Design and demonstration of a dynamometric horseshoe for measuring ground reaction loads of horses during racing conditions

Because musculoskeletal injuries to racehorses are common, instrumentation for the study of factors (e.g. track surface), which affect the ground reaction loads in horses during racing conditions, would be useful. The objectives of the work reported by this paper were to (1) design and construct a novel dynamometric horseshoe that is capable of measuring the complete ground reaction loading during racing conditions, (2) characterize static and dynamic measurement errors, and (3) demonstrate the usefulness of the instrument by collecting example data during the walk, trot, canter, and gallop for a single subject. Using electrical resistance strain gages, a dynamometric horseshoe was designed and constructed to measure the complete ground reaction force and moment vectors and the center of pressure. To mimic the load transfer surface of the hoof, the shape of the surface contacting the ground was similar to that of the solar surface of the hoof. Following static calibration, the measurement accuracy was determined. The root mean squared errors (RMSE) were 3% of full scale for the force component normal to the hoof and 9% for force components in the plane of the hoof. The dynamic calibration determined that the natural frequency with the full weight of a typical horse was 1744 Hz. Example data were collected during walking on a ground surface and during trotting, cantering, and galloping on a treadmill. The instrument successfully measured the complete ground reaction load during all four gaits. Consequently the dynamometric horseshoe is useful for studying factors, which affect ground reaction loads during racing conditions.     

Ground reaction force estimation using an insole-type pressure mat and joint kinematics during walking

Kinetic analysis of walking requires joint kinematics and ground reaction force (GRF) measurement, which are typically obtained from a force plate. GRF is difficult to measure in certain cases such as slope walking, stair climbing, and track running. Nevertheless, estimating GRF continues to be of great interest for simulating human walking. The purpose of the study was to develop reaction force models placed on the sole of the foot to estimate full GRF when only joint kinematics are provided (Type-I), and to estimate ground contact shear forces when both joint kinematics and foot pressure are provided (Type-II and Type-II-val). The GRF estimation models were attached to a commercial full body skeletal model using the AnyBody Modeling System, which has an inverse dynamics-based optimization solver. The anterior–posterior shear force and medial–lateral shear force could be estimated with approximate accuracies of 6% BW and 2% BW in all three methods, respectively. Vertical force could be estimated in the Type-I model with an accuracy of 13.75% BW. The accuracy of the force estimation was the highest during the mid-single-stance period with an average RMS for errors of 3.10% BW, 1.48% BW, and 7.48% BW for anterior–posterior force, medial–lateral force, and vertical force, respectively. The proposed GRF estimation models could predict full and partial GRF with high accuracy. The design of the contact elements of the proposed model should make it applicable to various activities where installation of a force measurement system is difficult, including track running and treadmill walking.     

Ground reaction forces during human locomotion on railroad ballast

Locomotion over ballast surfaces provides a unique situation for investigating the biomechanics of gait. Although much research has focused on level and sloped walking on a smooth, firm surface in order to understand the common kinematic and kinetic variables associated with human locomotion, the literature currently provides few if any discussions regarding the dynamics of locomotion on surfaces that are either rocky or uneven. The purpose of this study was to investigate a method for using force plates to measure the ground reaction forces (GRFs) during gait on ballast. Ballast is a construction aggregate of unsymmetrical rock used in industry for the purpose of forming track bed on which railway ties are laid or in yards where railroad cars are stored. It is used to facilitate the drainage of water and to create even running surfaces. To construct the experimental ballast surfaces, 31.75 mm (1 1/4 in.) marble ballast at depths of approximately 63.5 mm (2.5 in.) or 101.6 mm (4 in.) were spread over a carpeted vinyl tile walkway specially designed for gait studies. GRF magnitudes and time histories from a force plate were collected under normal smooth surface and under both ballast surface conditions for five subjects. GRF magnitudes and time histories during smooth surface walking were similar to GRF magnitudes and time histories from the two ballast surface conditions. The data presented here demonstrate the feasibility of using a force plate system to expand the scope of biomechanical analyses of locomotion on ballast surfaces.     

Estimation of unmeasured ground reaction force data based on the oscillatory characteristics of the center of mass during human walking

To enhance the wearability of portable motion-monitoring devices, the size and number of sensors are minimized, but at the expense of quality and quantity of data collected. For example, owing to the size and weight of low-frequency force transducers, most currently available wearable gait measurement systems provide only limited, if any, elements of ground reaction force (GRF) data. To obtain the most GRF information possible with a minimal use of sensors, we propose a GRF estimation method based on biomechanical knowledge of human walking. This includes the dynamics of the center of mass (CoM) during steady human gait resembling the oscillatory behaviors of a mass-spring system. Available measurement data were incorporated into a spring-loaded inverted pendulum with translating pivot. The spring stiffness and simulation parameters were tuned to match, as accurately as possible, the available data and oscillatory characteristics of walking. Our results showed that the model simulation estimated reasonably well the unmeasured GRF. Using the vertical GRF and CoP profile for gait speeds ranging from 0.93 to 1.89 m/s, the anterior-posterior (A-P) GRF was estimated and resulted in an average correlation coefficient of R = 0.982 ± 0.009. Even when the ground contact timing and gait speed information were alone available, our method estimated GRFs resulting in R = 0.969 ± 0.022 for the A-P and R = 0.891 ± 0.101 for the vertical GRFs. This research demonstrates that the biomechanical knowledge of human walking, such as inherited oscillatory characteristics of the CoM, can be used to gain unmeasured information regarding human gait dynamics.     

The influence of different playing surfaces on the biomechanics of a tennis running forehand foot plant

Research suggests that heightened impacts, altered joint movement patterns, and changes in friction coefficient from the use of artificial surfaces in sport increase the prevalence of overuse injuries. The purposes of this study were to (a) develop procedures to assess a tennis-specific movement, (b) characterize the ground reaction force (GRF) impact phases of the movement, and (c) assess human response during impact with changes in common playing surfaces. In relation to the third purpose it was hypothesized that surfaces with greatest mechanical cushioning would yield lower impact forces (PkFz) and rates of loading. Six shod volunteers performed 8 running forehand trials on each surface condition: baseline, carpet, acrylic, and artificial turf. Force plate (960 Hz) and kinematic data (120 Hz) were collected simultaneously for each trial. Running forehand foot plants are typically characterized by 3 peaks in vertical GRF prior to a foot-off peak. Group mean PkFz was significantly lower and peak braking force was significantly higher on the baseline surface compared with the other three test surfaces (p<0.05). No significant changes in initial kinematics were found to explain unexpected PkFz results. The baseline surface yielded a significantly higher coefficient of friction compared with the other three test surfaces (p<0.05). While the hypothesis is rejected, biomechanical analysis has revealed changes in surface type with regard to GRF variables.     

Control of ground reaction forces by hindlimb muscles during cat locomotion

It has been proposed that biarticular muscles are primarily responsible for the control of the direction of external forces, as their activation is closely related and highly sensitive to the direction of external forces. This functional role for biarticular muscles has been supported qualitatively by experimental evidence, but has never been tested quantitatively for lack of a mathematical/mechanical formulation of this theory and the difficulty of measuring individual muscle forces during voluntary movements. The purposes of this study were: (1) to define rules for muscular coordination based on the control of external forces; (2) to develop a model of the cat hindlimb that allows for the calculation of the magnitude and direction of the ground reaction forces (GRFs) produced by individual hindlimb muscles; and (3) to test if the coordination of mono- and biarticular cat hindlimb muscles is related to the control of the resultant GRF. We measured the GRF, hindlimb kinematics, selected muscle forces and activations during cat locomotion. Then, the measured muscle forces were used as input to the hindlimb model to compute the muscle-induced GRF. We assume that if activation (and possibly force) increased as the muscle-induced component of GRF approximated the resultant GRF, then that muscle was used by the central nervous system (CNS) to help control the direction of the external GRF. During cat walking, medial gastrocnemius (MG) and plantaris (PL) forces increased with increasing proximity to the GRF, while soleus (SOL) forces and vastus lateralis (VL) activations did not. SOL and VL activation were most strongly related to the vertical and parallel (braking/accelerating) component of the GRF, respectively. We concluded from these results that MG and PL are primarily responsible for the control of the direction of the GRF, while SOL primarily functions as an anti-gravity muscle, and VL as an acceleration/deceleration muscle.     

Vertical forces on the horse's back in sitting and rising trot

In equestrian sports, it is generally assumed that rising and sitting trot load the horse's back differently. The objective of this study was to quantify the load on the horse's back in these riding techniques. Kinematic data of 13 riders were collected in rising and sitting trot. The time-history of the position of the rider's centre of mass (CoM) was calculated, and differentiated twice to obtain the acceleration of the CoM. The reaction force between the rider and the horse's back was calculated from the acceleration. Forces were divided by the body weight of the rider to obtain dimensionless forces. As expected, the computed average vertical force did not differ between riding techniques and was not significantly different from the body weight of the riders. At trot, two force peaks were present during one stride cycle. Both peaks in rising trot were significantly lower compared to sitting trot (peak 1: 2.54±0.30 versus 2.92±0.29; p<0.001; peak 2: 1.95±0.34 versus 3.03±0.32; p<0.001). This supports the general assumption that rising trot is less demanding for the horse than sitting trot.     

Use of pressure insoles to calculate the complete ground reaction forces

A method to calculate the complete ground reaction force (GRF) components from the vertical GRF measured with pressure insoles is presented and validated. With this approach it is possible to measure several consecutive steps without any constraint on foot placement and compute a standard inverse dynamics analysis with the estimated GRF.     

Ecological indicators for assessing management effectiveness: A case study of horse riding in an Alpine National Park

Recreation activities and visitor use often have deleterious ecological impacts in protected areas. Management agencies then face the difficult task of providing recreation and tourism opportunities without compromising environmental values. This study assessed the success of efforts aimed at conserving alpine vegetation along the Mt Bogong Massif in Victoria, Australia, through controlling the use of horses. Vegetation condition was assessed in 2001 to coinciding with restrictions on the use of horse riding on trails and then resurveyed 10 years later. Sampling was undertaken in track plots that included the trail and surrounding vegetation, and control plots located away from the trail. There were significant differences in the amount of bare ground, the height of shrubs and ground layer vegetation, and shrub cover between track and control plots in 2001. Ten years later, track plots were recovering with reductions in bare ground and changes in vegetation, with improved ground layer vegetation height. Results show that vegetation condition has improved with restrictions of horse numbers. The indicators selected were sensitive to changes in vegetation condition and hence should be used for ongoing assessment of the effectiveness of this and similar management interventions.     

The optimal back squat load for potential osteogenesis

The osteogenic potential of exercise is reported to be partially a function of the magnitude of training loads. This study evaluated the ground reaction force (GRF) and rate of force development (RFD) of the eccentric and concentric phases of the back squat at 3 different loads. Twelve subjects performed the back squat on a force platform with loading conditions of 80, 100, and 120% of their 1 repetition maximum (RM). Back squats performed at 120% of the 1RM produced the highest GRF in both the eccentric and concentric conditions. No significant differences were found between RFD for any of the loading conditions. Performing the back squat at loads of 120% of the estimated 1RM, accomplished with reduced range of motion, results in higher GRF than the back squat performed at 80 or 100% of the 1RM. Thus, supermaximal back squat loads in excess of the 1RM, with decreased range of motion, may be a useful part of a resistance training program designed to maximize osteogenic potential.     

Influence of ground reaction force perturbations on anterior cruciate ligament loading during sidestep cutting

Anterior cruciate ligament (ACL) injury risk is likely increased under unexpected loading conditions. Such situations may arise from mid-air contact with another athlete, or misjudgments in landing height, stride length or surface compliance resulting in an unbalanced landing and unexpected changes in the ground reaction forces (GRFs). The purpose this study was to identify how GRF perturbations influence ACL loading during sidestep cutting. Muscle-actuated simulations of sidestep cutting were generated and analyzed for 20 subjects. Perturbations of 20, 40 and 60% of the nominal value were applied to the posterior, vertical, and medial GRF. Open-loop, forward dynamics simulations were run with no feedback or correction mechanism which allowed deviations from the experimentally measured kinematics as a result of the GRF perturbations. Posterior and vertical GRF perturbations significantly increased ACL loading, although the change was more pronounced with posterior perturbations. These changes were primarily due to the sagittal plane component of ACL loading regardless of perturbation direction. Peak ACL loading occurred almost immediately after initial ground contact, and was thus predicated on initial joint configuration. The results of this study give merit to including knee flexion angle at initial ground contact in the evolving neuromuscular training modalities aimed at preventing non-contact ACL injury.     

Ability of geometric morphometric methods to estimate a known covariance matrix

Landmark-based morphometric methods must estimate the amounts of translation, rotation, and scaling (or, nuisance) parameters to remove nonshape variation from a set of digitized figures. Errors in estimates of these nuisance variables will be reflected in the covariance structure of the coordinates, such as the residuals from a superimposition, or any linear combination of the coordinates, such as the partial warp and standard uniform scores. A simulation experiment was used to compare the ability of the generalized resistant fit (GRF) and a relative warp analysis (RWA) to estimate known covariance matrices with various correlations and variance structures. Random covariance matrices were perturbed so as to vary the magnitude of the average correlation among coordinates, the number of landmarks with excessive variance, and the magnitude of the excessive variance. The covariance structure was applied to random figures with between 6 and 20 landmarks. The results show the expected performance of GRF and RWA across a broad spectrum of conditions. The performance of both GRF and RWA depended most strongly on the number of landmarks. RWA performance decreased slightly when one or a few landmarks had excessive variance. GRF performance peaked when approximately 25% of the landmarks had excessive variance. In general, both RWA and GRF performed better at estimating the direction of the first principal axis of the covariance matrix than the structure of the entire covariance matrix. RWA tended to outperform GRF when > approximately 75% of the coordinates had excessive variance. When < 75% of the coordinates had excessive variance, the relative performance of RWA and GRF depended on the magnitude of the excessive variance; when the landmarks with excessive variance had standard deviations (sigma) > or = 4 sigma minimum, GRF regularly outperformed RWA.     

Comparison of lower limb kinetics,kinematics and muscle activation during drop jumping under shod and barefoot conditions

This study was to investigate the acute effects of wearing shoes on lower limb kinetics, kinematics and muscle activation during a drop jump. Eighteen healthy men performed a drop jump under barefoot and shod conditions. Vertical ground reaction force (GRF) was measured on a force plate during the contact phase of a drop jump, and GRF valuables were calculated for each condition. The angles of the knee and ankle joints, and the foot strike angle (the angle between the plantar surface of the foot and the ground during ground contact) as well as the electromyography of 7 muscles were measured. The shod condition showed a significant larger first peak GRF, longer time to first peak GRF from the initial ground contact and lower initial loading rate than the barefoot condition. The shod condition showed a significant larger ankle joint angle at initial ground contact, smaller knee joint angle between the second peak GRF and take-off as well as smaller foot strike angle at both initial ground contact and take-off than the barefoot condition. There were significant correlations between relative differences in ankle joint at the initial ground contact and relative differences in the initial loading rate. The muscle activity of all muscles during foot ground contact did not differ between two conditions; however, in the shod condition, muscle activation of 150 ms before foot ground contact was significantly higher in the rectus femoris, whereas it was lower in the biceps femoris and tibialis anterior muscles than the barefoot condition. These results indicate that wearing shoes alternates the GRF variables at initial ground contact, joint kinematics at the ground contact and muscle activation before foot ground contact during a drop jump, suggesting that the effects of wearing shoes on drop jump training differ from being barefoot.     

A hub dynamometer for measurement of wheel forces in off-road bicycling

A dynamometric hubset that measures the two ground contact force components acting on a bicycle wheel in the plane of the bicycle during off-road riding while either coasting or braking was designed, constructed, and evaluated. To maintain compatibility with standard mountain bike construction, the hubs use commercially available shells with modified, strain gage-equipped axles. The axle strain gages are sensitive to forces acting in the radial and tangential directions, while minimizing sensitivity to transverse forces, steering moments, and variations in the lateral location of the center of pressure. Static calibration and a subsequent accuracy check that computed differences between applied and apparent loads developed during coasting revealed root mean squared errors of 1 percent full-scale or less (full-scale load = 4500 N). The natural frequency of the rear hub with the wheel attached exceeded 350 Hz. These performance capabilities make the dynamometer useful for its intended purpose during coasting. To demonstrate this usefulness, sample ground contact forces are presented for a subject who coasted downhill over rough terrain. The dynamometric hubset can also be used to determine ground contact forces during braking providing that the brake reaction force components are known. However, compliance of the fork can lead to high cross-sensitivity and corresponding large (> 5 percent FS) measurement errors at the front wheel.     

Experimental verification of a computational technique for determining ground reactions in human bipedal stance

We have developed a three-dimensional (3D) biomechanical model of human standing that enables us to study the mechanisms of posture and balance simultaneously in various directions in space. Since the two feet are on the ground, the system defines a kinematically closed-chain which has redundancy problems that cannot be resolved using the laws of mechanics alone. We have developed a computational (optimization) technique that avoids the problems with the closed-chain formulation thus giving users of such models the ability to make predictions of joint moments, and potentially, muscle activations using more sophisticated musculoskeletal models. This paper describes the experimental verification of the computational technique that is used to estimate the ground reaction vector acting on an unconstrained foot while the other foot is attached to the ground, thus allowing human bipedal standing to be analyzed as an open-chain system. The computational approach was verified in terms of its ability to predict lower extremity joint moments derived from inverse dynamic simulations performed on data acquired from four able-bodied volunteers standing in various postures on force platforms. Sensitivity analyses performed with model simulations indicated which ground reaction force (GRF) and center of pressure (COP) components were most critical for providing better estimates of the joint moments. Overall, the joint moments predicted by the optimization approach are strongly correlated with the joint moments computed using the experimentally measured GRF and COP (0.78 < or = r(2) < or = 0.99,median,0.96) with a best-fit that was not statistically different from a straight line with unity slope (experimental=computational results) for postures of the four subjects examined. These results indicate that this model-based technique can be relied upon to predict reasonable and consistent estimates of the joint moments using the predicted GRF and COP for most standing postures.     

Kinetic analysis of ski turns based on measured ground reaction forces

The objective of this study was to devise a method of kinetic analysis of the ground reaction force that enables the durations and magnitudes of forces acting during the individual phases of ski turns to be described exactly. The method is based on a theoretical analysis of physical forces acting during the ski turn. Two elementary phases were defined: (1) preparing to turn (initiation) and (2) actual turning, during which the center of gravity of the skier-ski system moves along a curvilinear trajectory (steering). The starting point of the turn analysis is a dynamometric record of the resultant acting ground reaction force applied perpendicularly on the ski surface. The method was applied to six expert skiers. They completed a slalom course comprising five gates arranged on the fall line of a 26° slope at a competition speed using symmetrical carving turns (30 evaluated turns). A dynamometric measurement system was placed on the carving skis (168 cm long, radius 16 m, data were recorded at 100 Hz). MATLAB procedures were used to evaluate eight variables during each turn: five time variables and three force variables. Comparison of the turn analysis results between individuals showed that the method is useful for answering various research questions associated with ski turns.     

Middle Triassic horseshoe crab reproduction areas on intertidal flats of Europe with evidence of predation by archosaurs

A systematically excavated track site in a 243.5 Myr old Middle Triassic (Karlstadt Formation, Pelsonian, middle Anisian) intertidal carbonate mud‐flat palaeoenvironment at Bernburg (Saxony‐Anhalt, central Germany) has revealed extensive horseshoe crab trackways attributable to the Kouphichnium Nopsca, 1923 ichnogenus. The exposed track bed of a Germanic Basin‐wide spanned intertidal megatrack site is a mud‐cracked biolaminate surface on which detailed tracks have been preserved because of rapid drying and cementation as a result of high temperatures, followed by rapid covering with a protective layer of arenitic storm or tsunami sediments. The different trackway types and their orientations have allowed a tidal sequence to be reconstructed, with the initial appearance of swimming horseshoe crabs followed by half‐swimming/half‐hopping limulids under the shallowest water conditions. The Bernburg trackways, which have mapped lengths of up to 40 m, were all produced by adult animals and exhibit a variety of shapes and patterns that reflect a range of subaquatic locomotion behaviour more typical of mating than of feeding activities. The closest match to the proportions and dimensions of the horseshoe crab tracks at Bernburg is provided by the largest known Middle Triassic limulid Tachypleus gadeai, which is known from the north‐western Tethys in Spain. The horseshoe crab body fossils recognized in the German Mesozoic intertidal zones, instead, are from juveniles. The uniformly adult size indicated by the trackways therefore suggests that they may record the oldest intertidal reproductive zones of horseshoe crabs known from anywhere in the world, with the track‐makers having possibly migrated thousands of kilometres from shallow marine areas of the north‐western Tethys to reproduce in the intertidal palaeoenvironments of the Germanic Basin. Chirotherium trackways of large thecodont archosaurs also appeared on these flats where they appear to have fed on the limulids. With the tidal ebb, smaller reptiles such as Macrocnemus (Rhynchosauroides trackways) appeared on the dry intertidal flats, probably feeding on marine organisms and possibly also on horseshoe crab eggs. © 2011 The Linnean Society of London, Biological Journal of the Linnean Society, 2011, 103 , 76–105.     

Effective leg stiffness in running

Leg stiffness is a common parameter used to characterize leg function during bouncing gaits, like running and hopping. In the literature, different methods to approximate leg stiffness based on kinetic and kinematic parameters are described. A challenging point in estimating leg stiffness is the definition of leg compression during contact. In this paper four methods (methods A–D) based on ground reaction forces (GRF) and one method (method E) relying on temporal parameters are described. Leg stiffness calculated by these five methods is compared with running patterns, predicted by the spring mass model.The best and simplest approximation of leg stiffness is method E. It requires only easily accessible parameters (contact time, flight time, resting leg length, body mass and the leg's touch down angle). Method D is of similar quality but additionally requires the time-dependent progression of the GRF. The other three methods show clear differences from the model predictions by over- or underestimating leg stiffness, especially at slow speeds.Leg stiffness is derived from a conceptual model of legged locomotion and does not exist without this model. Therefore, it is important to prove which experimental method is suited best for approximating the stiffness in a specific task. This will help to interpret the predictions of the conceptual model in comparison with experimental data.     

Antagonist muscle co-contraction during a double-leg landing maneuver at two heights

Background: Knee injuries are common during landing activities. Greater landing height increases peak ground reaction forces (GRFs) and loading at the knee joint. As major muscles to stabilize the knee joint, Quadriceps and Hamstring muscles provide internal forces to attenuate the excessive GRF. Despite the number of investigations on the importance of muscle function during landing, the role of landing height on these muscles forces using modeling during landing is not fully investigated. Methods: Participant-specific musculoskeletal models were developed using experimental motion analysis data consisting of anatomic joint motions and GRF from eight male participants performing double-leg drop landing from 30 and 60 cm. Muscle forces were calculated in OpenSim and their differences were analyzed at the instances of high risk during landing i.e. peak GRF for both heights. Results: The maximum knee flexion angle and moments were found significantly higher from a double-leg landing at 60 cm compared to 30 cm. The results showed elevated GRF, and mean muscle forces during landing. At peak GRF, only quadriceps showed significantly greater forces at 60 cm. Hamstring muscle forces did not significantly change at 60 cm compared to 30 cm. Conclusions: Quadriceps and hamstring muscle forces changed at different heights. Since hamstring forces were similar in both landing heights, this could lead to an imbalance between the antagonist muscles, potentially placing the knee at risk of injury if combined with small flexion angles that was not observed at peak GRF in our study. Thus, enhanced neuromuscular training programs strengthening the hamstrings may be required to address this imbalance. These findings may contribute to enhance neuromuscular training programs to prevent knee injuries during landing.