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.     

Quantification of structural loading during off-road cycling.

To provide data for fatigue life prediction and testing of structural components in off-road bicycles, the objective of the research described herein was to quantify the loads input to an off-road bicycle as a result of surface-induced loads. A fully instrumented test bicycle was equipped with dynamometers at the pedals, handlebars, and hubs to measure all in-plane structural loads acting through points of contact between the bicycle and both the rider and the ground. A portable data acquisition system carried by the standing rider allowed, for the first time, this loading information to be collected during extended off-road testing. In all, seven experienced riders rode a downhill trial test section with the test bicycle in both front-suspension and full-suspension configurations. The load histories were used quantitatively to describe the load components through the computation of means, standard deviations, amplitude probability density functions, and power spectral density functions. For the standing position, the coefficients of variation for the load components normal to the ground were greater than 1.2 for handlebar forces and 0.3 and 0.5-0.6 for the pedal and hub forces, respectively. Thus, the relative contribution of the dynamic loading was much greater than the static loading at the handlebars but less so at the pedals and hubs. As indicated by the rainflow count, high amplitude loading was developed approaching 3 and 5 times the weight of the test subjects at the front and rear wheels, respectively. The power spectral densities showed that energy was concentrated in the band 0-50 Hz. Through stress computations and knowledge of material properties, the data can be used analytically to predict the fatigue life of important structural components such as those for steering. The data can also be used to develop a fatigue testing protocol for verifying analytical predictions of fatigue life.     

Measurment of pedal loading in bicycling: I. Instrumentation

This paper presents a new instrumentation system to precisely measure pedal loads and pedal position. A pedal/dynamometer unit implementing four octagonal strain rings measures all six load components between the foot and pedal. To study the relationship between foot position and loading, the pedal/dynamometer offers three degree-of-freedom adjustability. Pedal position along the pedal arc is precisely described by measuring crank arm angle and relative angle between pedal and crank arm. Linear, continuous rotation potentiometers measure the two angles. Transducer signals are sampled by a digital computer which calculates resultant loads and pedal position as functions of crank arm angle. Transducers are designed to mount on most bicycles without modification. Test subjects ride their own bicycles unconstrained on rollers so that loading data is representative of actual cycling.     

A microcomputer controlled snow ski binding system--I. Instrumentation and field evaluation

This paper presents the design and field evaluation of the first microcomputer controlled ski binding system. This system incorporates an Intel 8086 microcomputer controller and an integral binding/dynamometer. This instrumentation system not only undertakes real time control, but also it records dynamometer data via a miniature digital cassette tape recorder. The integral binding/dynamometer offers the same operational and mounting convenience of commercially available mechanical bindings. The binding may be released either manually or electrically via the controller. Comprised of four octagonal half strain rings, the strain gage dynamometer measures the three moment load components at the boot. To enable the user to conveniently operate the computer, extensive operating software was developed. The operating software is discussed in relation to both the acquisition and storage of data from the dynamometer and the control of the electro-mechanical snow ski binding. The binding system has been used successfully to both record boot moment components and control ski binding release during actual skiing maneuvers. Moment histories typical of three common recreational skiing maneuvers are presented.     

Loading of the lumbar spine during backpack carriage

Backpack carriage is significantly associated with a higher prevalence of low back pain. Elevated compression and shear forces in the lumbar intervertebral discs are known risk factors. A novel method of calculating the loads in the lumbar spine during backpack carriage is presented by combining physical and numerical modelling. The results revealed that to predict realistic lumbar compression forces, subject-specific lumbar curvature data were not necessary for loads up to 40 kg. In contrast, regarding shear forces, using subject-specific lumbar curvature data from upright MRI measurements as input for the rigid body model significantly altered lumbar joint force estimates.     

Zeroing of six-component handrim dynamometer for biomechanical studies of manual wheelchair locomotion

A six-component handrim dynamometer (HRD) is a dynamometer that rotates around the wheel axle during measurements. For this kind of dynamometer, static zero level calibration is insufficient because the proportion of the forces (i.e. handrim weight and centrifugal force) measured by each sensor varies according to the angular position and velocity of the dynamometer. The dynamic calibration presented in this paper is based on the direct correction of the sensor signals using Fourier's polynomials that take into account the influences of both the handrim weight distribution on the sensors with respect to the wheel's angular position and the effect of the wheel's angular velocity. When these corrections were applied to the signals produced by the sensors while the HRD was rotating and no effort was being exerted on the handrim, the calculated forces and torques remained close to zero, as expected. Based on these results, the wheel dynamometer can be confidently used for studying manual wheelchair locomotion under various real conditions. The method could also be applied in other situations in which a dynamometer rotates during measurements.     

Variation of finger forces in maximal isometric grasp tests on a range of cylinder diameters

An investigation of maximal isometric cylindrical grasping actions of the hand is reported. A dynamometer is described which allows simultaneous measurement of both the normal forces and the tangential shear forces imposed by each of the three phalangeal segments of a finger during a test. Seventeen subjects were tested, grasping cylinders 31–116 mm in diameter. Normal grasp forces decreased significantly as cylinder size increased, while with large diameters, shear forces moved the skin towards the finger tip. In all cases the distal segments of the fingers imposed forces significantly larger than those of the middle and proximal segments. The mean contributions of fingers from index to little were: 30, 30, 22 and 18%, proportions that did not vary significantly for the range of grasp diameters. Forces acting during grasping activities are reported in greater detail, for a wider range of hand gripping postures, than previously available. These data are useful in the design of hand operated controls or in the prediction of tendon and joint forces in vivo for the design of implants.     

Patellofemoral joint forces

In this review of patellofemoral joint forces as they might apply to implant design, methodologies for estimating forces on the patella and estimates of the forces, as reported in the literature, are summarized. Two methodologies exist for studying joint loads; one that measures kinematics in-vivo and uses analysis to estimate the joint loads and another that measures ground reaction forces and uses analysis to estimate the joint loads. In both these analyses many assumptions are required with varying degrees of uncertainty; here, those assumptions are examined with data from the published literature. The topics covered include: relationships between quadriceps forces and patellofemoral forces or patella ligament forces, relationships between knee joint moments and quadriceps forces, knee joint moments in various gaits, relationships between patellofemoral forces and lateral subluxation forces, and relationships between patella forces and inferior-superior forces. In many cases, there is little data on patella forces during normal activities, in other cases, there are some discrepancies in reported patella forces, i.e. during squat.     

A mechanical evaluation of an elastic femoral prosthetic stem

Studies are being conducted in our laboratory to test the concept of introducing an elastomer to attenuate and damp forces applied to the bone interface in a major weightbearing joint replacement prosthesis. An analogue of a fully constrained intramedullary stem type prosthesis has been developed in a segmental femoral replacement prosthesis of the dog. The layer of silastic was introduced to damp forces at the bone-prosthesis interface. This paper describes the response of this elastomer prosthesis to torsional and bending loads, and defines the upper limits of elastomer strain. The low modulus silastic displayed surprisingly low strain for applied loads, particularly in bending tests, in this prosthetic configuration. The results of these mechanical studies serve as a bench mark for the eventual design and material selection of an elastomer for human prosthetic use.     

In vivo and analytical studies of forces and moments in equine long bones

A study to evaluate the in vivo forces acting on equine long bones is described. Results for the maximum axial forces and bending moments are presented for the radius, metacarpus, tibia, and metatarsus. The forces and bending moments are obtained by combining in vivo strain gage readings and a mathematical model for the mechanics of the bones. Comparisons of equine activities including standing, walking, trotting, and getting up after the anesthetic indicate that one activity does not always produce the highest loads in all of the bones examined. However, for the cases considered here, recovery from the anesthetic produced the largest compressive forces in the metacarpus and the tibia. Also, large tensile forces were found during the foot-up positions during standing and trotting.     

Direct measurement of power during one single sprint on treadmill

We tested the validity of an instrumented treadmill dynamometer for measuring maximal propulsive power during sprint running, and sought to verify whether this could be done over one single sprint, as shown during sprint cycling. The treadmill dynamometer modified towards sprint use (constant motor torque) allows vertical and horizontal forces to be measured at the same location as velocity, i.e. at the foot, which is novel compared to existing methods in which power is computed as the product of belt velocity and horizontal force measured by transducers placed in the tethering system. Twelve males performed 6 s sprints against default, high and low loads set from the motor torque necessary to overcome the friction due to subjects’ weight on the belt (default load), and 20% higher and lower motor torque values. Horizontal ground reaction force, belt velocity, propulsive power and linear force–velocity relationships were compared between the default load condition and when taking all conditions together. Force and velocity traces and values were reproducible and consistent with the literature, and no significant difference was found between maximal power and force–velocity relationships obtained in the default load condition only vs. adding data from all conditions. The presented method allows one to measure maximal propulsive power and calculate linear force–velocity relationships from one single sprint data. The main novelties are that both force and velocity are measured at the same location, and that instantaneous values are averaged over one contact period, and not over a constant arbitrary time-window.     

A new bi-axial cantilever beam design for biomechanics force measurements

The demand for measuring forces exerted by animals during locomotion has increased dramatically as biomechanists strive to understand and implement biomechanical control strategies. In particular, multi-axial force transducers are often required to capture animal limb coordination patterns. Most existing force transducers employ strain gages arranged in a Wheatstone bridge on a cantilever beam. Bi-axial measurements require duplicating this arrangement in the transverse direction. In this paper, we reveal a method to embed a Wheatstone bridge inside another to allow bi-axial measurements without additional strain gages or additional second beams. This hybrid configuration resolves two force components from a single bridge circuit and simplifies fabrication for the simultaneous assessment of normal and transverse loads. This design can be implemented with two-dimensional fabrication techniques and can even be used to modify a common full bridge cantilever force transducer. As a demonstration of the new design, we built a simple beam which achieved bi-axial sensing capability that outperformed a conventional half-bridge-per-axis bi-axial strain gage design. We have used this design to measure the ground reaction forces of a crawling caterpillar and a caterpillar-mimicking soft robot. The simplicity and increased sensitivity of this method could facilitate bi-axial force measurements for experimental biologists.     

Spinal Loads during Cycling on an Ergometer

Cycling on an ergometer is an effective exercise for improving fitness. However, people with back problems or previous spinal surgery are often not aware of whether cycling could be harmful for them. To date, little information exists about spinal loads during cycling. A telemeterized vertebral body replacement allows in vivo measurement of implant loads during the activities of daily living. Five patients with a severe compression fracture of a lumbar vertebral body received these implants. During one measurement session, four of the participants exercised on a bicycle ergometer at various power levels. As the power level increased, the maximum resultant force and the difference between the maximum and minimum force (force range) during each pedal revolution increased. The average maximum-force increases between the two power levels 25 and 85 W were 73, 84, 225 and 75 N for the four patients. The corresponding increases in the force range during a pedal revolution were 84, 98, 166 and 101 N. There were large variations in the measured forces between the patients and also within the same patient, especially for high power levels. In two patients, the maximum forces during high-power cycling were higher than the forces during walking measured on the same day. Therefore, the authors conclude that patients with back problems should not cycle at high power levels shortly after surgery as a precaution.     

A new method for gravity correction of dynamometer data and determining passive elastic moments at the joint

Moments measured by a dynamometer in biomechanics testing often include the gravitational moment and the passive elastic moment in addition to the moment caused by muscle contraction. Gravitational moments result from the weight of body segments and dynamometer attachment, whereas passive elastic moments are caused by the passive elastic deformation of tissues crossing the joint being assessed. Gravitational moments are a major potential source of error in dynamometer measurements and must be corrected for, a procedure often called gravity correction. While several approaches to gravity correction have been presented in the literature, they generally assume that the gravitational moment can be adequately modeled as a simple sine or cosine function. With this approach, a single passive data point may be used to specify the model, assuming that passive elastic moments are negligible at that point. A new method is presented here for the gravity correction of dynamometer data. Gravitational moment is represented using a generalized sinusoid, which is fit to passive data obtained over the entire joint range of motion. The model also explicitly accounts for the presence of passive elastic moments. The model was tested for cases of hip flexion-extension, knee flexion-extension, and ankle plantar flexion-dorsiflexion, and provided good fits in all cases.     

A force transducer to measure individual finger loads during activities of daily living.

A new six-degree-of-freedom force transducer has been manufactured, with the sensitivity to measure forces in the range +/-100 N and moments of up to +/-5 Nm. The transducer incorporates two mechanical components: shear forces and bending moments are measured via a strain-gauged tubular section whilst axial forces are transmitted to a cantilevered load cell. Both components are instrumented with 350 ohms strain gauge full bridge circuits and are temperature compensated. After calibration, measurement errors are less than +/-0.3 N for direct forces and +/-0.03 Nm for applied moments. In order to measure sub-maximal finger loads during activities of daily living, the transducer has been incorporated into several housings representing objects in domestic use: a jar, a tap, a key in a lock and a jug kettle.     

Control of constraint forces and trajectories in a rich sensory and actuation environment

A simple control strategy is proposed and applied to a class of non-linear systems that have abundant sensory and actuation channels as in living systems. The main objective is the independent control of constrained trajectories of motion, and control of the corresponding constraint forces. The peripheral controller is a proportional, derivative and integral (PID) controller. A central controller produces, via pattern generators, reference signals that are the desired constrained position and velocity trajectories, and the desired constraint forces. The basic tenet of the this hybrid control strategy is the use of two mechanisms: 1. linear state and force feedback, and 2. non-linear constraint velocity feedback - sliding mode feedback. The first mechanism can be envisioned as a high gain feedback systems. The high gain attribute imitates the agonist-antagonist co-activation in natural systems. The strategy is applied to the control of the force and trajectory of a two-segment thigh-leg planar biped leg with a mass-less foot cranking a pedal that is analogous to a bicycle pedal. Five computational experiments are presented to show the effectiveness of the strategy and the performance of the controller. The findings of this paper are applicable to the design of orthoses and prostheses to supplement functional electrical stimulation for support purposes in the spinally injured cases.     

Specificity of leg power changes to velocities used in bicycle endurance training

Increases in leg power production resulting from 8 wk of bicycle endurance training (30 min/day, 5 times/wk) were studied using an isokinetic dynamometer. In addition, biopsies of vastus lateralis were analyzed to characterize muscle ultrastructural changes. Performance increased on the dynamometer specifically near the estimated average knee angular velocity used during the bicycle training (200 degrees/s). Power measurements were made during the first 5 contractions (maximal power: Pmax) and last 5 contractions (final power: Pend) of 25 and 50 consecutive contractions (at 60 and 240 degrees/s, respectively). Pmax and Pend increased only at 240 degrees/s but not at 60 degrees/s. These increases in Pmax (86 W) and Pend (78 W) resulted primarily from longer torque maintenance but also from increased peak torque during each contraction and were close to the increase in mechanical power output maintained on the bicycle (Pb; 78 W) during the training sessions. The specificity of these changes to the angular velocities used in the bicycle training indicates a neural basis to these adaptations. We suggest that these neural adaptations, coupled with the observed enhancement of muscle mitochondrial and capillary density (+41 and +15%, respectively) underlie the increased ability to maintain power production on a bicycle after endurance training.     

Strain inhomogeneity in the anterior cruciate ligament under application of external and muscular loads.

To determine whether mathematical relations between strains in different bundles and loads would be needed to predict injury of the anterior cruciate ligament (ACL), this work tested the hypothesis that strains developed in two bundles of the ACL were significantly different under the application of a number of loads important to injury etiology of the ACL. To provide the data for testing this hypothesis, liquid mercury strain gages were installed on both the anteromedial (AMB) and posterolateral (PLB) bundles of the ACL of ten specimens, which were then subjected to passive flexion/extension, hyperextension moment, anterior force, internal and external axial moments, quadriceps, and hamstrings forces. Various combinations of these loads were also applied. Flexion angles ranged from 8 deg of hyperextension through 120 deg of flexion. The data were analyzed using a repeated measures analysis of variance. The analyses indicated that significant strain differences existed between the two bundles only for passive flexion/extension. However, the analyses did not support the hypothesis that AMB and PLB strains are significantly different from each other under the application of external and muscular loads. Because noticeable differences (> 3 percent) between bundle strains did exist in some load cases for limited ranges of flexion and the PLB strain was consistently higher than the AMB strain, it may be sufficient to consider strain in only the PLB when predicting ligament damage based on strain-load relations.     

In vivo gleno-humeral joint loads during forward flexion and abduction

To improve design and preclinical test scenarios of shoulder joint implants as well as computer-based musculoskeletal models, a precise knowledge of realistic loads acting in vivo is necessary. Such data are also helpful to optimize physiotherapy after joint replacement and fractures. This is the first study that presents forces and moments measured in vivo in the gleno-humeral joint of 6 patients during forward flexion and abduction of the straight arm. The peak forces and, even more, the maximum moments varied inter-individually to a considerable extent. Forces of up to 238%BW (percent of body weight) and moments up to 1.74%BWm were determined. For elevation angles of less than 90° the forces agreed with many previous model-based calculations. At higher elevation angles, however, the measured loads still rose in contrast to the analytical results. When the exercises were performed at a higher speed, the peak forces decreased. The force directions relative to the humerus remained quite constant throughout the whole motion. Large moments in the joint indicate that friction in shoulder implants is high if the glenoid is not replaced. A friction coefficient of 0.1-0.2 seems to be realistic in these cases.     

A dynamometer for the measurement of force, velocity, work and power during an explosive leg extension

A dynamometer for measurement under static and dynamic conditions is presented. At different load levels, force, velocity, work and power can be measured in explosive leg extensions. Measurements on 53 subjects at different load levels (0-125.5 kg) were carried out. Peak power ranged from 2611 to 1746 W, force from 1351 to 1899 N, velocity from 1.61 to 0.89 m X s-1 and work from 329 to 605 J. Between trial correlation coefficients ranged from 0.72 to 0.95. The dynamometer is compared with others, and it is concluded that data obtained by this dynamometer have a greater practical validity.