Effects of posture,movement and hand load on shoulder muscle activity

The influence of external factors such as arm posture, hand loading and dynamic exertion on shoulder muscle activity is needed to provide insight into the relationship between internal and external loading of the shoulder joint. Surface electromyography was collected from 8 upper extremity muscles on 16 participants who performed isometric and dynamic shoulder exertions in three shoulder planes (flexion, mid-abduction and abduction) covering four shoulder elevation angles (30°, 60°, 90° and 120°). Shoulder exertions were performed under three hand load conditions: no load, holding a 0.5 kg load and 30% grip. It was found that adding a 0.5 kg load to the hand increased shoulder muscle activity by 4% maximum voluntary excitation (MVE), across all postures and velocities. Performing a simultaneous shoulder exertion and hand grip led to posture specific redistribution of shoulder muscle activity that was consistent for both isometric and dynamic exertions. When gripping, anterior and middle deltoid activity decreased by 2% MVE, while posterior deltoid, infraspinatus and trapezius activity increased by 2% MVE and biceps brachii activity increased by 6% MVE. Increased biceps brachii activity with gripping may be an initiating factor for the changes in shoulder muscle activity. The finding that hand gripping altered muscle activation, and thus the internal loading, of the shoulder may play an important role in shoulder injury development and rehabilitation.     

A method for estimating torque-vector directions of shoulder muscles using surface EMGs

In this study, a new method is proposed to estimate the torque-vector directions of each shoulder muscle. The method is based on a multiple regression model that reconstructs shoulder torque, which is calculated from the hand force and posture, from the surface EMG of many muscles recorded simultaneously. The torque-vector directions of eleven shoulder muscles of four subjects were obtained at up to 30 different arm postures with this method. The mean confidence interval (p < 0.05) of the estimated torque-vector direction of each subject was 7.7-10.6 degrees. The correlation coefficient between the measured shoulder torque and reconstructed shoulder torque was between 0.76-0.84. The results for majority of the muscles were in accordance with previous studies, and reasonable from the viewpoint of anatomy. The torque-vector directions of a muscle, which are estimated with this method, have more of a functional meaning than a pure anatomical or mechanical one. These indicate the direction of the shoulder torque accompanying the muscle activation for a normal shoulder action that involves the cooperative contraction of many muscles.     

Comparative analysis of methods for estimating arm segment parameters and joint torques from inverse dynamics

A common problem in the analyses of upper limb unfettered reaching movements is the estimation of joint torques using inverse dynamics. The inaccuracy in the estimation of joint torques can be caused by the inaccuracy in the acquisition of kinematic variables, body segment parameters (BSPs), and approximation in the biomechanical models. The effect of uncertainty in the estimation of body segment parameters can be especially important in the analysis of movements with high acceleration. A sensitivity analysis was performed to assess the relevance of different sources of inaccuracy in inverse dynamics analysis of a planar arm movement. Eight regression models and one water immersion method for the estimation of BSPs were used to quantify the influence of inertial models on the calculation of joint torques during numerical analysis of unfettered forward arm reaching movements. Thirteen subjects performed 72 forward planar reaches between two targets located on the horizontal plane and aligned with the median plane. Using a planar, double link model for the arm with a floating shoulder, we calculated the normalized joint torque peak and a normalized root mean square (rms) of torque at the shoulder and elbow joints. Statistical analyses quantified the influence of different BSP models on the kinetic variable variance for given uncertainty on the estimation of joint kinematics and biomechanical modeling errors. Our analysis revealed that the choice of BSP estimation method had a particular influence on the normalized rms of joint torques. Moreover, the normalization of kinetic variables to BSPs for a comparison among subjects showed that the interaction between the BSP estimation method and the subject specific somatotype and movement kinematics was a significant source of variance in the kinetic variables. The normalized joint torque peak and the normalized root mean square of joint torque represented valuable parameters to compare the effect of BSP estimation methods on the variance in the population of kinetic variables calculated across a group of subjects with different body types. We found that the variance of the arm segment parameter estimation had more influence on the calculated joint torques than the variance of the kinematics variables. This is due to the low moments of inertia of the upper limb, especially when compared with the leg. Therefore, the results of the inverse dynamics of arm movements are influenced by the choice of BSP estimation method to a greater extent than the results of gait analysis.     

Dynamics of wrist rotations

Understanding the dynamics of wrist rotations is important for many fields, including biomechanics, rehabilitation and motor neuroscience. This paper provides an experimentally based mathematical model of wrist rotation dynamics in Flexion-Extension (FE) and Radial-Ulnar Deviation (RUD), and characterizes the torques required to overcome the passive mechanical impedance of wrist rotations. We modeled the wrist as a universal joint with non-intersecting axes. The equations of motion of the hand rotating about the wrist joint include inertial, damping, and stiffness terms, with parameter values based on direct measurements (stiffness) or measurements combined with data available in the literature (inertia, damping). We measured the wrist kinematics of six young, healthy subjects making comfortable and fast-paced wrist rotations (±15° in FE, RUD, and combinations) and inserted these kinematic data into the model of wrist rotation dynamics. With this we quantified the torques required to overcome the impedance of wrist rotations and evaluated the relative importance of individual impedance terms as well as interactions between the degrees of freedom. We found that the wrist's passive stiffness is the major impedance the neuromuscular system must overcome to rotate the wrist. Inertia and passive damping only become important for very fast movements. Unlike elbow and shoulder reaching movements, inertial interaction torques are negligible for wrist rotations. Interaction torques due to stiffness and damping, however, are significant. Finally, we found that some model terms (inertial interaction torques, axis offset, and, for moderately sized rotations, non-linearities) can be neglected with little loss of accuracy, resulting in a simple, linear model useful for studies in biomechanics, motor neuroscience, and rehabilitation.     

Comparing non-invasive scapular tracking methods across elevation angles,planes of elevation and humeral axial rotations

Altered scapular motions premeditate shoulder impingement and other musculoskeletal disorders. Divergent experimental conditions in previous research precludes rigorous comparisons of non-invasive scapular tracking techniques. This study evaluated scapular orientation measurement methods across an expanded range of humeral postures. Scapular medial/lateral rotation, anterior/posterior tilt and protraction/retraction was measured using an acromion marker cluster (AMC), a scapular locator, and a reference stylus. Motion was captured using reflective markers on the upper body, as well as on the AMC, locator and stylus. A combination of 5 arm elevation angles, 3 arm elevation planes and 3 arm axial rotations was examined. Measurement method interacted with elevation angle and plane of elevation for all three scapular orientation directions (p < 0.01). Method of measurement interacted with axial rotation in anterior/posterior tilt and protraction/retraction (p < 0.01). The AMC had strong agreement with the reference stylus than the locator for the majority of humeral elevations, planes and axial rotations. The AMC underestimated lateral rotation, with the largest difference of ∼2° at 0° elevation. Both the locator and AMC overestimated posterior tilt at high arm elevation by up to 7.4°. Misestimations from using the locator could be enough to potentially obscure meaningful differences in scapular rotations.     

Dynamic and static control of the human knee joint in abduction-adduction

It is unclear whether humans can voluntarily control dynamic and static properties in knee abduction-adduction, which may be important in performing functional tasks and preventing injuries, whether the main load is about the abduction axis or not. A joint-driving device was used to perturb the knee in abduction-adduction at full knee extension under both passive (muscle relaxed) and active (muscle contracted in abduction or adduction) conditions. Dynamic control properties in knee abduction-adduction were characterized by joint stiffness, viscosity, and limb inertia, and quasi-static knee torque-angle relationship was characterized by knee abduction-adduction laxity and quasi-static stiffness (at a 20Nm moment). It was found that the subjects were capable of generating net abduction and adduction moment through differential co-contraction of muscles crossing the medial and lateral sides of the knee, which helped to reduce the abduction-adduction joint laxity (p< or =0.01) and increase stiffness (p<0.027) and viscous damping. Knee abduction laxity was significantly lower than adduction laxity (p=0.043) and the quasi-static abduction stiffness was significantly higher than adduction stiffness (p<0.001). The knee joint showed significantly higher stiffness and viscosity in abduction-adduction than their counterparts in knee flexion-extension at comparable levels of joint torque (p<0.05). Similar to dynamic flexion-extension properties, the system damping ratio remained constant over different levels of contraction, indicating simplified control tasks for the central nervous system; while the natural undamped frequency increased considerably with abduction-adduction muscle contraction, presumably making the knee a quicker system during strenuous tasks involving strong muscle contraction.     

Dependence of elbow joint stiffness measurements on speed,angle, and muscle contraction level

Elbow joint stiffness is critical to positioning the hand. Abnormal elbow joint stiffness may affect a person's ability to participate in activities of daily living. In this work, elbow joint stiffness was measured in ten healthy young adults with a device adapted from one previously used to measure stiffness in other joints. Measurements of elbow stiffness involved applying a constant-velocity rotational movement to the elbow and measuring the resultant displacement, torque, and acceleration. Elbow stiffness was then computed using a previously-established model for joint stiffness. Measurements were made at two unique elbow joint angles, two speeds, and two forearm muscle contraction levels. The results indicate that the elbow joint stiffness is significantly affected by both rotational speed and forearm muscle contraction level.     

A method for estimating torque-vector directions of shoulder muscles using surface EMGs

In this study, a new method is proposed to estimate the torque-vector directions of each shoulder muscle. The method is based on a multiple regression model that reconstructs shoulder torque, which is calculated from the hand force and posture, from the surface EMG of many muscles recorded simultaneously. The torque-vector directions of eleven shoulder muscles of four subjects were obtained at up to 30 different arm postures with this method. The mean confidence interval ( p< 0.05) of the estimated torque-vector direction of each subject was 7.7-10.6 degrees. The correlation coefficient between the measured shoulder torque and reconstructed shoulder torque was between 0.76-0.84. The results for majority of the muscles were in accordance with previous studies, and reasonable from the viewpoint of anatomy. The torque-vector directions of a muscle, which are estimated with this method, have more of a functional meaning than a pure anatomical or mechanical one. These indicate the direction of the shoulder torque accompanying the muscle activation for a normal shoulder action that involves the cooperative contraction of many muscles.     

Use of Self-Selected Postures to Regulate Multi-Joint Stiffness During Unconstrained Tasks

Background

The human motor system is highly redundant, having more kinematic degrees of freedom than necessary to complete a given task. Understanding how kinematic redundancies are utilized in different tasks remains a fundamental question in motor control. One possibility is that they can be used to tune the mechanical properties of a limb to the specific requirements of a task. For example, many tasks such as tool usage compromise arm stability along specific directions. These tasks only can be completed if the nervous system adapts the mechanical properties of the arm such that the arm, coupled to the tool, remains stable. The purpose of this study was to determine if posture selection is a critical component of endpoint stiffness regulation during unconstrained tasks.

Methodology/Principal Findings

Three-dimensional (3D) estimates of endpoint stiffness were used to quantify limb mechanics. Most previous studies examining endpoint stiffness adaptation were completed in 2D using constrained postures to maintain a non-redundant mapping between joint angles and hand location. Our hypothesis was that during unconstrained conditions, subjects would select arm postures that matched endpoint stiffness to the functional requirements of the task. The hypothesis was tested during endpoint tracking tasks in which subjects interacted with unstable haptic environments, simulated using a 3D robotic manipulator. We found that arm posture had a significant effect on endpoint tracking accuracy and that subjects selected postures that improved tracking performance. For environments in which arm posture had a large effect on tracking accuracy, the self-selected postures oriented the direction of maximal endpoint stiffness towards the direction of the unstable haptic environment.

Conclusions/Significance

These results demonstrate how changes in arm posture can have a dramatic effect on task performance and suggest that postural selection is a fundamental mechanism by which kinematic redundancies can be exploited to regulate arm stiffness in unconstrained tasks.     

Estimation of dynamic joint torques and trajectory formation from surface electromyography signals using a neural network model

In this study, human arm movement was re-constructed from electromyography (EMG) signals using a forward dynamics model acquired by an artificial neural network within a modular architecture. Dynamic joint torques at the elbow and shoulder were estimated for movements in the horizontal plane from the surface EMG signals of 10 flexor and extensor muscles. Using only the initial conditions of the arm and the EMG time course as input, the network reliably reconstructed a variety of movement trajectories. The results demonstrate that posture maintenance and multijoint movements, entailing complex via-point specification and co-contraction of muscles, can be accurately computed from multiple surface EMG signals. In addition to the model's empirical uses, such as calculation of arm stiffness during motion, it allows evaluation of hypothesized computational mechanisms of the central nervous system such as virtual trajectory control and optimal trajectory planning.     

Principles for learning horizontal-planar arm movements with reversal

PurposeThis study tested the hypothesis that muscle and interaction torques can be altered independently in order to improve in specific kinematics performance observed following practice. We also tested the hypothesis that a simple set of rules of EMG-control and kinetic-control models could explain the EMG and kinetic changes due to practice of movements with reversal.ScopeKinematics of the upper arm with reversal, performed over three distances, was reconstructed using motion analysis. The muscle and interaction torques were calculated using inverse-dynamics. EMG activities of the major arm muscles were also recorded. The results demonstrate that improved performance is facilitated by an increase in muscle torque (and therefore acceleration) at the proximal joint (shoulder) and by an increase in the interaction torque at the distal joint (elbow). No changes were observed in the amount of muscle activity underlying these kinetic modifications, except for a decrease in the shoulder antagonist latency.ConclusionThe results confirm Bernstein’s idea that the central nervous system takes advantage of the passive-interactive properties of the moving system. Also the modulation of the EMG patterns should be explained taking in account the reactive forces and the dual functions (maintenance of posture and generation of movement) of the muscles.     

Kinetic chain of overarm throwing in terms of joint rotations revealed by induced acceleration analysis

This study investigated how baseball players generate large angular velocity at each joint by coordinating the joint torque and velocity-dependent torque during overarm throwing. Using a four-segment model (i.e., trunk, upper arm, forearm, and hand) that has 13 degrees of freedom, we conducted the induced acceleration analysis to determine the accelerations induced by these torques by multiplying the inverse of the system inertia matrix to the torque vectors. We found that the proximal joint motions (i.e., trunk forward motion, trunk leftward rotation, and shoulder internal rotation) were mainly accelerated by the joint torques at their own joints, whereas the distal joint motions (i.e., elbow extension and wrist flexion) were mainly accelerated by the velocity-dependent torques. We further examined which segment motion is the source of the velocity-dependent torque acting on the elbow and wrist accelerations. The results showed that the angular velocities of the trunk and upper arm produced the velocity-dependent torque for initial elbow extension acceleration. As a result, the elbow joint angular velocity increased, and concurrently, the forearm angular velocity relative to the ground also increased. The forearm angular velocity subsequently accelerated the elbow extension and wrist flexion. It also accelerated the shoulder internal rotation during the short period around the ball-release time. These results indicate that baseball players accelerate the distal elbow and wrist joint rotations by utilizing the velocity-dependent torque that is originally produced by the proximal trunk and shoulder joint torques in the early phase.     

Glenohumeral stability in simulated rotator cuff tears

Rotator cuff tears disrupt the force balance in the shoulder and the glenohumeral joint in particular, resulting in compromised arm elevation torques. The trade-off between glenohumeral torque and glenohumeral stability is not yet understood. We hypothesize that compensation of lost abduction torque will lead to a superior redirection of the reaction force vector onto the glenoid surface, which will require additional muscle forces to maintain glenohumeral stability. Muscle forces in a single arm position for five combinations of simulated cuff tears were estimated by inverse dynamic simulation (Delft Shoulder and Elbow Model) and compared with muscle forces in the non-injured condition. Each cuff tear condition was simulated both without and with an active modeling constraint for glenohumeral stability, which was defined as the condition in which the glenohumeral reaction force intersects the glenoid surface. For the simulated position an isolated tear of the supraspinatus only increased the effort of the other muscles with 8%, and did not introduce instability. For massive cuff tears beyond the supraspinatus, instability became a prominent factor: the deltoids were not able to fully compensate lost net abduction torque without introducing destabilizing forces; unfavorable abductor muscles (i.e. in the simulated position the subscapularis and the biceps longum) remain to compensate the necessary abduction torque; the teres minor appeared to be of vital importance to maintain glenohumeral stability. Adverse adductor muscle co-contraction is essential to preserve glenohumeral stability.     

Accuracy and repeatability of joint angles measured using a single camera markerless motion capture system

Markerless motion capture systems have developed in an effort to evaluate human movement in a natural setting. However, the accuracy and reliability of these systems remain understudied. Therefore, the goals of this study were to quantify the accuracy and repeatability of joint angles using a single camera markerless motion capture system and to compare the markerless system performance with that of a marker-based system. A jig was placed in multiple static postures with marker trajectories collected using a ten camera motion analysis system. Depth and color image data were simultaneously collected from a single Microsoft Kinect camera, which was subsequently used to calculate virtual marker trajectories. A digital inclinometer provided a measure of ground-truth for sagittal and frontal plane joint angles. Joint angles were calculated with marker data from both motion capture systems using successive body-fixed rotations. The sagittal and frontal plane joint angles calculated from the marker-based and markerless system agreed with inclinometer measurements by <0.5°. The systems agreed with each other by <0.5° for sagittal and frontal plane joint angles and <2° for transverse plane rotation. Both systems showed a coefficient of reliability <0.5° for all angles. These results illustrate the feasibility of a single camera markerless motion capture system to accurately measure lower extremity kinematics and provide a first step in using this technology to discern clinically relevant differences in the joint kinematics of patient populations.     

The bending stiffness of shoes is beneficial to running energetics if it does not disturb the natural MTP joint flexion

A local minimum for running energetics has been reported for a specific bending stiffness, implying that shoe stiffness assists in running propulsion. However, the determinant of the metabolic optimum remains unknown. Highly stiff shoes significantly increase the moment arm of the ground reaction force (GRF) and reduce the leverage effect of joint torque at ground push-off. Inspired by previous findings, we hypothesized that the restriction of the natural metatarsophalangeal (MTP) flexion caused by stiffened shoes and the corresponding joint torque changes may reduce the benefit of shoe bending stiffness to running energetics. We proposed the critical stiffness, k_cr, which is defined as the ratio of the MTP joint (MTPJ) torque to the maximal MTPJ flexion angle, as a possible threshold of the elastic benefit of shoe stiffness. 19 subjects participated in a running test while wearing insoles with five different bending stiffness levels. Joint angles, GRFs, and metabolic costs were measured and analyzed as functions of the shoe stiffness. No significant changes were found in the take-off velocity of the center of mass (CoM), but the horizontal ground push-offs were significantly reduced at different shoe stiffness levels, indicating that complementary changes in the lower-limb joint torques were introduced to maintain steady running. Slight increases in the ankle, knee, and hip joint angular impulses were observed at stiffness levels exceeding the critical stiffness, whereas the angular impulse at the MTPJ was significantly reduced. These results indicate that the shoe bending stiffness is beneficial to running energetics if it does not disturb the natural MTPJ flexion.     

Human ankle joint stiffness over the full range of muscle activation levels

System identification techniques have been used to track changes in dynamic stiffness of the human ankle joint over a wide range of muscle contraction levels. Subjects lay supine on an experimental table with their left foot encased in a rigid, low-inertia cast which was fixed to an electro-hydraulic actuator operating as a position servo. Subjects generated tonic plantarflexor or dorsiflexor torques of different magnitudes ranging from rest to maximum voluntary contractions (MVC) during repeated presentations of a stochastic ankle angular position perturbation. Compliance impulse response functions (IRF) were determined from every 2.5 s perturbation sequence. The gain (G), natural frequency (omega n), and damping (zeta) parameters of the second-order model providing the best fit to each IRF were determined and used to compute the corresponding inertial (I), viscous (B) and elastic (K) stiffness parameters. The behaviour of these parameters with mean torque was found to follow two simple rules. First, the elastic parameter (K) increased in proportion to mean ankle torque as it was varied from rest to MVC; these changes were considerable involving increases of more than an order of magnitude. Second, the damping parameter (zeta) remained almost invariant over the entire range of contractions despite the dramatic changes in K.     

A new non-orthogonal decomposition method to determine effective torques for three-dimensional joint rotation

This paper describes a new non-orthogonal decomposition method to determine effective torques for three-dimensional (3D) joint rotation. A rotation about a joint coordinate axis (e.g. shoulder internal/external rotation) cannot be explained only by the torque about the joint coordinate axis because the joint coordinate axes usually deviate from the principal axes of inertia of the entire kinematic chain distal to the joint. Instead of decomposing torques into three orthogonal joint coordinate axes, our new method decomposes torques into three "non-orthogonal effective axes" that are determined in such a way that a torque about each effective axis produces a joint rotation only about one of the joint coordinate axes. To demonstrate the validity of this new method, a simple internal/external rotation of the upper arm with the elbow flexed at 90 degrees was analyzed by both orthogonal and non-orthogonal decomposition methods. The results showed that only the non-orthogonal decomposition method could explain the cause-effect mechanism whereby three angular accelerations at the shoulder joint are produced by the gravity torque, resultant joint torque, and interaction torque. The proposed method would be helpful for biomechanics and motor control researchers to investigate the manner in which the central nervous system coordinates the gravity torque, resultant joint torque, and interaction torque to control 3D joint rotations.     

Analysis of the shoulder in brachiating spider monkeys.

Adult spider monkeys (Ateles geoffroyi and A. paniscus) were conditioned to brachiate on a rope mill (an arboreal analogue of a treadmill). The postures and excursions of the shoulder girdle were studied by cineradiography. These data, together with conventional cinematographic and anatomical studies, permit reassessment of some characteristic structural and functional features of the shoulder in brachiators. During the propulsive phase, the shoulder joint moves caudad from fifth cervical to seventh cervical levels; at the same time, the joint moves dorsad (from a frontal plane midway between the first thoracic vertebra and the manubrium, to a frontal plane through the spinous processes) and slightly mediad. Spider monkeys position the scapula principally on the dorsum of the thorax, in contrast to quadrupedal primates which maintain a more lateral position (even in suspended postures). During brachiation, the scapula rotates a total of 35°; most of this rotation (20°) occurs in the non-propulsive phase when the free arm is being elevated to secure a new handhold. The sigmoidal shape, twisting of proximal relative to distal ends, and elongation of the clavicle in spider monkeys and other brachiators appear to be related to the specialized positioning of the shoulder girdle on the dorsum of the thorax. Shoulder and elbow movements contribute to the efficiency of the swing in terms of the dynamics of a pendulum.     

The sensitivity of endpoint forces produced by the extrinsic muscles of the thumb to posture

This study utilizes a biomechanical model of the thumb to estimate the force produced at the thumb-tip by each of the four extrinsic muscles. We used the principle of virtual work to relate joint torques produced by a given muscle force to the resulting endpoint force and compared the results to two separate cadaveric studies. When we calculated thumb-tip forces using the muscle forces and thumb postures described in the experimental studies, we observed large errors. When relatively small deviations from experimentally reported thumb joint angles were allowed, errors in force direction decreased substantially. For example, when thumb posture was constrained to fall within ±15° of reported joint angles, simulated force directions fell within experimental variability in the proximal–palmar plane for all four muscles. Increasing the solution space from ±1° to an unbounded space produced a sigmoidal decrease in error in force direction. Changes in thumb posture remained consistent with a lateral pinch posture, and were generally consistent with each muscle’s function. Altering thumb posture alters both the components of the Jacobian and muscle moment arms in a nonlinear fashion, yielding a nonlinear change in thumb-tip force relative to muscle force. These results explain experimental data that suggest endpoint force is a nonlinear function of muscle force for the thumb, support the continued use of methods that implement linear transformations between muscle force and thumb-tip force for a specific posture, and suggest the feasibility of accurate prediction of lateral pinch force in situations where joint angles can be measured accurately.