Mechanical energy costs of human movement: an approach to evaluating the transfer possibilities of two-joint muscles

Different methods of calculating the mechanical energy cost of a movement presented in the literature can give results differing by an order of magnitude. The assumptions made concerning the transfer of energy between different parts of the body are part of the problem. This investigation assesses the role of transfer in energy saving and specifically, the possibility of two-joint muscles reducing the mechanical energy cost of a movement compared to a system having one-joint muscles only. An algorithm was developed which recruited one-joint or both one- and two-joint muscles to supply the net joint moments. The work performed under these two conditions was then compared. It was found that activation of both one- and two-joint musculature reduced the mechanical work cost during walking by between 7 and 29% over that required by single-joint musculature alone. This investigation supports suggestions in the literature that one of the functions of two-joint musculature is to reduce the mechanical energy cost and probably the metabolic cost of movement.     

Mechanical energy expenditure on human movement and the anthropomorphic mechanism]

Mechanical energy expenditures of the man and anthropomorphic locomotion machine during movement are compared theoretically. Sources of the mechanical energy affecting movement of human's lower extremity are modelled by 8 muscles, 3 of which are the two-joint muscles. The model of the lower extremity of anthropomorphic locomotion machine is moved by joint moments. It was shown that in the same movement the model of the human lower extremity can spend less mechanical energy than that of the model of the anthropomorphic locomotion machine. It is caused by the presence of two-joint muscles in the first model. Such an economy of mechanical energy expenditures realized by the two-joint muscle is possible at simultaneous execution of three conditions: 1) signs of the muscle powers, which are produced by that muscle at both joints, are opposite; 2) moments produced by that muscle at each of both joints have the same direction with the joint moments at these joints; 3) one-joint antagonistic muscles are not active. An expression which makes it possible to estimate the mechanical energy savings by the two-joint muscles during humans' movement was developed.     

A mathematical model of hind-limb control in cats when walking backward

The “walking backward” mode was achieved within a single model of cat hind-limb locomotion with the balance maintenance only due to a change in the controlling actions (in addition to the “forward walking” mode). The skeletal part of the model contains the spine, pelvis, and two limbs consisting of the thigh, shin, and foot. The hip joint and spine mount in the thoracic region have three degrees of freedom; the knee and ankle joints have one degree of freedom. The pelvis is rigidly connected to the spine. Control is performed by model muscles (flexors and extensors of the thigh, shin, and foot). The muscle activation is performed by the effects that are typical for motoneurons that control the muscles. The feet in the support phase touch the treadmill, which moves at a constant speed. The model qualitatively reproduces multiple characteristics of feline movements during forward and backward walking (supporting its validity).     

A Dynamic Optimization Solution for Vertical Jumping in Three Dimensions

A three-dimensional model of the human body is used to simulate a maximal vertical jump. The body is modeled as a 10-segment, 23 degree-of-freedom (dof), mechanical linkage, actuated by 54 muscles. Six generalized coordinates describe the position and orientation of the pelvis relative to the ground; the remaining nine segments branch in an open chain from the pelvis. The head, arms, and torso (HAT) are modeled as a single rigid body. The HAT articulates with the pelvis via a 3 dof ball-and-socket joint. Each hip is modeled as a 3 dof ball-and-socket joint, and each knee is modeled as a 1 dof hinge joint. Each foot is represented by a hindfoot and toes segment. The hindfoot articulates with the shank via a 2 dof universal joint, and the toes articulate with the hindfoot via a 1 dof hinge joint. Interaction of the feet with the ground is modeled using a series of spring-damper units placed under the sole of each foot. The path of each muscle is represented by either a series of straight lines or a combination of straight lines and space curves. Each actuator is modeled as a three-element, Hill-type muscle in series with tendon. A first-order process is assumed to model muscle excitation-contraction dynamics. Dynamic optimization theory is used to calculate the pattern of muscle excitations that produces a maximal vertical jump. Quantitative comparisons between model and experiment indicate that the model reproduces the kinematic, kinetic, and muscle-coordination patterns evident when humans jump to their maximum achievable heights.     

Concurrent validation of an inertial measurement system to quantify kicking biomechanics in four football codes

Wearable inertial measurement systems (IMS) allow for three-dimensional analysis of human movements in a sport-specific setting. This study examined the concurrent validity of a IMS (Xsens MVN system) for measuring lower extremity and pelvis kinematics in comparison to a Vicon motion analysis system (MAS) during kicking. Thirty footballers from Australian football (n = 10), soccer (n = 10), rugby league and rugby union (n = 10) clubs completed 20 kicks across four conditions. Concurrent validity was assessed using a linear mixed-modelling approach, which allowed the partition of between and within-subject variance from the device measurement error. Results were expressed in raw and standardised units for assessments of differences in means and measurement error, and interpreted via non-clinical magnitude-based inferences. Trivial to small differences were found in linear velocities (foot and pelvis), angular velocities (knee, shank and thigh), sagittal joint (knee and hip) and segment angle (shank and pelvis) means (mean difference: 0.2–5.8%) between the IMS and MAS in Australian football, soccer and the rugby codes. Trivial to small measurement errors (from 0.1 to 5.8%) were found between the IMS and MAS in all kinematic parameters. The IMS demonstrated acceptable levels of concurrent validity compared to a MAS when measuring kicking biomechanics across the four football codes. Wearable IMS offers various benefits over MAS, such as, out-of-laboratory testing, larger measurement range and quick data output, to help improve the ecological validity of biomechanical testing and the timing of feedback. The results advocate the use of IMS to quantify biomechanics of high-velocity movements in sport-specific settings.     

Sensor-to-body calibration procedure for clinical motion analysis of lower limb using magnetic and inertial measurement units

Magnetic and Inertial measurement units (MIMUs) have become exceedingly popular for ambulatory human motion analysis during the past two decades. However, measuring anatomically meaningful segment and joint kinematics requires virtual alignment of the MIMU frame with the anatomical frame of its corresponding segment. Therefore, this paper presents a simple calibration procedure, based on MIMU readouts, to align the inertial frame of the MIMU with the anatomical frames, as recommended by ISB. The proposed calibration includes five seconds of quiet standing in a neutral posture followed by ten consecutive hip flexions/extensions. This procedure will independently calibrate MIMUs attached to the pelvis, thigh, shank, and foot. The accuracy and repeatability of the calibration procedure and the 3D joint angle estimation were validated against the gold standard motion capture system by an experimental study with ten able-bodied participants. The procedure showed high test-retest repeatability in aligning the MIMU frame with its corresponding anatomical frame, i.e., the helical angle between the MIMU and anatomical frames did not significantly differ between the test and retest sessions (except for thigh MIMU). Compared to previously introduced procedures, this procedure attained the highest inter-participant repeatability (inter-participant coefficient of variations of the helical angle: 20.5–42.2%). Further, the proposed calibration would reduce the offset errors of the 3D joint angle estimation (up to 12.8 degrees on average) compared to joint angle estimation without calibration (up to 26.3 degrees on average). The proposed calibration enables MIMU to measure clinically meaningful gait kinematics.     

新变态小蟾蜍(Bufo regularis)膝关节水平截肢或关节断离后后肢之组织发生和再生(英文)

新变态小蟾蜍(Bufo regularis Reuss)后肢膝关节水平的再生能力要比同一时期腿中段或更远水平要高。组织发生表明股骨残端上方有大块软骨性髁状帽。再生情况较好的另一些例子,恢复部分可达到小腿中段或只达到小腿基部,并带有或不带有畸形的膝关节,截肢组可达40%,而关节断离组可达83%。后一组中再生体中有一个或多个软骨化中心,表明其分化程度。这提示关节断离的机械作用可能引起一些有利于再生的进行性的组织学变化。对两种手术(截肢和关节断离)后早期组织发生及手术水平的残肢组织和少量肌肉的作用进行了讨论。     

The distribution of motoneurons supplying hind limb muscles in the clawed toad, Xenopus laevis

The distribution of motoneurons in the lumbar spinal cord (spinal segments 8-10) of the clawed toad, Xenopus laevis, was studied with the horseradish peroxidase technique. In a total of 13 different hind limb muscles this tracer was applied in a slow-release gel. Motoneurons innervating a particular hind limb muscle were clustered in longitudinally arranged motor pools. Motor pools of different muscles did show considerable overlap both in the rostrocaudal and transverse plane. But, the various motor pools clearly show a somatotopic organization of motoneurons even in such a condensed lumbar spinal cord as in Xenopus laevis. Motoneurons innervating more distally positioned muscles are generally found in more caudal segments, while proximal muscles (with the exception of the m. adductor magnus) are supplied by motoneurons more or less throughout the lumbar enlargement. Flexor muscles usually are innervated by motoneurons situated ventrolaterally in the ventral horn, extensor muscles by dorsomedially found motoneurons. This pattern is particularly apparent for proximal (thigh) muscles, less so for more distal (shank and foot) muscles. The present data are in keeping with those obtained with the retrograde cell degeneration technique in ranid frogs and are consistent with observations in other tetrapods, although a more clear separation of motor pools is evident in "higher" vertebrates such as birds and mammals.     

Peculiarities of Activation of Muscles of the Shoulder Belt in Voluntary Two-Joint Movements of the Upper Limb

We studied coordination of central motor commands (СMCs) coming to muscles of the shoulder and shoulder belt in the course of single-joint and two-joint movements including flexion and extension of the elbow and shoulder joints. Characteristics of rectified and averaged EMGs recorded from a few muscles of the upper limb were considered correlates of the CMC parameters. Special attention was paid to coordination of CMCs coming to two-joint muscles that are able to function as common flexors (m. biceps brachii, caput breve, BBcb) and common extensors (m. triceps brachii, caput longum, TBcl) of the elbow and shoulder joints. Upper limb movements used in the tests included planar shifts of the arm from one spatial point to another resulting from either simultaneous changes in the angles of the shoulder and elbow joints or isolated sequential (two-stage) changes in these joint angles. As was found, shoulder muscles providing movements of the elbow with changes in the angle of the elbow joint, i.e., BBcb and TBcl, were also intensely involved in the performance of single-joint movements in the shoulder joint. The CMCs coming to two-joint muscles in the course of two-joint movements appeared, in the first approximation, as sums of the commands received by these muscles in the course of corresponding single-joint movements in the elbow and shoulder joints. Therefore, if we interpret the isolated forearm movement performed due to a change in the angle of the elbow joint as the main motor event, while the shoulder movement is considered the accessory one, we can conclude that realization of a two-joint movement of the upper-limb distal part is based on superposition of CMCs related to basic movements (main and accessory). Neirofiziologiya/Neurophysiology, Vol. 41, No. 1, pp. 48–56, January–February, 2009.     

Peculiarities of Activation of the Upper Limb Muscles in Realization of Two-Joint Movements in Humans

In tests on humans, we recorded EMG activity from the muscles flexing and extending the forearm and shoulder in the course of realization of sequential single-joint and simultaneous two-joint movements of the upper limb. As was shown, the shoulder muscles m. biceps brachii and m. triceps brachii are involved in flexion/extension of both elbow and shoulder joints. Central commands sent to the above muscles in the course of a two-joint movement could be considered a superposition of the central commands coming to the same muscles in realization of the corresponding sequential single-joint movements with the same changes in the angles of the elbow and shoulder joints. External loadings applied in the direction of extension of the elbow and shoulder joints induced, in general, similar changes in coordination of the activity of muscles moving the forearm and shoulder under conditions of both single-joint and two-joint movements. These facts allow us to suppose that coordination of the muscle activity in two-joint movements depends to a greater extent on the forces influencing limb links than on the mode of realization of the movements (two sequential single-joint movements vs a two-joint movement corresponding to the above motor events).     

Theoretical considerations on cocontraction of sets of agonistic and antagonistic muscles

It is well known that static, non-linear minimization of the sum of the stress in muscles to a certain power cannot predict cocontraction of pairs of one-joint antagonistic muscles. In this report, we prove that for a single joint either all agonistic muscles cocontract or all are silent. For two-joint muscles, we show that lengthening and shortening of muscles corresponds closely to zero force and non-zero force states, respectively. This gives a new physiological interpretation of situations in which cocontraction of pairs of two-joint antagonistic muscles is predicted by these static non-linear optimization approaches.     

Segment interactions within the swing leg during unloaded and loaded running

In this study, designed to determine the effect of lower extremity inertia manipulation on joint kinetics and segment energetics during the swing phase, 15 male distance runners were filmed as they performed treadmill running (3.35 m s-1) under five load conditions: no added load and loads of 0.25 kg and 0.50 kg added to each thigh or each foot. Results of this study demonstrated that the energetics of the lower extremity movements during the swing phase of the running cycle were dominated by mechanical energy transfers between adjacent segments attributed to the joint reaction forces, which acted to redistribute mechanical energy within the system. These contributions were considerably greater than those of the net joint moments, which primarily reflected muscular generation and dissipation of mechanical energy. Lower extremity loading caused little change in the movement pattern of the swing leg. However, increases in the joint reaction forces and net moments and in the amount of work done and the energy transfer attributed to the reaction forces and moments were observed, but were limited to the joints proximal to the location of the added load. These results were consistent with the increased aerobic demand associated with increases in lower extremity inertia that have been reported elsewhere and also have implications for the manner in which the neuromuscular system controls the motion of the legs during running.     

Joit torque and energy patterns in normal gait

Experiments were conducted on normal level gait to determine the synergistic patterns present in the forces causing joint moments and those associated with the generation, absorption and transfer of mechanical energy. The following generalizations can be made about the patterns: (i) During swing phase three forces (gravitational, muscle and knee joint acceleration) are responsible for shank rotation, and are shown to act together during both acceleration and deceleration.—(ii) The patterns of generation, absorption and transfer of mechanical energy at the joints are detailed. These patterns demonstrate inter-segment transfers of energy through the joint centres, and through the muscles, as well as the more recognized generation and absorption by the muscles themselves.—As a result of the complexity shown in these patterns it is cautioned that fundamental relationships that may have been derived from controlled biomechanical experiments (such as horizontal flexion and extension of the forearm) are not likely to apply to more normal movements such as gait.     

The investigation of locomotor activity control system in humans under the air-stepping conditions during passive and voluntary leg movements

The degree of activation of the central stepping program during passive leg movement was studied in healthy subjects under unloading conditions; the excitability of spinal motoneurons was studied during passive and voluntary stepping movements. Passive stepping movements with characteristics maximally close to those during voluntary stepping were accomplished by the experimenter. The bursts of muscular activity during voluntary and imposed stepping movements were compared. In addition, the influence on the leg movement of artificially created loading onto the foot was studied. The excitability of spinal motoneurons was estimated by the amplitude of modulation of the m. soleus H reflex. Changes in the H reflex (Hoffmann’s reflex) after fixation of the knee and hip joints were also studied. In most subjects, passive movements were accompanied by bursts of electromyographic (EMG) activity in the hip muscles (sometimes in shank muscles); the timing of the EMG burst during the step cycle coincided with the burst’s timing during voluntary stepping. In many cases, the bursts in EMG activity exceeded the activity of homonymous muscles during voluntary stepping. Simulation of foot loading influenced significantly the distal part of the moving extremity during both voluntary and passive movements, which was expressed in the appearance of movements in the ankle joint and an increase in the phasic EMG activity of the shank muscles. The excitability of motoneurons during passive movements was higher than during voluntary movements. Changes and modulation of the H reflex throughout the step cycle were similar without restriction of joint mobility and without hip joint mobility. Fixation of the knee joint was of great importance. It is supposed that imposed movements activate the same mechanisms of rhythm generation as supraspinal commands during voluntary movements. During passive movements, presynaptic inhibition depends mostly on the afferent influences from the moving leg rather than on the central commands. Under the conditions of “air-stepping,” the afferent influences from the foot pressure receptors are likely to interact actively with the central program of stepping and to determine the final activity pattern irrespective of the movement type (voluntary or passive).     

Segment and joint angles of hind limb during bipedal and quadrupedal walking of the bonobo (Pan paniscus)

We describe segment angles (trunk, thigh, shank, and foot) and joint angles (hip, knee, and ankle) for the hind limbs of bonobos walking bipedally ("bent-hip bent-knee walking," 17 sequences) and quadrupedally (33 sequences). Data were based on video recordings (50 Hz) of nine subjects in a lateral view, walking at voluntary speed. The major differences between bipedal and quadrupedal walking are found in the trunk, thigh, and hip angles. During bipedal walking, the trunk is approximately 33-41 degrees more erect than during quadrupedal locomotion, although it is considerably more bent forward than in normal human locomotion. Moreover, during bipedal walking, the hip has a smaller range of motion (by 12 degrees ) and is more extended (by 20-35 degrees ) than during quadrupedal walking. In general, angle profiles in bonobos are much more variable than in humans. Intralimb phase relationships of subsequent joint angles show that hip-knee coordination is similar for bipedal and quadrupedal walking, and resembles the human pattern. The coordination between knee and ankle differs much more from the human pattern. Based on joint angles observed throughout stance phase and on the estimation of functional leg length, an efficient inverted pendulum mechanism is not expected in bonobos.     

Alterations of treatment-naïve pelvis and thigh muscle morphology in children with cerebral palsy

Lower limb (LL) muscle morphology and growth are altered in children with cerebral palsy (CP). Muscle alterations differ with age and with severity of motor impairment, classified according to the gross motor classification system (GMFCS). Muscle alterations differ also with orthopedic intervention, frequently performed at the level of the shank muscles since an early age, such as the gastrocnemius. The aim was to investigate the alterations of treatment-naïve pelvis and thigh muscle lengths and volumes in children with GMFCS levels I and II, of varying ages.17 children with CP (GMFCS I: N = 9, II: N = 8, age: 11.7 ± 4 years), age-matched to 17 typically developing (TD) children, underwent MRI of the LL. Three-dimensional reconstructions of the muscles were performed bilaterally. Muscle volumes and lengths were calculated in 3D and compared between groups. Linear regression between muscle volumes and age were computed.Adductor-brevis and gracilis lengths, as well as rectus-femoris volume, were decreased in GMFCS I compared to TD (p < 0.05). Almost all the reconstructed muscle volumes and lengths were found to be altered in GMFCS II compared to TD and GMFCS I. All muscle volumes showed significant increase with age in TD and GMFCS I (R² range: 0.3–0.9, p < 0.05). Rectus-femoris, hamstrings and adductor-longus showed reduced increase in the muscle volume with age in GMFCS II when compared to TD and GMFCS I.Alterations of treatment-naïve pelvis and thigh muscle volumes and lengths, as well as muscle growth, seem to increase with the severity of motor impairment in ambulant children with CP.     

Biomechanical modeling of deep squatting: Effects of the interface contact between posterior thigh and shank

Epidemiological studies indicate that occupational activities that require extended deep knee flexion or kneeling are associated with a higher prevalence of knee osteoarthritis. In many sport activities, such as a catcher in a baseball or a softball game, athletes have to make repetitive deep squatting motions, which have been associated with the development of osteochondritis dissecans. Excessive deep knee flexion postures may cause excessive loading in the knee joint. In deep knee flexion postures, the posterior aspect of the shank will contact the posterior thigh, resulting in a compressive force within the soft tissues. The current study was aimed at analyzing the effects of the posterior thigh/shank contact on the joint loading during deep knee flexion in a natural knee. An existing, whole body model with detailed anatomical components of the knee (AnyBody) has been adopted and modified for this study. The effects of the posterior thigh/shank contact were evaluated by comparing the results of the inverse dynamic analysis for two scenarios: with and without the posterior thigh/shank contact force. Our results showed that, in a deep squatting posture (knee flexion 120+ degrees), the posterior thigh/shank contact helps reduce the patellofemoral (PF) and tibiofemoral (TF) normal contact forces by 42% and 57%, respectively.     

The impact of adding trunk motion to the interpretation of the role of joint moments during normal walking

Biomechanical model assumptions affect the interpretation of the role of the muscle or joint moments to the segmental power estimated by induced acceleration analysis (IAA). We evaluated the effect of modeling the pelvis and trunk segments as two separate segments (8 SM) versus as a single segment (7 SM) on the segmental power, support of the body, knee and hip extension acceleration produced by the joint moments during the stance phase of normal walking. Significant differences were observed in the contribution of the stance hip abductor and extensor moments to support, ipsilateral knee and hip acceleration, and ipsilateral thigh and upper body power. The primary finding was that the role of the stance hip moment in generating ipsilateral thigh and upper body power differed based on degrees of freedom in the model. Secondarily, the magnitude of contributions also differed. For example, the hip abductor and extensor moments showed greater contribution to support, hip and knee acceleration in the 8 SM. IAA and segment power analysis are sensitive to the degrees of freedom between the pelvis and trunk. There is currently no gold standard by which to evaluate the accuracy of IAA predictions. However, modeling the pelvis and trunk as separate segments is closer to the anatomical architecture of the body. An 8 SM appears to be more appropriate for estimating the role of joint moments, particularly to motion of more proximal segments during normal walking.     

Investigation of muscle tone in patients with Parkinson’s disease in unloading conditions

Parkinson’s disease (PD) is a progressive neurodegenerative disorder, the main symptoms of which are hypertonicity and difficulties emerging during performance of stepping movements due to increased muscle stiffness. Biomechanical (stiffness) and electrophysiological (shortening reaction, SR) characteristics of hip and shank muscles were examined in 25 patients with mild and moderate stages of PD (1 to 3 of Hoehn and Yahr Rating Scale, 61 ± 9 years) and 22 age-matched healthy controls in unloading leg conditions during passive flexion/extension of hip, knee, and ankle joints, as well as the changes in the tonic state of muscles under the influence of levodopa. The data obtained were compared with similar findings in healthy subjects. Essentially greater stiffness in all leg muscle groups (except foot extensors) was observed in patients with PD as compared to the healthy subjects. In patients with PD, SR values in hip and shank extensors as well as in foot flexors and extensors were essentially greater then in the healthy subjects. The medicine essentially reduced the stiffness of hip flexors and knee flexors and extensors. The SR persisted, although the frequency of its occurrence decreased in half of studied muscles, and a significant decrease in the SR value was observed in foot extensors. The medicine had no marked effect on the SR in the proximal muscles. Thus, the increased muscle stiffness in patients with PD manifests itself as distorted reactions to external disturbances and increased reflectory reactions of muscles.     

Mechanical advantages of the Neanderthal thumb in flexion: a test of an hypothesis

It has been proposed that the pollical phalangeal length proportions of the Neanderthals provided them with a greater mechanical advantage relative to recent humans for their pollical flexor muscles in power grips across the interphalangeal (IP) joint at the expense of the mechanical advantage of those pollical flexor muscles in precision grips at the finger tip. To test these related hypotheses, we compared the pollical load arm dimensions (phalanx lengths) to power arm dimensions (dorsopalmar articular heights) for the European and Near Eastern Neanderthals and for European and Amerindian samples of recent humans. It was found, initially, that the proximal articular height of the pollical distal phalanx is a poor predictor of the power arm at the IP articulation, even though the proximal articular height of the pollical proximal phalanx was an adequate indicator of the power arm size at the metacarpophalangeal (MCP) joint. In addition, differences in distal pollical ulnar deviation at the IP joint appeared to make little difference in the mechanical advantage comparisons. More importantly, the relative shortness of Neanderthal proximal pollical phalanges and the relative lengthening of their distal pollical phalanges was confirmed, and it was determined that, despite some minor differences in articular dimensions between Neanderthals and recent humans, these pollical phalangeal length contrasts translated into significant differences in mechanical advantages for the flexor muscles across the MCP and IP articulations.