Estimated mechanical properties of synergistic muscles involved in movements of a variety of human joints

One of the most challenging aspects of biomechanical modelling is parameter estimation. Parameter values that define the nonlinear relations within the classic Hill-based muscle model structure have been estimated for a large number of muscles involved in movements of a number of joints. The technique used to estimate these parameters is based on combining information on muscle as a material with geometrical data on muscle-joint anatomy. The resulting relations are compatible with available human experimental data and with past modelling estimates. An estimation of the relative importance of the various synergistic muscle properties during dynamic movement tasks is also provided, aided by examples of muscle load-sharing as a function of optimization criteria including measures of position error, muscle stress and neural effort.     

A computational model of limb impedance control based on principles of internal model uncertainty

Efficient human motor control is characterized by an extensive use of joint impedance modulation, which is achieved by co-contracting antagonistic muscles in a way that is beneficial to the specific task. While there is much experimental evidence available that the nervous system employs such strategies, no generally-valid computational model of impedance control derived from first principles has been proposed so far. Here we develop a new impedance control model for antagonistic limb systems which is based on a minimization of uncertainties in the internal model predictions. In contrast to previously proposed models, our framework predicts a wide range of impedance control patterns, during stationary and adaptive tasks. This indicates that many well-known impedance control phenomena naturally emerge from the first principles of a stochastic optimization process that minimizes for internal model prediction uncertainties, along with energy and accuracy demands. The insights from this computational model could be used to interpret existing experimental impedance control data from the viewpoint of optimality or could even govern the design of future experiments based on principles of internal model uncertainty.     

Effects of task dynamics on coordination of the hand muscles and their adaptation to targeted muscle assistance

Dynamic characteristics of a manual task can affect the control of hand muscles due to the difference in biomechanical/physiological characteristics of the muscles and sensory afferents in the hand. We aimed to examine the effects of task dynamics on the coordination of hand muscles, and on the motor adaptation to external assistance. Twenty-four healthy subjects performed one of the two types of a finger extension task, isometric dorsal fingertip force production (static) or isokinetic finger extension (dynamic). Subjects performed the tasks voluntarily without assistance, or with a biomimetic exotendon providing targeted assistance to their extrinsic muscles. In unassisted conditions, significant between-task differences were found in the coordination of the extrinsic and intrinsic hand muscles, while the extrinsic muscle activities were similar between the tasks. Under assistance, while the muscle coordination remained relatively unaffected during the dynamic task, significant changes in the coordination between the extrinsic and intrinsic muscles were observed during the static task. Intermuscular coherence values generally decreased during the static task under assistance, but increased during the dynamic task (all p-values < 0.01). Additionally, a significant change in the task dynamics was induced by assistance only during static task. Our study showed that task type significantly affect coordination between the extrinsic and intrinsic hand muscles. During the static task, a lack of sensory information from musculotendons and joint receptors (more sensitive to changes in length/force) is postulated to have resulted in a neural decoupling between muscles and a consequent isolated modulation of the intrinsic muscle activity.     

Muscle contributions to specific biomechanical functions do not change in forward versus backward pedaling

Previous work had identified six biomechanical functions that need to be executed by each limb in order to produce a variety of pedaling tasks. The functions can be organized into three antagonistic pairs: an Ext/Flex pair that accelerates the foot into extension or flexion with respect to the pelvis, an Ant/Post pair that accelerates the foot anteriorly or posteriorly with respect to the pelvis, and a Plant/Dorsi pair that accelerates the foot into plantarflexion or dorsiflexion. Previous analyses of experimental data have inferred that muscles perform the same function during different pedaling tasks (e.g. forward versus backward pedaling) because the EMG timing was similar, but they did not present rigorous biomechanical analyses to assess whether a muscle performed the same biomechanical function, and if so, to what degree. Therefore, the objective of this study was to determine how individual muscles contribute to these biomechanical functions during two different motor tasks, forward and backward pedaling, through a theoretical analysis of experimental data. To achieve this objective, forward and backward pedaling simulations were generated and a mechanical energy analysis was used to examine how muscles generate, absorb or transfer energy to perform the pedaling tasks. The results showed that the muscles contributed to the same primary Biomechanical functions in both pedaling directions and that synergistic performance of certain functions effectively accelerated the crank. The gluteus maximus worked synergistically with the soleus, the hip flexors worked synergistically with the tibialis anterior, and the vasti and hamstrings functioned independently to accelerate the crank. The rectus femoris used complex biomechanical mechanisms including negative muscle work to accelerate the crank. The negative muscle work was used to transfer energy generated elsewhere (primarily from other muscles) to the pedal reaction force in order to accelerate the crank. Consistent with experimental data, a phase shift was required from those muscles contributing to the Ant/Post functions as a result of the different limb kinematics between forward and backward pedaling, although they performed the same biomechanical function. The pedaling simulations proved necessary to interpret the experimental data and identify motor control mechanisms used to accomplish specific motor tasks, as the mechanisms were often complex and not always intuitively obvious.     

Response of trunk muscle coactivation to changes in spinal stability

The goal of this effort was to assess the neuromuscular response to changes in spinal stability. Biomechanical models suggest that antagonistic co-contraction may be related to stability constraints during lifting exertions. A two-dimensional biomechanical model of spinal equilibrium and stability was developed to predict trunk muscle co-contraction as a function of lifting height and external load. The model predicted antagonistic co-contraction must increase with potential energy of the system even when the external moment was maintained at a constant value. Predicted trends were compared with measured electromyographic (EMG) data recorded during static trunk extension exertions wherein subjects held weighted barbells at specific horizontal and vertical locations relative to the lumbo-sacral spine junction. The task was designed to assure the applied moment was identical during each height condition, thereby changing potential energy without influencing moment. Measured EMG activity in the trunk flexors increased with height of the external load as predicted by the model. Gender difference in spinal stability were also noted. Results empirically demonstrate that the neuromuscular system responds to changes in spinal stability and provide insight into the recruitment of trunk muscle activity.     

Optimal Workloop Energetics of Muscle-Actuated Systems: An Impedance Matching View

Integrative approaches to studying the coupled dynamics of skeletal muscles with their loads while under neural control have focused largely on questions pertaining to the postural and dynamical stability of animals and humans. Prior studies have focused on how the central nervous system actively modulates muscle mechanical impedance to generate and stabilize motion and posture. However, the question of whether muscle impedance properties can be neurally modulated to create favorable mechanical energetics, particularly in the context of periodic tasks, remains open. Through muscle stiffness tuning, we hypothesize that a pair of antagonist muscles acting against a common load may produce significantly more power synergistically than individually when impedance matching conditions are met between muscle and load. Since neurally modulated muscle stiffness contributes to the coupled muscle-load stiffness, we further anticipate that power-optimal oscillation frequencies will occur at frequencies greater than the natural frequency of the load. These hypotheses were evaluated computationally by applying optimal control methods to a bilinear muscle model, and also evaluated through in vitro measurements on frog Plantaris longus muscles acting individually and in pairs upon a mass-spring-damper load. We find a 7-fold increase in mechanical power when antagonist muscles act synergistically compared to individually at a frequency higher than the load natural frequency. These observed behaviors are interpreted in the context of resonance tuning and the engineering notion of impedance matching. These findings suggest that the central nervous system can adopt strategies to harness inherent muscle impedance in relation to external loads to attain favorable mechanical energetics.     

Nonuniform activation of the agonist muscle does not covary with index finger acceleration in old adults.

This study examined the patterns of activation in the superficial and deep parts of the first dorsal interosseus muscle and in the antagonist muscle, second palmar interosseus, during postural tasks (position holding) and slow movements (position tracking) of the index finger performed by young and old adults. The position-tracking task involved the index finger lifting light loads (2.5, 10, and 35% of maximum) with shortening and lengthening contractions as steadily as possible. Steadiness was quantified in both tasks as the standard deviation of index finger acceleration. The fluctuations in acceleration during the two tasks were greater for the old subjects (62-72 yr) compared with young subjects (19-27 yr), especially with the lightest loads. The two groups of subjects activated the superficial and deep parts of first dorsal interosseus at similar intensities during the position-holding task, whereas the deep part was more active during the shortening and lengthening contractions of the position-tracking task. The nonuniform activation of first dorsal interosseus, therefore, was not associated with the difference in the standard deviation of acceleration between the young and old subjects. Furthermore, there was no association between the average level of coactivation by the antagonist muscle and the standard deviation of acceleration for either group of subjects across these tasks. Thus the greater variability in motor output exhibited by the older adults could not be explained by either the nonuniform activation of the agonist muscle or the average level of coactivation by the antagonist muscle.     

A Novel Application of Musculoskeletal Ultrasound Imaging

Ultrasound is an attractive modality for imaging muscle and tendon motion during dynamic tasks and can provide a complementary methodological approach for biomechanical studies in a clinical or laboratory setting. Towards this goal, methods for quantification of muscle kinematics from ultrasound imagery are being developed based on image processing. The temporal resolution of these methods is typically not sufficient for highly dynamic tasks, such as drop-landing. We propose a new approach that utilizes a Doppler method for quantifying muscle kinematics. We have developed a novel vector tissue Doppler imaging (vTDI) technique that can be used to measure musculoskeletal contraction velocity, strain and strain rate with sub-millisecond temporal resolution during dynamic activities using ultrasound. The goal of this preliminary study was to investigate the repeatability and potential applicability of the vTDI technique in measuring musculoskeletal velocities during a drop-landing task, in healthy subjects. The vTDI measurements can be performed concurrently with other biomechanical techniques, such as 3D motion capture for joint kinematics and kinetics, electromyography for timing of muscle activation and force plates for ground reaction force. Integration of these complementary techniques could lead to a better understanding of dynamic muscle function and dysfunction underlying the pathogenesis and pathophysiology of musculoskeletal disorders.     

The effect of mental loads on muscle tension, blood pressure and blink rate

Surface electromyogram (EMG), blood pressure (BP), blink rate (BR) and heart rate (HR) were recorded before and during 4 types of mental task. The mental task involved 3 tasks that encompassed the memory (M), visual search (VS) and color-word (CW) tasks besides the control task (CT) of maintaining a similar posture while focusing on a single spot on the computer screen. Except for CW, any voluntary movement for response to visual stimuli given were not demanded. Slightly but significant increases in integrated EMG (iEMG) were shown in terapezius, biceps and gastrocnemius muscles during tasks except for CT. Especially in the trapezius muscle during M, the most remarkable enhancements of iEMG and BP were shown. In VS and CW tasks, significant decreases in BR were observed, although in M and CT tasks there were no significant changes in it. There were no significant changes in HR in any type of tasks. The present study demonstrated the increase in muscle tension due to mental needs of cognitive tasks per se accompanying changes in BP and BR. And, enhancement of these physiological responses by memory loads and eyeball movement was discussed as a possible mechanism.     

A biomechanics-based method for the quantification of muscle selectivity in a musculoskeletal system

In this paper, we have developed a novel and simple method to quantify the ability to selectively activate our muscles in an effective pattern to achieve a particular task. In the context of this study, we define an effective pattern as that in which muscles whose mechanical contribution to the task is greatest, are mostly active, while the antagonist muscles are mostly silent. This new method uses biomechanical parameters to project the multi-channel EMGs into a three-dimensional artificial torque space, where the EMGs are represented as muscle activation vectors. Using the muscle activation vectors we defined a simple scalar, the muscle selection index, to quantify muscle selectivity. We demonstrate that by using this index we are able to quantify the muscle selectivity during the generation of isometric shoulder or elbow torques in brain-injured and able-bodied subjects. This method can be used during both static and dynamic motor tasks in a multi-articular musculoskeletal system.     

Age and Muscle-Dependent Variations in Corticospinal Excitability during Standing Tasks

In this study, we investigated how modulation in corticospinal excitability elicited in the context of standing tasks varies as a function of age and between muscles. Changes in motor evoked potentials (MEPs) recorded in tibialis anterior (TA) and gastrocnemius lateralis (GL) were monitored while participants (young, n = 10; seniors, n = 11) either quietly stood (QS) or performed a heel raise (HR) task. In the later condition, transcranial magnetic stimulation (TMS) pulses were delivered at three specific time points during the task: 1) 250 ms before the “go” cue (preparatory (PREP) phase), 2) 100 ms before the heel rise (anticipatory postural adjustment (APA) phase), and 3) 200 ms after heel rise (execution (EXEC) phase). In each task and each phase, variations in MEP characteristics were analysed for age and muscle-dependent effects. Variations in silent period (SP) duration were also examined for certain phases (APA and EXEC). Our analysis revealed no major difference during QS, as participants exhibited very similar patterns of modulation in both TA and GL, irrespective of their age group. During the HR task, young adults exhibited a differential modulation in the PREP phase with enhanced responses in TA relative to GL, which was not seen in seniors. Finally, besides differences in MEP latency, age had little influence on MEP modulation during the APA and EXEC phases, where amplitude was largely a function of background muscle activity associated with each phase (i.e., APA: TA; EXEC: GL). No age or muscle effects were detected for SP measurements. Overall, our results revealed no major differences between young adults and healthy seniors in the ability to modulate corticospinal facilitation destined to ankle muscles during standing tasks, with maybe the exception of the ability to prime muscle synergies in the preparatory phase of action.     

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.     

Directional preference of activation of abdominal and paraspinal muscles during position-control tasks in sitting

Controversy exists in the literature regarding antagonist activity of trunk muscles during different types of trunk loading, and the direction-specificity of activation of trunk muscles, particularly the deeper trunk muscles. This study aimed to systematically compare activation of a range of trunk muscles between directions of statically applied loads, and to consider the impact of breathing in this activation. In a semi-seated position, 13 healthy male participants resisted moderate inertial loads applied to the trunk in eight different directions. Intramuscular electromyography was recorded from eight abdominal and back muscles on the right side during 1 s prior to peak inspiration/expiration. All muscles demonstrated a directional preference of activation. No muscle displayed antagonistic activation during loading conditions of an intensity that exceded that recorded in upright sitting without a load. During these moderate intensity sustained efforts, trunk muscle activation varied little between respiratory phases. Antagonistic muscle activation of amplitude equivalent to the activation recorded in upright sitting without load is sufficient to maintain control of the spine during predictable and sustained low load tasks.     

Sarcomere length-joint angle relationships of seven frog hindlimb muscles.

The sarcomere length-joint angle relationship was measured in 7 different muscle-joint complexes (n = 43 muscles) of the frog hindlimb (Rana pipiens). Muscles studied included the cruralis, iliacus internus, gastrocnemius, gluteus magnus, gracilis major, semimembranosus and the semitendinosus. Muscle-joint complexes were mounted in a jig and submerged in chilled Ringer's solution. Joints were rotated throughout their range of motion, while sarcomere length was measured by laser diffraction. Muscles were then formalin fixed and architectural properties determined by microdissection of individual muscle fibers. Sarcomere length change per degree of joint rotation (dLs/d theta) ranged from a low of 3.7 nm/degree for the cruralis muscle acting at the knee to a high of 12.5 nm/degree for the semitendinosus muscle acting at the hip. Values for dLs/d theta were significantly different between all muscles (p < 0.001), and dLs/d theta values for muscles acting at the hip were significantly greater than those for muscles acting at the knee (p < 0.005). dLs/d theta was negatively correlated with fiber length, suggesting a balance between fiber length and moment arm in most muscle-joint systems. However, many exceptions to this generalization were noted. These data suggest that different muscle-joint systems are 'designed' for differential contribution of muscle force production to the joint torque profile. The low variability of these data also suggests that sarcomere number is tightly regulated in these muscle-joint systems but not simply as a result of the total in vivo muscle excursion.     

Correspondence between laryngeal vocal fold movement and muscle activity during speech and nonspeech gestures.

To better understand the role of each of the laryngeal muscles in producing vocal fold movement, activation of these muscles was correlated with laryngeal movement during different tasks such as sniff, cough or throat clear, and speech syllable production. Four muscles [the posterior cricoarytenoid, lateral cricoarytenoid, cricothyroid (CT), and thyroarytenoid (TA)] were recorded with bipolar hooked wire electrodes placed bilaterally in four normal subjects. A nasoendoscope was used to record vocal fold movement while simultaneously recording muscle activity. Muscle activation level was correlated with ipsilateral vocal fold angle for vocal fold opening and closing. Pearson correlation coefficients and their statistical significance were computed for each trial. Significant effects of muscle (P < or = 0.0005) and task (P = 0.034) were found on the r (transformed to Fisher's Z') values. All of the posterior cricoarytenoid recordings related significantly with vocal opening, whereas CT activity was significantly correlated with opening only during sniff. The TA and lateral cricoarytenoid activities were significantly correlated with vocal fold closing during cough. During speech, the CT and TA activity correlated with both opening and closing. Laryngeal muscle patterning to produce vocal fold movement differed across tasks; reciprocal muscle activity only occurred on cough, whereas speech and sniff often involved simultaneous contraction of muscle antagonists. In conclusion, different combinations of muscle activation are used for biomechanical control of vocal fold opening and closing movements during respiratory, airway protection, and speech tasks.     

A comparative study of two trunk biomechanical models under symmetric and asymmetric loadings

Despite recent advances in modeling of the human spine, simplifying assumptions are still required to tackle complexities. Such assumptions need to be scrutinized to assess their likely impacts on predictions. A comprehensive comparison of muscle forces and spinal loads estimated by a single-joint (L5–S1) optimisation-assisted EMG-driven (EMGAO) and a multi-joint Kinematics-driven (KD) model of the spine under symmetric (symmetric trunk flexion from neutral upright to maximum forward flexion) and asymmetric (holding a load at various heights in the right hand) activities is carried out. Regardless of the task simulated, the KD model predicted greater activities in extensor muscles as compared to the EMGAO model. Such differences in the symmetric tasks was due mainly to the distinct approaches to resolve the redundancy while in the asymmetric tasks they were due also to the different methods used to estimate joint moments. Shear and compression forces were generally higher in the KD model. Differences in predictions between these modeling approaches varied depending on the task simulated and the joint considered in the single-joint EMGAO model. The EMGAO model should incorporate a multi-joint strategy to satisfy equilibrium at different levels while the KD model should benefit from recorded EMG activities of the antagonistic muscles to supplement input measured kinematics.     

Muscle activation patterns of selected lower extremity muscles during stepping and cutting tasks

Lower extremity muscle activations during crossover and side step cut tasks are hypothesized to play an important role in controlling knee motion, and therefore, impact the design of knee injury prevention and rehabilitation programs. However, the contribution of lower extremity muscles to frontal and transverse plane moments during cutting tasks is unclear. The purpose of this study was to compare the muscle activation patterns of selected lower extremity muscles (vastus lateralis, medial/lateral hamstrings and medial/lateral gastrocnemius) of subjects performing a stepping down and side step cut, a stepping down and crossover cut and an equivalent straight ahead task. Ground reaction force was used to determine the cut angle, stance time and compare the lower limb loading during each task. Electromyography data during all tasks were normalized to the average activation during the straight ahead tasks to determine relative changes in muscle activation between the straight ahead and different cut styles (crossover and side step). There were no differences in the pattern of muscle activation of the vastus lateralis, or lateral hamstring muscles when comparing the cutting tasks to the equivalent straight ahead task. However, the crossover cut task resulted in significantly higher muscle activation of the medial hamstrings and lateral gastrocnemius muscles relative to both the side step cut and straight ahead tasks. These results suggest the medial/lateral hamstrings and medial/lateral gastrocnemius play a role in transverse and frontal plane control during cut tasks.     

Muscle activity and spine load during pulling exercises: Influence of stable and labile contact surfaces and technique coaching

This study examined pulling exercises performed on stable surfaces and unstable suspension straps. Specific questions included: which exercises challenged particular muscles, what was the magnitude of resulting spine load, and did technique coaching influence results. Fourteen males performed pulling tasks while muscle activity, external force, and 3D body segment motion were recorded. These data were processed and input to a sophisticated and anatomically detailed 3D model that used muscle activity and body segment kinematics to estimate muscle force, in this way the model was sensitive to each individual’s choice of motor control for each task. Muscle forces and linked segment joint loads were used to calculate spine loads. There were gradations of muscle activity and spine load characteristics to every task. It appears that suspension straps alter muscle activity less in pulling exercises, compared to studies reporting on pushing exercises. The chin-up and pull-up exercises created the highest spine load as they required the highest muscle activation, despite the body “hanging” under tractioning gravitational load. Coaching shoulder centration through retraction increased spine loading but undoubtedly adds proximal stiffness. An exercise atlas of spine compression was constructed to help with the decision making process of exercise choice for an individual.     

Experimental study of the influence of senescence in the biomechanical properties of the temporal tendon and deep temporal fascia based on uniaxial tension tests

The present study focuses on the determination of human temporal tendons and deep temporal fascia biomechanical behavior. The tensile and shear loads generated by the temporal muscle are transmitted to the masticatory system by the temporal tendons and muscle fascia. Establishing these connective tissues' biomechanical properties will help to develop proper finite element-based simulations of the human masticatory system, which will allow better understanding of diseases affecting the temporomandibular joint. The tissues were harvested from 8 male fresh cadavers, who were subjected to uniaxial tension tests. Available literature states that different connective tissues undergo identical biochemical, cellular and mechanical changes during senescence. Several mechanical phenomena occur during maturation, resulting in stiffer, stronger and more stable connective tissues, although less flexible. Based on this evidence, the present study suggests that older temporal tendon and fascia samples are stiffer than younger ones. We also found significant higher secant moduli with increasing age.