An improved inverse dynamics formulation for estimation of external and internal loads during human sagittal plane movements

Planar musculoskeletal models are common in the inverse dynamics analysis of human movements such as walking, running and jumping. The continued interest in such models is justified by their simplicity and computational efficiency. Related to a human planar model, a unified formulation for both the flying and support phases of the sagittal plane movements is developed. The actuation involves muscle forces in the lower limbs and the resultant muscle torques in the other body joints. The dynamic equations, introduced in absolute coordinates of the segments, are converted into useful compact forms using the projective technique. The solution to a determinate inverse dynamics problem allows for the explicit determination of the external reactions (presumed to vanish during the flying phases) and the resultant muscle torques in all the model joints. The indeterminate inverse dynamics problem is then focused on the assessment of muscle forces and joint reaction forces selectively in the supporting lower limb. Numerical results of the inverse dynamics simulation of sample sagittal plane movements are reported to illustrate the validity and effectiveness of the improved formulation.     

Lumbar spinal muscle activation synergies predicted by multi-criteria cost function

The hypothesis that control of lumbar spinal muscle synergies is biomechanically optimized was studied by comparing EMG data with an analytical model with a multi-component cost function that could include (1) trunk displacements, (2) intervertebral displacements, (3) intervertebral forces; (4) sum of cubed muscle stresses, and (5) eigenvalues for the first two spinal buckling modes. The model's independent variables were 180 muscle forces. The 36 displacements of 6 vertebrae were calculated from muscle forces and the spinal stiffness. Calculated muscle activation was compared with EMG data from 14 healthy human subjects who performed isometric voluntary ramped maximum efforts at angles of 0 degrees, 45 degrees, 90 degrees, 135 degrees and 180 degrees to the right from the anterior direction. Muscle activation at each angle was quantified as the linear regression slope of the RMS EMG versus external force relationship, normalized by the maximum observed EMG.There was good agreement between the analytical model and EMG data for the dorsal muscles when the model included either minimization of intervertebral displacements or minimization of intervertebral forces in its cost function, but the model did not predict a realistic level of abdominal muscles activation. Agreement with EMG data was improved with the sum of the cubed muscle stresses added to the cost function. Addition of a cost function component to maximize the trunk stability produced higher levels of antagonistic muscle activation at low efforts than at greater efforts. It was concluded that the muscle activation strategy efficiently limits intervertebral forces and displacements, and that costs of higher muscle stresses are taken into account, but stability does not appear to be maximized. Trunk muscles are apparently not controlled solely to optimize any one of the biomechanical costs considered here.     

ASSESSMENT OF EXTERNAL AND INTERNAL LOADS IN THE TRIPLE JUMP VIA INVERSE DYNAMICS SIMULATION

The triple jump is a demanding athletics event that, after an approach run, consists of three consecutive phases: the hop, the bound, and the jump. During the involved three take-off actions a jumper is exposed to increased risk of injury due to the high impact forces from the ground and powerful muscle/tendon efforts, which are further reflected in the internal loads of the lower limb joints. While external ground reactions can possibly be measured using force platforms, in vivo measurements of the internal loads are practically not feasible. The purpose of the paper is to present the development of an effective formulation for the inverse dynamics simulation of the triple jump, based on the jumper dynamical model and non-invasive kinematic recordings of the movement. The developed simulation model serves for the analysis of all the triple jump phases, irrespective of whether the jumper is in flight or in contact with the ground with one of his feet, and is focused on effective assessment of the external reactions on the supporting leg as well as the muscle forces and joint reaction forces in the leg. Some numerical results of inverse dynamics simulation of the triple jump are reported.     

Predicted pattern of human muscle activity during clenching derived from a computer assisted model: symmetric vertical bite forces

A computer assisted three-dimensional model of the jaw, based on linear programming, is presented. The upper and lower attachments of the muscles of mastication have been measured on a single human skull and divided into thirteen independent units on each side--a total of 26 muscle elements. The direction (in three dimensions) and maximum forces that could be developed by each muscle element, the bite reaction and two joint reactions are included in the model. It is shown for symmetrical biting that a model which minimizes the sum of the muscle forces used to produce a given bite force activates muscles in a way which corresponds well with previous observations on human subjects. A model which minimizes the joint reactions behaves differently and is rejected. An analysis of the way the chosen model operates suggests that there are two types of jaw muscles, power muscles and control muscles. Power muscles (superficial masseter, medial pterygoid and some of temporalis) produce the bite force but tend to displace the condyle up or down the articular eminence. This displacement is prevented by control muscles (oblique temporalis and lateral pterygoid) which have very poor moment arms for generating usual bite forces, but are efficient for preventing condylar slide. The model incorporates the concept that muscles consist of elements which can contract independently. It predicts that those muscle elements with longer moment arms relative to the joint are the first to be activated and, as the bite force increases, a ripple of activity spreads into elements with shorter moment arms. In general, the model can be used to study the three-dimensional activity in any system of joints and muscles.     

Trunk muscle activation and associated lumbar spine joint shear forces under different levels of external forward force applied to the trunk.

High anterior intervertebral shear loads could cause low back injuries and therefore the neuromuscular system may actively counteract these forces. This study investigated whether, under constant moment loading relative to L3L4, an increased externally applied forward force on the trunk results in a shift in muscle activation towards the use of muscles with more backward directed lines of action, thereby reducing the increase in total joint shear force. Twelve participants isometrically resisted forward forces, applied at several locations on the trunk, while moments were held constant relative to L3L4. Surface EMG and lumbar curvature were measured, and an EMG-driven muscle model was used to calculate compression and shear forces at all lumbar intervertebral joints. Larger externally applied forward forces resulted in a flattening of the lumbar lordosis and a slightly more backward directed muscle force. Furthermore, the overall muscle activation increased. At the T12L1 to L3L4 joint, resulting joint shear forces remained small (less than 200N) because the average muscle force pulled backward relative to those joints. However, at the L5S1 joint the average muscle force pulled the trunk forward so that the increase in muscle force with increasing externally applied forward force caused a further rise in shear force (by 102.1N, SD=104.0N), resulting in a joint shear force of 1080.1N (SD=150.4N) at 50Nm moment loading. It is concluded that the response of the neuromuscular system to shear force challenges tends to increase rather than reduce the shear loading at the lumbar joint that is subjected to the highest shear forces.     

Biomechanical model calculation of muscle contraction forces: a double linear programming method

This paper presents a novel scheme for the use of linear programming to calculate muscle contraction forces in models describing musculoskeletal system biomechanics. Models of this kind are frequently found in the biomechanics literature. In most cases they involve muscle contraction force calculations that are statically indeterminate, and hence use optimization techniques to make those calculations. We present a linear programming optimization technique that solves a two-objective problem with two sequential linear programs. We use the technique here to minimize muscle intensity and joint compression force, since those are commonly used objectives. The two linear program model has the advantages of low computation cost, ready implementation on a micro-computer, and stable solutions. We show how to solve the model analytically in simple cases. We also discuss the use of the dual problem of linear programming to gain understanding of the solution it provides.     

Effect of disc degeneration on the muscle recruitment pattern in upright posture: a computational analysis

Based on the sensor driving control mechanism model, the effect of disc degeneration on the trunk muscle recruitment (TMR) pattern was analysed in erect standing posture. A previously developed computational model was used for this analysis, with modifications incorporating the T12-L1 motion segment and additional muscle fascicles. To generate disc degeneration at three different levels (L3–L4, L4–L5, or L5–S1), the material properties of the ground matrix of the annulus and bulk modulus of the nucleus were reduced. The finite element method combined with an optimization technique was applied to calculate the muscle forces. Minimization of deviations in the averaged tensile stress in the annulus fibres at the outermost layer in the five discs was selected for muscle force calculations. The results indicated that the disc degeneration noticeably increased the activation of the superficial muscle (IT and R) even though there was no clear change in the longissimus thoracis. Unlike some of the superficial muscles, activation in the deep muscles (multifidus (ML, MS, MT), LL and Q) was decreased. The change in TMR pattern generated an intervertebral disc angle difference and nucleus pressure increased in the upper level. These differences are expected to be functional in that they reduce the stress at the degenerated disc by changing the muscle activation, which slows down the progress of disc degeneration.     

Effect of optimization criterion on spinal force estimates during asymmetric lifting

Optimization-based muscle force prediction models of the lumbar region are used in research and ergonomic practice, usually as a subroutine of a job analysis software package. Various optimization criteria have been put forward for use in rationally selecting a set of muscle forces to satisfy moment equilibrium, including the sum of cubed muscle contraction intensities and a double linear programming procedure for minimizing the spinal compression force and maximum muscle contraction intensity. A laboratory study was conducted to determine whether these two model formulations produce significantly different estimates of spinal forces for a dynamic asymmetric lift. Although statistically significant differences were found between the predictions of the two models, the difference in peak spinal compression force was only 1.1%.     

Application of the finite element simulation method to the adiabatic and potentiometric corrections of calorimetric titration data

A general numerical analysis procedure is described which has been applied to an automated differential pH-thermal titration apparatus operated isoperibolically to obtain thermal corrections for heat loss. It is based on the Direct Byte (D-B) finite element computer simulation technique (FEST) applied to the heat conduction behavior of the instrument with time. Thermal constants of the numerical model are determined, and the results of the correction for titration data obtained from acid-base runs show that a constant upper baseline is achieved using this technique for both fast and slow reactions to an accuracy of 2%. The method is equally valid for endothermic and exothermic reactions.     

Estimation of blood flow distribution in skeletal muscle from inert gas washout

A new method is evaluated for the estimation of blood flow-to-volume distribution in skeletal muscle from inert gas washout kinetics. Acetylene washout from the isolated, blood-perfused canine gracilis muscle was measured continuously with a blood gas catheter in combination with a mass spectrometer. The washout curves were transformed to flow-to-volume ratio distributions by means of a 50-compartment model. The algorithm fits the expression for the washout curve derived from the model by a least-squares method with enforced smoothing. The algorithm was evaluated using computer simulations in which artificial washout curves were generated by a multicompartment model with a known flow distribution. A wide range of given flow distributions could be recovered from the simulated data. The data were also analyzed using a linear programming technique. Analysis of the experimental data with the least-squares method showed that there is considerable heterogeneity in the distribution of perfusion in resting gracilis muscle. The distribution is characterized by at least two modes and a single compartment with a very low perfusion-to-volume ratio. Experimental noise made it impossible to obtain feasible flow distributions by means of linear programming.     

Estimation of muscle forces in gait using a simulation of the electromyographic activity and numerical optimization

Clinical gait analysis provides great contributions to the understanding of gait patterns. However, a complete distribution of muscle forces throughout the gait cycle is a current challenge for many researchers. Two techniques are often used to estimate muscle forces: inverse dynamics with static optimization and computer muscle control that uses forward dynamics to minimize tracking. The first method often involves limitations due to changing muscle dynamics and possible signal artefacts that depend on day-to-day variation in the position of electromyographic (EMG) electrodes. Nevertheless, in clinical gait analysis, the method of inverse dynamics is a fundamental and commonly used computational procedure to calculate the force and torque reactions at various body joints. Our aim was to develop a generic musculoskeletal model that could be able to be applied in the clinical setting. The musculoskeletal model of the lower limb presents a simulation for the EMG data to address the common limitations of these techniques. This model presents a new point of view from the inverse dynamics used on clinical gait analysis, including the EMG information, and shows a similar performance to another model available in the OpenSim software. The main problem of these methods to achieve a correct muscle coordination is the lack of complete EMG data for all muscles modelled. We present a technique that simulates the EMG activity and presents a good correlation with the muscle forces throughout the gait cycle. Also, this method showed great similarities whit the real EMG data recorded from the subjects doing the same movement.     

Monte Carlo sampling and principal component analysis of flux distributions yield topological and modular information on metabolic networks

The work presented here uses Monte Carlo random sampling combined with flux balance analysis and linear programming to analyse the steady-state flux distributions on the surface of the glucose-ammonia phenotypic phase plane of an Escherichia coli system grown on glucose-minimal medium. The distribution of allowable glucose and ammonia uptake rates showed a triangular shape, the apex corresponding to maximum growth rate. The exact shape, e.g. the diagonal boundary is determined by the relative amounts of nutrients required for growth. The logarithm of flux values has a normal distribution, e.g. there is a log normal distribution, and most of the reactions have an order of magnitude between 10(-1) and 1. The increase in the number of blocked reactions as growth switched from aerobic to micro-aerobic phase and the presence of alternate networks for a single optimal solution were both reflections of the variability of pathway utilization for survival and growth. Principal component analysis (PCA) provided us with significant clues on the correlations between individual reactions and correlations between sets of reactions. Furthermore, PCA identified the most influential reactions of the system. The PCA score plots clearly distinguish two different growth phases, micro-aerobic and aerobic. The loading plots for each growth phase showed both the impact of the reactions on the model and the clustering of reactions that are highly correlated. These results have proved that PCA is a promising way to analyse correlations in high-dimensional solution spaces and to detect modular patterns among reactions in a network.     

The pressure-flow relation for plasma in whole organ skeletal muscle and its experimental verification.

The whole-organ pressure-flow relation in resting rat skeletal muscle is examined for the flow of plasma. Due to the small size of the blood vessels in this organ, inertia and convective forces in the blood are negligible and viscous forces dominate. Direct measurements in the past have shown that skeletal muscle blood vessels are distensible. Theoretical formulations based on these measurements lead to a third order polynomial model for the pressure-flow relation. The purpose of the current study is to examine this relation experimentally in an isolated muscle organ. A high precision feedback controlled pump is used to perfuse artificial plasma into the vasodilated rat gracilis muscle. The results indicate that the pressure-flow curve in this tissue is nonlinear in the low flow region and almost linear at physiological flow rates, following closely the third order polynomial function. Vessel fixation with glutaraldehyde causes the curves to become linear at all pressures, indicating that vessel distention is the primary mechanism causing the nonlinearity. Furthermore, the resistance of the post-fixed tissue is determined by the pressure at which the fixative is perfused. At fixation pressures below 10 mmHg, the resistance is three times higher than in vessels fixed at normal physiological pressures. Dextran (229,000 Dalton) is used to obtain Newtonian perfusates at different viscosities. The pressure-flow relation is found to be linearly dependent on viscosity for all flow rates.(ABSTRACT TRUNCATED AT 250 WORDS)     

A combined numerical and experimental technique for estimation of the forces and moments in the lumbar intervertebral disc

Evaluation of the loads on lumbar intervertebral discs (IVD) is critically important since it is closely related to spine biomechanics, pathology and prosthesis design. Non-invasive estimation of the loads in the discs remains a challenge. In this study, we proposed a new technique to estimate in vivo loads in the IVD using a subject-specific finite element (FE) model of the disc and the kinematics of the disc endplates as input boundary conditions. The technique was validated by comparing the forces and moments in the discs calculated from the FE analyses to the in vitro experiment measurements of three corresponding lumbar discs. The results showed that the forces and moments could be estimated within an average error of 20%. Therefore, this technique can be a promising tool for non-invasive estimation of the loads in the discs and may be extended to be used on living subjects.     

Constraining spine stability levels in an optimization model leads to the prediction of trunk muscle cocontraction and improved spine compression force estimates

A major limitation of optimization models of the spine has been the inability to accurately predict trunk muscle co-activity. Antagonist muscle activity is thought to be necessary to maintain adequate levels of spine stability but, in turn, creates increased loading on the spine. It is thus hypothesized that the CNS attempts to optimize the relationship between spine loading and spine stability in determining muscular activation patterns. This study presents an optimization model of the spine in which stability was constrained to target levels predicted from regression equations of independent loading variables. Objective functions were set to either minimize the sum of the cubed muscle forces or minimize the sum of the squared intervertebral forces at the L4-L5 disc level. Results demonstrate that the inclusion of stability constraints in optimization simulations produced realistic predictions of antagonist muscle activity and predictions of spine compression levels that agree more closely with EMG-based estimates, compared to simulations in which stability was unconstrained. It was concluded that spinal stability is a vital consideration for the CNS when dictating trunk muscle recruitment patterns.     

Evaluation of the influence of muscle deactivation on other muscles and joints during gait motion

When any muscle in the human musculoskeletal system is damaged, other muscles and ligaments tend to compensate for the role of the damaged muscle by exerting extra effort. It is beneficial to clarify how the roles of the damaged muscles are compensated by other parts of the musculoskeletal system from the following points of view: From a clinical point of view, it will be possible to know how the abnormal muscle and joint forces caused by the acute compensations lead to further physical damage to the musculoskeletal system. From the viewpoint of rehabilitation, it will be possible to know how the role of the damaged muscle can be compensated by extra training of the other muscles. A method to evaluate the influence of muscle deactivation on other muscles and joints is proposed in this report. Methodology based on inverse dynamics and static optimization, which is applicable to arbitrary motion was used in this study. The evaluation method was applied to gait motion to obtain matrices representing (1) the dependence of muscle force compensation and (2) the change to bone-on-bone contact forces. These matrices make it possible to evaluate the effects of deactivation of one of the muscles of the musculoskeletal system on the forces exerted by other muscles as well as the change to the bone-on-bone forces when the musculoskeletal system is performing the same motion. Through observation of this matrix, it was found that deactivation of a muscle often results in increment/decrement of force developed by muscles with completely different primary functions and bone-on-bone contact force in different parts of the body. For example, deactivation of the iliopsoas leads to a large reduction in force by the soleus. The results suggest that acute deactivation of a muscle can result in damage to another part of the body. The results also suggest that the whole musculoskeletal system must go through extra retraining in the case of damage to certain muscles.     

Prediction of Individual Muscle Forces Using Lagrange Multipliers Method - A Model of the Upper Human Limb in the Sagittal Plane: II. Numerical Experiments and Sensitivity Analysis

Using the method of Lagrange multipliers an analytical solution of the optimization problem formulated for a two-dimensional, 3DOF model of the human upper limb has been described in Part I of this investigation. The objective criterion used is the following: [formula: see text], where F(i) -s are the muscle forces modelled and c(i) -s are unknown weight factors. This study is devoted to the numerical experiments performed in order to investigate which sets of the weight factors may predict physiologically reasonable muscle forces and joint reactions. A sensitivity analysis is also presented. The influence of: the gravity forces, different external loads applied to the hand, changes of the weight factors and of joint angle on the optimal solution is studied. A general conclusion may be drawn: using the above mentioned objective criterion, practically all motor tasks performed by the human upper limb may be described if the c(i) -s are properly chosen. These weight factors generally depend on the joint moments and must be different (their magnitudes as well as their signs) for agonistic muscles and for their antagonists.     

Predicted and observed shapes of human mandibular condyles.

A mathematical model based on linear programming was used to study the directions of the joint forces used to maintain the human jaw in three-dimensional static equilibrium when producing bite forces of 100 N to a maximum of 1000 N down the long axis of a central incisor, first premolar, first molar and third molar. Seven different versions of the model were studied. The two simplest versions minimized the total muscle tension and the total joint load, respectively. Assuming that the joint force direction must be normal to some part of the articular surface of the condyle, neither version produced directions consistent with the observed shapes of human condyles. The other five versions minimized different combinations of muscle tensions and joint loads. Two of these versions produced joint force directions compatible with the shapes of condyles. Both minimized total muscle tension plus the (vertical) joint load on the back of the condyle. The results suggest that joint mechanoreceptors (probably non-directional) as well as muscle receptors contribute to the neuromuscular control of bite forces. Our results are consistent with some recent observations [Marshall and Tatton, Exp. Brain Res. 83, 137-150 (1990)] of the cat knee joint.     

A myoelectrically based dynamic three-dimensional model to predict loads on lumbar spine tissues during lateral bending.

This work describes a dynamic model of the low back that incorporates extensive anatomical detail of the musculo-ligamentous-skeletal system to predict the load time histories of individual tissues. The dynamic reaction moment about L4/L5 was determined during lateral bending from a linked-segment model. This reaction moment was partitioned into restorative components provided by the disc, ligament strain, and active-muscle contraction using a second model of the spine that incorporated a detailed representation of the anatomy. Muscle contraction forces were estimated using both information from surface electromyograms, collected from 12 sites, and consideration of the modulating effects of muscle length, cross-sectional area and passive elasticity. This modelling technique is sensitive to the different ways in which individuals recruit their musculature to satisfy moment constraints. Time histories of muscle forces are provided. High muscle loads are consistent with the common clinical observation of muscle strain often produced by load handling. Furthermore, the coactivation measured in muscles on both sides of the trunk suggests that muscles are recruited to satisfy the lateral bending reaction torque in addition to performing other mechanical roles such as spine stabilization. If an estimate of the intervertebral joint compression is desired for assessment of lateral bends in industry, then a single equivalent lateral muscle with a moment arm of approximately 3.0-4.0 cm would conservatively capture the effects of muscle co-contraction quantified in this study.