Effects of EMG processing on biomechanical models of muscle joint systems: sensitivity of trunk muscle moments, spinal forces, and stability

Biomechanical models are in use to estimate parameters such as contact forces and stability at various joints. In one class of these models, surface electromyography (EMG) is used to address the problem of mechanical indeterminacy such that individual muscle activation patterns are accounted for. Unfortunately, because of the stochastical properties of EMG signals, EMG based estimates of muscle force suffer from substantial estimation errors. Recent studies have shown that improvements in muscle force estimation can be achieved through adequate EMG processing, specifically whitening and high-pass (HP) filtering of the signals. The aim of this paper is to determine the effect of such processing on outcomes of a biomechanical model of the lumbosacral joint and surrounding musculature. Goodness of fit of estimated muscle moments to net moments and also estimated joint stability significantly increased with increasing cut-off frequencies in HP filtering, whereas no effect on joint contact forces was found. Whitening resulted in moment estimations comparable to those obtained from optimal HP filtering with cut-off frequencies over 250 Hz. Moreover, compared to HP filtering, whitening led to a further increase in estimated joint-stability. Based on theoretical models and on our experimental results, we hypothesize that the processing leads to an increase in pick-up area. This then would explain the improvements from a better balance between deep and superficial motor unit contributions to the signal.     

A proprioception based regulation model to estimate the trunk muscle forces

Evaluation of loads acting on the spine requires the knowledge of the muscular forces acting on it, but muscles redundancy necessitates developing a muscle forces attribution strategy. Optimisation, EMG, or hybrid models allow evaluating muscle force patterns, yielding a unique muscular arrangement or/and requiring EMG data collection. This paper presents a regulation model of the trunk muscles based on a proprioception hypothesis, which searches to avoid the spinal joint overloading. The model is also compared to other existing models for evaluation. Compared to an optimisation model, the proposed alternative muscle pattern yielded a significant spine postero-anterior shear decrease. Compared to a model based on combination of optimisation criteria, present model better fits muscle activation observed using EMG (38% improvement). Such results suggest that the proposed model, based on regulation of all spinal components, may be more relevant from a physiologic point of view.     

Effects of an improved biomechanical backpack strap design on load transfer to the shoulder soft tissues

The aim of the present study was to characterize shoulder strap structure and mechanical properties that may alleviate strains and stresses in the soft tissues of the shoulder. Utilizing a finite element model of the shoulder constructed from a single subject, we have quantified skin stresses exerted by backpack straps and the strains at the subclavian artery (SCA). For this end, standard shape straps with stiffness of 0.5, 1.2, and 5 MPa, were compared to the effects of optimized straps; a double-layered (soft outer layer and reinforced internal supporting layer) and newly-designed anatomically-shaped strap. Compared to the standard 0.5 MPa strap, the 5 MPa strap resulted in 4-times lower SCA strains and 2-times lower Trapezius stresses. The double-layered strap resulted in 40% and 50% reduction in SCA strains and skin stresses, respectively, with respect to the softer strap. The newly-designed anatomical strap exerted 4-times lower SCA strains and 50% lower skin stresses compared to the standard strap. This demonstrates a substantial improvement to the load carriage ergonomics when using a composite anatomical strap.     

A biomechanical model to estimate corrective changes in muscle activation patterns for stroke patients

We have created a model to estimate the corrective changes in muscle activation patterns needed for a person who has had a stroke to walk with an improved gait-nearing that of an unimpaired person. Using this model, we examined how different functional electrical stimulation (FES) protocols would alter gait patterns. The approach is based on an electromyographically (EMG)-driven model to estimate joint moments. Different stimulation protocols were examined, which generated different corrective muscle activation patterns. These approaches grouped the muscles together into flexor and extensor groups (to simulate FES using surface electrodes) or left each muscle to vary independently (to simulate FES using intramuscular electrodes). In addition, we limited the maximal change in muscle activation (to reduce fatigue). We observed that with the two protocols (grouped and ungrouped muscles), the calculated corrective changes in muscle activation yielded improved joint moments nearly matching those of unimpaired subjects. The protocols yielded different muscle activation patterns, which could be selected based on practical condition. These calculated corrective muscle activation changes can be used in studying FES protocols, to determine the feasibility of gait retraining with FES for a given subject and to determine which protocols are most reasonable.     

A model of bipedal locomotion on compliant legs.

Simple mathematical models capable of walking or running are used to compare the merits of bipedal gaits. Stride length, duty factor (the fraction of the stride, for which the foot is on the ground) and the pattern of force on the ground are varied, and the optimum gait is deemed to be the one that minimizes the positive work that the muscles must perform, per unit distance travelled. Even the simplest model, whose legs have neither mass nor elastic compliance, predicts the changes of duty factor and force pattern that people make as they increase their speed of walking. It predicts a sudden change to running at a critical speed, but this is much faster than the speed at which people make the change. When elastic compliance is incorporated in the model, unnaturally fast walking becomes uncompetitive. However, a slow run with very brief foot contact becomes the optimum gait at low speeds, at which people would walk, unless severe energy dissipation occurs in the compliance. A model whose legs have mass as well as elastic compliance predicts well the relationship between speed and stride length in human walking.     

Sensing the effect of body load in legs: responses of tibial campaniform sensilla to forces applied to the thorax in freely standing cockroaches

Sense organs in the legs that detect body weight are an important component in the regulation of posture and locomotion. We tested the abilities of tibial campaniform sensilla, receptors that can monitor forces in the cockroach leg, to encode variations in body load in freely standing animals. Small magnets were attached to the thorax and currents were applied to a coil below the substrate. Sensory and motor activities were monitored neurographically. The tibial sensilla could show vigorous discharges to changing forces when animals stood upon their legs and actively supported the body weight. Firing of individual afferents depended upon the orientation of the receptors cuticular cap: proximal sensilla (oriented perpendicular to the leg axis) discharged to force increases while distal receptors (parallel to the leg) fired to decreasing forces. Proximal sensillum discharges were prolonged and could encode the level of load when increases were sustained. Firing of the trochanteral extensor motoneuron was also strongly modulated by changing load. In some postures, sensillum discharges paralleled changes in motor frequency consistent with a known interjoint reflex. These findings demonstrate that tibial campaniform sensilla can monitor the effects of body weight upon the legs and may aid in generating support of body load.     

A biomechanical model of the foot

The foot is modeled as a statically indeterminate structure supporting its load at the heads of the five metatarsals and the tuberosity of the calcaneous. The distribution of support is determined through an analysis of the deformations caused in the structure as a result of the forces at these locations. The analysis includes the effect of the plantar aponeurosis and takes into account the deformation of the metatarsals and bending of the joints. A parametric study is presented to illustrate the behavior of the solution under a broad range of conditions.     

A hill-type muscle model expansion accounting for effects of varying transverse muscle load

Recent studies demonstrated that uniaxial transverse loading (F_G) of a rat gastrocnemius medialis muscle resulted in a considerable reduction of maximum isometric muscle force (ΔF_im). A hill-type muscle model assuming an identical gearing G between both ΔF_im and F_G as well as lifting height of the load (Δh) and longitudinal muscle shortening (Δl_CC) reproduced experimental data for a single load.Here we tested if this model is able to reproduce experimental changes in ΔF_im and Δh for increasing transverse loads (0.64 N, 1.13 N, 1.62 N, 2.11 N, 2.60 N). Three different gearing ratios were tested: (I) constant G_c representing the idea of a muscle specific gearing parameter (e.g. predefined by the muscle geometry), (II) G_exp determined in experiments with varying transverse load, and (III) G_f that reproduced experimental ΔF_im for each transverse load.Simulations using G_c overestimated ΔF_im (up to 59%) and Δh (up to 136%) for increasing load. Although the model assumption (equal G for forces and length changes) held for the three lower loads using G_exp and G_f, simulations resulted in underestimation of ΔF_im by 38% and overestimation of Δh by 58% for the largest load, respectively. To simultaneously reproduce experimental ΔF_im and Δh for the two larger loads, it was necessary to reduce F_im by 1.9% and 4.6%, respectively. The model seems applicable to account for effects of muscle deformation within a range of transverse loading when using a linear load-dependent function for G.     

A computationally efficient strategy to estimate muscle forces in a finite element musculoskeletal model of the lower limb

Concurrent multiscale simulation strategies are required in computational biomechanics to study the interdependence between body scales. However, detailed finite element models rarely include muscle recruitment due to the computational burden of both the finite element method and the optimization strategies widely used to estimate muscle forces. The aim of this study was twofold: first, to develop a computationally efficient muscle force prediction strategy based on proportional-integral-derivative (PID) controllers to track gait and chair rise experimental joint motion with a finite element musculoskeletal model of the lower limb, including a deformable knee representation with 12 degrees of freedom; and, second, to demonstrate that the inclusion of joint-level deformability affects muscle force estimation by using two different knee models and comparing muscle forces between the two solutions. The PID control strategy tracked experimental hip, knee, and ankle flexion/extension with root mean square errors below 1°, and estimated muscle, contact and ligament forces in good agreement with previous results and electromyography signals. Differences up to 11% and 20% in the vasti and biceps femoris forces, respectively, were observed between the two knee models, which might be attributed to a combination of differing joint contact geometry, ligament behavior, joint kinematics, and muscle moment arms. The tracking strategy developed in this study addressed the inevitable tradeoff between computational cost and model detail in musculoskeletal simulations and can be used with finite element musculoskeletal models to efficiently estimate the interdependence between muscle forces and tissue deformation.     

A model for determination of muscle forces in a given movement of man

A model of a muscular-skeletal system of a man for determination of muscle forces knowing kinematics of the body is elaborated. Forces exerted by the muscles of the lower extremities in normal walking are presented (planar model of a leg, 8 muscles). The forces found were compared with corresponding EMG-activity of muscles.     

Interphalangeal joint and tendon forces: normal model and biomechanical consequences of surgical reconstruction

Soft tissue reconstructive surgery for rheumatoid-related proximal interphalangeal joint deformities frequently fails to produce the long-term predicted results. Detailed information on the biomechanics of this joint, under both normal and pathological conditions, is required to assess the efficacy of such surgical intervention. A biomechanical model of the proximal interphalangeal joint has been developed to investigate tendon and joint loading during real life three-dimensional activities. Based on a rigid body mechanics approach, the model uses high resolution MRI scans to obtain anatomical tendon and bone geometries in conjunction with three-dimensional kinematic and loading data. The model incorporates an optimisation routine which minimises overall maximum tendon stress in the eight individual elements considered. Radial and ulnar joint force components are included at the proximal interphalangeal joint level. Two simulated pathological versions of the mathematical model are developed to accommodate the altered anatomic relationships after tendon reconstructive surgery. Joint forces of up to 450N and common usage of the extensor mechanism during normal pinching and grasping activities are predicted. The ulnar lateral bands of the extensor tendon are generally loaded to a greater extent than the radial bands. Extensor tendon and joint forces in the simulated pathological models are significantly higher than those in the normal model. Combined with the poor tendon quality of rheumatoid arthritis patients generally, these amplified internal forces may lead to further joint deformation.     

An EMG-driven musculoskeletal model to estimate muscle forces and knee joint moments in vivo

This paper examined if an electromyography (EMG) driven musculoskeletal model of the human knee could be used to predict knee moments, calculated using inverse dynamics, across a varied range of dynamic contractile conditions. Muscle-tendon lengths and moment arms of 13 muscles crossing the knee joint were determined from joint kinematics using a three-dimensional anatomical model of the lower limb. Muscle activation was determined using a second-order discrete non-linear model using rectified and low-pass filtered EMG as input. A modified Hill-type muscle model was used to calculate individual muscle forces using activation and muscle tendon lengths as inputs. The model was calibrated to six individuals by altering a set of physiologically based parameters using mathematical optimisation to match the net flexion/extension (FE) muscle moment with those measured by inverse dynamics. The model was calibrated for each subject using 5 different tasks, including passive and active FE in an isokinetic dynamometer, running, and cutting manoeuvres recorded using three-dimensional motion analysis. Once calibrated, the model was used to predict the FE moments, estimated via inverse dynamics, from over 200 isokinetic dynamometer, running and sidestepping tasks. The inverse dynamics joint moments were predicted with an average R(2) of 0.91 and mean residual error of approximately 12 Nm. A re-calibration of only the EMG-to-activation parameters revealed FE moments prediction across weeks of similar accuracy. Changing the muscle model to one that is more physiologically correct produced better predictions. The modelling method presented represents a good way to estimate in vivo muscle forces during movement tasks.     

Effect of load position on muscle forces,internal loads and stability of the human spine in upright postures

A novel kinematics-based approach coupled with a non-linear finite element model was used to investigate the effect of changes in the load position and posture on muscle activity, internal loads and stability margin of the human spine in upright standing postures. In addition to 397 N gravity, external loads of 195 and 380 N were considered at different lever arms and heights. Muscle forces, internal loads and stability margin substantially increased as loads displaced anteriorly away from the body. Under same load magnitude and location, adopting a kyphotic posture as compared with a lordotic one increased muscle forces, internal loads and stability margin. An increase in the height of a load held at a fixed lever arm substantially diminished system stability thus requiring additional muscle activations to maintain the same margin of stability. Results suggest the importance of the load position and lumbar posture in spinal biomechanics during various manual material handling operations.     

Effect of load position on muscle forces, internal loads and stability of the human spine in upright postures

A novel kinematics-based approach coupled with a non-linear finite element model was used to investigate the effect of changes in the load position and posture on muscle activity, internal loads and stability margin of the human spine in upright standing postures. In addition to 397 N gravity, external loads of 195 and 380 N were considered at different lever arms and heights. Muscle forces, internal loads and stability margin substantially increased as loads displaced anteriorly away from the body. Under same load magnitude and location, adopting a kyphotic posture as compared with a lordotic one increased muscle forces, internal loads and stability margin. An increase in the height of a load held at a fixed lever arm substantially diminished system stability thus requiring additional muscle activations to maintain the same margin of stability. Results suggest the importance of the load position and lumbar posture in spinal biomechanics during various manual material handling operations.     

Biomechanical model study of pelvic belt influence on muscle and ligament forces

Many patients with low back and/or pelvic girdle pain feel relief after application of a pelvic belt. External compression might unload painful ligaments and joints, but the exact mechanical effect on pelvic structures, especially in (active) upright position, is still unknown. In the present study, a static three-dimensional (3-D) pelvic model was used to simulate compression at the level of anterior superior iliac spine and the greater trochanter. The model optimised forces in 100 muscles, 8 ligaments and 8 joints in upright trunk, pelvis and upper legs using a criterion of minimising maximum muscle stress. Initially, abdominal muscles, sacrotuberal ligaments and vertical sacroiliac joints (SIJ) shear forces mainly balanced a trunk weight of 500N in upright position. Application of 50N medial compression force at the anterior superior iliac spine (equivalent to 25N belt tension force) deactivated some dorsal hip muscles and reduced the maximum muscle stress by 37%. Increasing the compression up to 100N reduced the vertical SIJ shear force by 10% and increased SIJ compression force with 52%. Shifting the medial compression force of 100N in steps of 10N to the greater trochanter did not change the muscle activation pattern but further increased SIJ compression force by 40% compared to coxal compression. Moreover, the passive ligament forces were distributed over the sacrotuberal, the sacrospinal and the posterior ligaments. The findings support the cause-related designing of new pelvic belts to unload painful pelvic ligaments or muscles in upright posture.     

Optimization of muscle activity for task-level goals predicts complex changes in limb forces across biomechanical contexts

Optimality principles have been proposed as a general framework for understanding motor control in animals and humans largely based on their ability to predict general features movement in idealized motor tasks. However, generalizing these concepts past proof-of-principle to understand the neuromechanical transformation from task-level control to detailed execution-level muscle activity and forces during behaviorally-relevant motor tasks has proved difficult. In an unrestrained balance task in cats, we demonstrate that achieving task-level constraints center of mass forces and moments while minimizing control effort predicts detailed patterns of muscle activity and ground reaction forces in an anatomically-realistic musculoskeletal model. Whereas optimization is typically used to resolve redundancy at a single level of the motor hierarchy, we simultaneously resolved redundancy across both muscles and limbs and directly compared predictions to experimental measures across multiple perturbation directions that elicit different intra- and interlimb coordination patterns. Further, although some candidate task-level variables and cost functions generated indistinguishable predictions in a single biomechanical context, we identified a common optimization framework that could predict up to 48 experimental conditions per animal (n = 3) across both perturbation directions and different biomechanical contexts created by altering animals' postural configuration. Predictions were further improved by imposing experimentally-derived muscle synergy constraints, suggesting additional task variables or costs that may be relevant to the neural control of balance. These results suggested that reduced-dimension neural control mechanisms such as muscle synergies can achieve similar kinetics to the optimal solution, but with increased control effort (≈2×) compared to individual muscle control. Our results are consistent with the idea that hierarchical, task-level neural control mechanisms previously associated with voluntary tasks may also be used in automatic brainstem-mediated pathways for balance.     

Simulated influence of osteoporosis and disc degeneration on the load transfer in a lumbar functional spinal unit

As life expectancy increases, age-related disorders and the search for related medical care will expand. Osteoporosis is the most frequent skeletal disease in this context with the highest fracture risk existing for vertebrae. The aging process is accompanied by systemic changes, with the earliest degeneration occurring in the intervertebral discs. The influence of various degrees of disc degeneration on the load transfer was examined using the finite element method. The effect of different possible alterations of the bone quality due to osteoporosis was simulated by adjusting the corresponding material properties and their distribution and several loadings were applied. An alteration of the load transfer, characterised by changed compression stiffness and strain distributions as well as magnitudes, due to osteoporotic bone and degenerated discs was found. When osteoporosis was simulated, the stiffness was substantially decreased, larger areas of the cancellous bone were subjected to higher strains and strain maxima were increased. Increasing ratios of transverse isotropy in the osteoporotic bone yielded smaller effects than reduced bone properties. Including a degenerated disc mainly altered the strain distribution. Combining osteoporosis and degenerated discs reduced the areas of cancellous bone subjected to substantial strain. Based on these results, it can be concluded that the definition of a healthy disc in osteoporotic spines might be considered as a worst-case scenario. One attempt to evaluate the progress of osteoporosis can be made by introducing increasing degrees of anisotropy. If several parameters in a model are changed to simulate degeneration, it should be pointed out how each individual definition influences the overall result.