treadmill. The degree of adaptation and de-adaptation was compared with those in walking by calculating the antero-posterior component of the ground reaction force (GRF). Adaptation to walking and running on a split-belt resulted in a prominent asymmetry in the movement pattern upon return to the normal belt condition, while the two components of the GRF showed different behaviors depending on the gaits. The anterior braking component showed prominent adaptive and de-adaptive behaviors in both gaits. The posterior propulsive component, on the other hand, exhibited such behavior only in running, while that in walking showed only short-term aftereffect (lasting less than 10 seconds) accompanied by largely reactive responses. These results demonstrate a possible difference in motor strategies (that is, the use of reactive feedback and adaptive feedforward control) by the central nervous system (CNS) for split-belt locomotor adaptation between walking and running. The present results provide basic knowledge on neural control of human walking and running as well as possible strategies for gait training in athletic and rehabilitation scenes.     

Correction of the inertial effect resulting from a plate moving under low-friction conditions

The purpose of the present study was to develop a set of equations that can be employed to remove the inertial effect introduced by the movable platform upon which a person stands during a slip induced in gait; this allows the real ground reaction force (GRF) and its center of pressure (COP) to be determined. Analyses were also performed to determine how sensitive the COP offsets were to the changes of the parameters in the equation that affected the correction of the inertial effect. In addition, the results were verified empirically using a low friction movable platform together with a stationary object, a pendulum, and human subjects during a slip induced during gait. Our analyses revealed that the amount of correction required for the inertial effect due to the movable component is affected by its mass and its center of mass (COM) position, acceleration, the friction coefficient, and the landing position of the foot relative to the COM. The maximum error in the horizontal component of the GRF was close to 0.09 (body weight) during the recovery from a slip in walking. When uncorrected, the maximum error in the COP measurement could reach as much as 4 cm. Finally, these errors were magnified in the joint-moment computation and propagated proximally, ranging from 0.2 to 1.0 Nm/body mass from the ankle to the hip.     

Locomotion of Gymnarchus Niloticus： Experiment and Kinematics

In addition to forward undulatory swimming, Gymnarchus niloticus can swim via undulations of the dorsal fin while the body axis remains straight; furthermore, it swims forward and backward in a similar way, which indicates that the undulation of the dorsal fin can simultaneously provide bidirectional propulsive and maneuvering forces with the help of the tail fin. A high-resolution Charge-Coupled Device （CCD） imaging camera system is used to record kinematics of steady swimming as well as maneuvering in G. niloticus. Based on experimental data, this paper discusses the kinematics （cruising speed, wave speed, cycle frequency, amplitude, lateral displacement） of forward as well as backward swimming and maneuvering. During forward swimming, the propulsive force is generated mainly by undulations of the dorsal fin while the body axis remains straight. The kinematic parameters （wave speed, wavelength, cycle frequency, amplitude） have statistically significant correlations with cruising speed. In addition, the yaw at the head is minimal during steady swimming. From experimental data, the maximal lateral displacement of head is not more than 1% of the body length, while the maximal lateral displacement of the whole body is not more than 5% of the body length. Another important feature is that G. niloticus swims backwards using an undulatory mechanism that resembles the forward undulatory swimming mechanism. In backward swimming, the increase of lateral displacement of the head is comparatively significant; the amplitude profiles of the propulsive wave along the dorsal fin are significantly different from those in forward swimming. When G. niloticus does fast maneuvering, its body is first bent into either a C shape or an S shape, then it is rapidly unwound in a travelling wave fashion. It rarely maneuvers without the help of the tail fin and body bending.     

Multiple spike initiation zones in a neuron implicated in learning in the leech: a computational model

Sensitization of the defensive shortening reflex in the leech has been linked to a segmentally repeated tri-synaptic positive feedback loop. Serotonin from the R-cell enhances S-cell excitability, S-cell impulses cross an electrical synapse into the C-interneuron, and the C-interneuron excites the R-cell via a glutamatergic synapse. The C-interneuron has two unusual characteristics. First, impulses take longer to propagate from the S soma to the C soma than in the reverse direction. Second, impulses recorded from the electrically unexcitable C soma vary in amplitude when extracellular divalent cation concentrations are elevated, with smaller impulses failing to induce synaptic potentials in the R-cell. A compartmental, computational model was developed to test the sufficiency of multiple, independent spike initiation zones in the C-interneuron to explain these observations. The model displays asymmetric delays in impulse propagation across the S–C electrical synapse and graded impulse amplitudes in the C-interneuron in simulated high divalent cation concentrations.