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

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

Axial prestretch and circumferential distensibility in biomechanics of abdominal aorta

Elastic arteries are significantly prestretched in an axial direction. This property minimises axial deformations during pressure cycle. Ageing-induced changes in arterial biomechanics, among others, are manifested via a marked decrease in the prestretch. Although this fact is well known, little attention has been paid to the effect of decreased prestretch on mechanical response. Our study presents the results of an analytical simulation of the inflation–extension behaviour of the human abdominal aorta treated as nonlinear, anisotropic, prestrained thin-walled as well as thick-walled tube with closed ends. The constitutive parameters and geometries for 17 aortas adopted from the literature were supplemented with initial axial prestretches obtained from the statistics of 365 autopsy measurements. For each aorta, the inflation–extension response was calculated three times, with the expected value of the initial prestretch and with the upper and lower confidence limit of the initial prestretch derived from the statistics. This approach enabled age-related trends to be evaluated bearing in mind the uncertainty in the prestretch. Despite significantly decreased longitudinal prestretch with age, the biomechanical response of human abdominal aorta changes substantially depending on the initial axial stretch was used. In particular, substituting the upper limit of initial prestretch gave mechanical responses which can be characterised by (1) low variation in axial stretch and (2) high circumferential distensibility during pressurisation, in contrast to the responses obtained for their weakly prestretched counterparts. The simulation also suggested the significant effect of the axial prestretch on the variation of axial stress in the pressure cycle. Finally, the obtained results are in accordance with the hypothesis that circumferential-to-axial stiffness ratio is the quantity relatively constant within this cycle.     

A computational model to predict cell traction-mediated prestretch in the mitral valve

Abstract

Prestretch is observed in many soft biological tissues, directly influencing the mechanical behavior of the tissue in question. The development of this prestretch occurs through complex growth and remodeling phenomena, which yet remain to be elucidated. In the present study it was investigated whether local cell-mediated traction forces can explain the development of global anisotropic tissue prestretch in the mitral valve. Towards this end, a model predicting actin stress fiber-generated traction forces was implemented in a finite element framework of the mitral valve. The overall predicted magnitude of prestretch induced valvular contraction after release of in vivo boundary constraints was in good agreement with data reported on valvular retraction after excision from the heart. Next, by using a systematic variation of model parameters and structural properties, a more anisotropic prestretch development in the valve could be obtained, which was also similar to physiological values. In conclusion, this study shows that cell-generated traction forces could explain prestretch magnitude and anisotropy in the mitral valve.     

The importance of swing-phase initial conditions in stiff-knee gait

The diminished knee flexion associated with stiff-knee gait, a movement abnormality commonly observed in persons with cerebral palsy, is thought to be caused by an over-active rectus femoris muscle producing an excessive knee extension moment during the swing phase of gait. As a result, treatment for stiff-knee gait is aimed at altering swing-phase muscle function. Unfortunately, this treatment strategy does not consistently result in improved knee flexion. We believe this is because multiple factors contribute to stiff-knee gait. Specifically, we hypothesize that many individuals with stiff-knee gait exhibit diminished knee flexion not because they have an excessive knee extension moment during swing, but because they walk with insufficient knee flexion velocity at toe-off. We measured the knee flexion velocity at toe-off and computed the average knee extension moment from toe-off to peak flexion in 17 subjects (18 limbs) with stiff-knee gait and 15 subjects (15 limbs) without movement abnormalities. We used forward dynamic simulation to determine how adjusting each stiff-knee subject's knee flexion velocity at toe-off to normal levels would affect knee flexion during swing. We found that only one of the 18 stiff-knee limbs exhibited an average knee extension moment from toe-off to peak flexion that was larger than normal. However, 15 of the 18 limbs exhibited a knee flexion velocity at toe-off that was below normal. Simulating an increase in the knee flexion velocity at toe-off to normal levels resulted in a normal or greater than normal range of knee flexion for each of these limbs. These results suggest that the diminished knee flexion of many persons with stiff-knee gait may be caused by abnormally low knee flexion velocity at toe-off as opposed to excessive knee extension moments during swing.     

Information transmission by isolated frog muscle spindle

Transmission of sensory information was calculated for the isolated frog muscle spindle receptor, using Shannon's information measure. Sinusoidal movements, random noise stretches, and sinusoids with superimposed auxiliary noise were applied as stimuli. In addition, the static prestretch level of the intrafusal muscle bundle was adjusted between resting length (L0) and L0 + 600 micron, so that the analysis of the information transmission properties covered the entire dynamic range of the sensory receptor organ. Sinusoidal stretches below 2 Hz evoked smoothly modulated cycle histograms, which were approximately linearly related to the stimulating sinewave. The transinformation rates under these conditions were generally low (5-17 bit X s-1), regardless of the amplitude of the applied movement. Increasing prestretch enhanced the modulation depth of the cycle histograms considerably, but increased the transinformation rates by less than 10 bit X s-1. By contrast, sinusoids above 2 Hz evoked clearly nonlinear cycle histograms, because each action potential was firmly phase-locked to a small segment of the stretch cycle. Under these conditions the transinformation rates grew larger with increasing stimulus frequency and approached 130 bit X s-1 at 60 Hz. Small amplitude sinusoidal stretches, however, evoked considerable transinformation rates in the high frequency region only then, when the spindle receptor was extended to higher prestretch levels. Random stretches evoked transinformation rates between 5 and 30 bit X s-1 depending on both the prestretch level and the intensity of the noise stimulus. The linear response components carried only about 25% of the transinformation rates transmitted by both the linear and nonlinear response components. Auxiliary noise stimuli greatly improved the information transmission of sinusoidal stretches. For example, a pure sinusoid evoked 5 bit X s-1. Adding a noise signal with equal energy to the sinusoidal movement elicited 20 bit X s-1. This facilitation effect of auxiliary noise was restricted to low frequency sinusoidal stimuli. The present results are discussed with respect to the information transmission properties of various sensory systems evaluated by either the same or different information processing procedure as that used in the present study. The functional significance of high transinformation rates sent by the muscle spindle to the central nervous system is discussed with respect to motor control.     

Relationship between the efficiency of muscular work during jumping and the energetics of running

The running economy of seventeen athletes was studied during running at a low speed (3.3 m X s-1) on a motor-driven treadmill. The net energetic cost during running expressed in kJ X kg-1 X km-1 was on average 4.06. As expected, a positive relationship was found between the energetic cost and the percentage of fast twitch fibres (r = 0.60, n = 17, p less than 0.01). In addition, the mechanical efficiency during two different series of jumps performed with and without prestretch was measured in thirteen subjects. The effect of prestretch on muscle economy was represented by the ratio between the efficiency of muscular work performed during prestretch jumps and the corresponding value calculated in no prestretch conditions. This ratio demonstrated a statistically significant relationship with energy expenditure during running (r = -0.66, n = 13, P less than 0.01), suggesting that the elastic behaviour of leg extensor muscles is similar in running and jumping if the speeds of muscular contraction during eccentric and concentric work are of similar magnitudes.     

In vivo assessment of elbow flexor work and activation during stretch-shortening cycle tasks.

The purpose of this study was to use an electromyography (EMG) based muscle model to investigate the performance enhancement of stretch-shortening cycle (SSC) tasks at different elbow flexion-extension velocities. A torque motor was used to oscillate the forearms of seven healthy male subjects (23-40 years) during SSC and non-SSC contractions at four frequencies of movement (.58, 1.5, 2.4 and 3.3Hz) over a range of 105 degrees -162 degrees of elbow extension. The torque was integrated as a function of joint angle to yield the work produced by the elbow flexors. The elbow flexors were transcutaneously stimulated with a voltage equivalent to 60% maximum voluntary isometric contraction torque for 4s at 50Hz. EMG of the elbow flexors and extensors was recorded from the biceps and triceps respectively. The processed EMG was used to drive a Hill based model to predict the torque of the elbow flexors. Results indicate that muscle work increases from non-SSC to SSC trials. Work decreases for SSC and non-SSC trials with increasing velocity. The simulated constant activation muscle model predicted work well for all trials and conditions, indicating muscle model accuracy. The EMG driven model predicted well for all non-SSC trials, but significantly underestimated the work for SSC tasks, suggesting that the contractile component is directly involved in optimising muscle work during SSC tasks.     

Recovery of walking speed and symmetrical movement of the pelvis and lower extremity joints after unilateral THA

In 17 patients with unilateral hip disease who underwent total hip arthroplasty (THA), the gait was analyzed preoperatively and 1, 3, 6, and 12 months after unilateral THA using a Vicon system to assess the recovery of walking speed and symmetrical movement of the hip, knee, ankle, and pelvis. The walking speed of these patients reached that of normal Japanese persons by 12 months after surgery. Walking speed was correlated with the range of hip motion on the operated side at 1 month postoperatively, and was correlated with the hip joint extension moment of force on both sides from 3 to 6 months after surgery. Before THA, asymmetry was observed in the range of the hip motion, maximum hip flexion, maximum hip extension, maximum knee flexion, as well as in pelvic obliquity, pelvic tilt, and pelvic rotation. There were no differences of the stride length or step length between both sides throughout the observation period. The preoperative range of hip flexion on the operated side during a gait cycle (21.3+/-7.9 degrees ) was significantly smaller than on the non-operated side (46.7+/-7.1 degrees ), and the difference between sides was still significant at 12 months after surgery (35.1+/-6.2 degrees on the operated side and 43.6+/-5.7 degrees on the non-operated side). The majority (74%) of the difference in hip motion range during this period was due to the difference in maximum extension of the hip. The increase in the range of pelvic tilt and the range of motion of the opposite hip showed an inverse correlation with the range of motion of the operated hip, suggesting a compensatory preoperative role. However, this correlation became insignificant after 6 months postoperatively. Asymmetry of the range of hip motion persisted at 12 months after THA in patients with unilateral coxoarthropathy during free level walking, while the operation normalized the spatial asymmetry of other joints and the walking speed prior to the recovery of hip motion.     

Age differences in knee extension power, contractile velocity, and fatigability.

The purposes of this study were to examine age and gender differences in knee extensor strength, power, and fatigue using open- and closed-chain testing procedures. We tested the hypothesis that specific strength (strength/unit muscle mass) would not differ by age, whereas age differences in specific power and fatigue would remain consequent to blunted maximal contractile velocity. Skeletal muscle performance was examined in 28 young (26.9 +/- 0.7 yr) and 24 older (63.6 +/- 0.8 yr) men and women. Assessments included one-repetition maximum strength for knee extension, leg press, and squat; concentric knee extensor peak power, velocity, and fatigability; and sit-to-stand power, fatigability, and relative neural activation (electromyograph activity during sit-to-stand movement normalized to electromyograph activity during isometric maximum voluntary contraction). Thigh lean mass (TLM; kg) was assessed by dual-energy X-ray absorptiometry. Specific strength (N/kg TLM) and specific power (W/kg TLM) were estimated by dividing absolute values by TLM. Age differences in specific strength were observed for knee extension only (young, 41.2 +/- 1.0 N/kg TLM; older, 32.4 +/- 1.0 N/kg TLM; P < 0.05). Adjustment for TLM did not negate age differences in knee extension specific power (25-41% lower in older; P < 0.05) across loads tested. Older adults experienced fatigue across 10 repetitions of knee extension as peak velocity fell by 24% (P < 0.05). Deficits in concentric power persist after adjustment for TLM as maximum contractile velocity falls markedly with aging. Older adults are less capable of sustaining maximum concentric velocity during repetitive contractions. These findings suggest that velocity impairments are a possible contributor to mobility loss and falls risk among older adults. Interventions for improving contractile velocity should be pursued.     

A protein friction model of the actin sliding movement generated by myosin in mixtures of MgATP and MgGTP in vitro.

The sliding movement of an actin filament generated by myosin heads with MgGTP bound is much slower than that by those with MgATP bound. Nonetheless, there is a report that the actin sliding velocity at low (11-21 microM) MgATP concentrations is increased by the addition of MgGTP in a range of 1-3 mM, although the actin sliding velocity at these MgATP concentrations is larger than the maximum sliding velocity attained in the presence of MgGTP alone. The convex rise in the velocity was called "mutual sensitization of MgATP and MgGTP" in the report. Here we propose a theoretical model to account for the mutual sensitization of MgATP and MgGTP. The model is an extension of a protein friction model, accommodating the presence of two different substrates and assuming the presence of motile and non-motile myosins. This new model is in accord with the characteristics of the actin/myosin sliding movement experimentally observed in mixtures of MgATP and MgGTP. Comparison of the model with the experimental results implies that the non-motile and motile myosins are those with the "converse and correct" orientations of their heads with respect to the direction of the actin sliding movement in vitro.     

Steady-state force-velocity relation in human multi-joint movement determined with force clamp analysis

To study the force-velocity characteristics of human knee-hip extension movement, a dynamometer, in which force was controlled by a servo system, was developed. Seated subjects pressed either bilaterally or unilaterally a force plate, a horizontal position of which was servo-controlled so as to equalize the measured force and a force command generated by a computer at a time resolution of 2 ms (force clamp). The force command was based on the relation between maximum isometric force and foot position within the range between 70% and 90% of "leg length" (LL: longitudinal distance between the sole of the foot and the hip joint), so that the same force relative to the maximum isometric force was consistently applied regardless of the foot position. By regulating the force according to this function, the force-velocity relation was determined. The force-velocity relation obtained was described by a linear function (n=17, r=-0.986 for 80% LL, r=-0.968 for 85% LL) within a range of force between 0.1 and 0.8F(0) (maximum isometric force). The maximum force extrapolated from the linear regression (F(max)) coincided with F(0) (n=17, F(0)/F(max)=1.00+/-0.09 for 80% LL and 1.00+/-0.20 for 85% LL). Also, the velocity at zero force (V(max)) was obtained from the extrapolation. When compared to the bilateral movements, unilateral movements gave rise to a smaller F(max) but the same V(max), suggesting that V(max) is independent of force and therefore represents the proper unloaded velocity. It is suggested that some neural mechanisms may be involved in the force-velocity relation of the knee-hip extension movement, and make it exhibit a linear appearance rather than a hyperbola.     

Effect of active head movements about the pitch, roll, and yaw axes on human optokinetic afternystagmus

Effects of active head movements about the pitch, roll, or yaw axes on horizontal optokinetic afternystagmas (OKAN) were examined in 16 subjects to test the hypothesis that otolith organ mediated activity induced by a change in head position can couple to the horizontal velocity storage in humans. Active head movements about the pitch axis, forwards or backwards, produced significant OKAN suppression. Pitch forward head movements exerted the strongest effect. Active head movements about the roll axis towards the right also produced OKAN suppression but only if the tilted position was sustained. No suppression was observed following sustained yaw. However, an unsustained yaw left movement after rightward drum rotation significantly enhanced OKAN. Sustained head movement trials did not significantly alter subsequent control trials. In contrast, unsustained movements about the pitch axis, which involve more complex interactions, exerted long-term effects on subsequent control trials. We conclude that otolith organ mediated activity arising from pitch or roll head movements couples to the horizontal velocity storage in humans, thereby suppressing ongoing OKAN. Activity arising from the horizontal canals during an unsustained yaw movement (observed mainly with yaw left), following drum rotation in a direction contralateral to the movement, may also couple to the velocity storage, resulting in increased activity instead of suppression.     

Should a standing or seated reference posture be used when normalizing seated spine kinematics?

Currently in the literature there is no consensus on which procedure for normalizing seated spine kinematics is most effective. The objective of this study was to examine the changes in the range of motion (ROM) of seated posture trials when expressed as a percent of maximum standing and seated ROM. A secondary purpose was to determine whether the typical maximum planar calibration movements (flexion, lateral-bend, and axial twist) elicited the respective maximum ROM values for each spine region versus postures with specific movement instruction. Thirteen male participants completed seven different movement trials. These consisted of the maximum planar movement trials, with the remaining four postures being combinations of specific lumbar and thoracic movements. Global and relative angles for the upper-thoracic, mid-thoracic, lower-thoracic, and lumbar regions were calculated and normalized to both a seated and standing reference posture. When normalizing both global and relative angles the standing reference appears optimal for flexion, twisting and lateral bend angles in all spine regions, with the exception of relative flexion angle in the mid-thoracic region. The maximum planar movement trials captured the greatest ROM for each global angle, relative lower-thoracic angle and relative lumbar flexion angle, but did not for all other relative angles in the upper-thoracic, mid-thoracic, and lumbar regions. If future researchers can only collect one reference posture these results recommend that a standing reference posture be collected for normalizing seated spine kinematics, although a seated reference posture should be collected if examining relative flexion angles at the mid-thoracic region.     

Fluctuations in acceleration during voluntary contractions lead to greater impairment of movement accuracy in old adults.

The purpose of the study was to assess the effect of movement velocity on the relation between fluctuations in acceleration and the ability to achieve a target velocity during voluntary contractions performed by young (29.5 +/- 4.3 yr) and old (74.9 +/- 6.2 yr) adults. Subjects performed concentric and eccentric contractions with the first dorsal interosseus muscle while lifting a submaximal load (15% of maximum) at six movement velocities (0.03-1.16 rad/s). Fluctuations in acceleration, the accuracy of matching the target velocity, and electromyographic (EMG) activity were determined from three trials for each contraction type and movement velocity. The fluctuations in acceleration increased with movement velocity for both concentric and eccentric contractions, but they were greatest during fast eccentric contractions ( approximately 135%) when there was stronger modulation of acceleration in the 5- to 10-Hz bandwidth. Nonetheless, EMG amplitude for first dorsal interosseus increased with movement velocity only for concentric and not eccentric contractions. Consistent with the minimum variance theory, movement accuracy was related to the fluctuations in acceleration for both types of contractions in all subjects. For a given level of fluctuations in acceleration, however, old subjects were three times less accurate than young subjects. Although the EMG amplitude at each speed was similar for young and old adults, only the young adults modulated the power in the EMG spectrum with speed. Thus the fluctuations in acceleration during voluntary contractions had a more pronounced effect on movement accuracy for old adults compared with young adults, probably due to factors that influenced the frequency-domain characteristics of the EMG.     

中国植被生长期的时空变化

基于822个气象站点1951—2017年的日均温度数据,采用世界气象组织给定的植被生长期(GSL)定义,利用Slope、Mann-Kendall和Hurst指数分析中国各省(区)不同时期的GSL变化趋势及相应时期150、200、250、300和350 d的GSL等值线移动速度。结果表明: 研究期间中国北方地区GSL变化显著。GSL增长速度表现为北方快于南方、高海拔快于低海拔。中国大部分地区未来GSL变化趋势与当前的变化趋势相同。北方绝大部分省(区)GSL增长速度在0.1~0.2 d·a^-1,西藏的增速最快,为0.44 d·a^-1。1981—2000年是中国各省(区)GSL变化最显著的时段。除新疆GSL延长是生长期终日(GSE)主导外,其他各省(区)GSL延长总体是生长期始日(GSS)占主导。在高纬度和高海拔省(区),GSL变化对年均温度的变化更敏感。年均温越高的省(区)GSL也普遍越长。1951年以来,中国150、200、250、300和350 d的GSL等值线出现了明显移动,东北地区200 d等值线的移动速度最快,其平均北移速度为6.11 km·a^-1。中国GSL等值线总体移动规律为:等值线数值越大,北移速度越慢。其中,350 d等值线在部分区段甚至出现了南移的情况。中国GSL延长将导致农作物种植边界北移,自然植被生长期延长。该变化对中国农作物的品质、产量和生态系统碳固定的影响还有待深入研究。     

Motor commands for fast point-to-point arm movements are customized for small changes in inertial load

For repeated point-to-point arm movements it is often assumed that motor commands are customized in a trial-to-trial manner, based on previous endpoint error. To test this assumption, we perturbed movement execution without affecting the endpoint error by using a modest manipulation of inertia. Participants made point-to-point elbow flexion and extension movements in the horizontal plane, under the instruction to move as fast as possible from one target area to another. In selected trials the moment of inertia of the lower arm was increased or decreased by 25%. First, we found that an unexpected increase or decrease of inertia did not affect the open loop controlled part of the movement path (and thus endpoint error was not affected). Second, we found that when the increased or decreased inertia was presented repeatedly, after 5-11 trials motor commands were customized: the first 100ms of agonistic muscle activity in the smoothed and rectified electromyographic signal of agonistic muscles was higher for the high inertia compared to the low inertia. We conclude that endpoint error is not the only parameter that is used to evaluate if motor commands lead to movements as planned.     

Role of reflex dynamics in spinal stability: intrinsic muscle stiffness alone is insufficient for stability

Spinal stability is related to both the intrinsic stiffness of active muscle as well as neuromuscular reflex response. However, existing analyses of spinal stability ignore the role of the reflex response, focusing solely on the intrinsic muscle stiffness associated with voluntary activation patterns in the torso musculature. The goal of this study was to empirically characterize the role of reflex components of spinal stability during voluntary trunk extension exertions. Pseudorandom position perturbations of the torso and associated driving forces were recorded in 11 healthy adults. Nonlinear systems-identification analyses of the measured data provided an estimate of total systems dynamics that explained 81% of the movement variability. Proportional intrinsic response was less than zero in more than 60% of the trials, e.g. mean value of P(INT) during the 20% maximum voluntary exertion trunk extension exertions -415+/-354N/m. The negative value indicated that the intrinsic muscle stiffness was not sufficient to stabilize the spine without reflex response. Reflexes accounted for 42% of the total stabilizing trunk stiffness. Both intrinsic and reflex components of stiffness increased significantly with trunk extension effort. Results reveal that reflex dynamics are a necessary component in the stabilizing control of spinal stability.     

Developmental biology: extending the limb and body with vectors and scalars

Outgrowth of the embryonic limb in vertebrates is driven by a proximodistal gradient of cell movement, with WNT and FGF activities controlling direction and velocity, respectively. A similar gradient, though without a directional bias, drives caudal body axis extension.     

Saccadic head movements of the praying mantis, with particular reference to visual and proprioceptive information

ABSTRACT. Horizontal head movements of the praying mantis, Sphodromantis lineola Burm., were recorded continuously. They responded to the presence of a live blowfly prey in the antero-lateral visual field with a rapid saccadic head movement. The angular movement of a fixation saccade was correlated positively to the displacement of the prey from the prothoracic midline. Saccade magnitude and velocity are related. After the stimulus moved out of the visual field, the mantis made a second saccadic head movement, a return saccade towards the body midline. We observed return saccades in which the head overshot or undershot the body midline, as well as saccades which returned the head exactly to its initial position. In 92% of trials with intact mantids, the return movement succeeded eventually in rotating the head back to its initial position, whereas after removal of the neck hair plates this occurred in only 47% of trials. There is a consistent relation between saccade extent and velocity. Velocities of return saccades were slower than those of fixation saccades. It is suggested that sensory inputs from the neck hair plate proprioceptors modify both the magnitude and the angular velocity of fixation and return saccadic head movements.