Metabolic energy and muscular activity required for leg swing in running

The metabolic cost of leg swing in running is highly controversial. We investigated the cost of initiating and propagating leg swing at a moderate running speed and some of the muscular actions involved. We constructed an external swing assist (ESA) device that applied small anterior pulling forces to each foot during the first part of the swing phase. Subjects ran on a treadmill at 3.0 m/s normally and with ESA forces up to 4% body weight. With the greatest ESA force, net metabolic rate was 20.5% less than during normal running. Thus we infer that the metabolic cost of initiating and propagating leg swing comprises ∼20% of the net cost of normal running. Even with the greatest ESA, mean electromyograph (mEMG) of the medial gastrocnemius and soleus muscles during later portions of stance phase did not change significantly compared with normal running, indicating that these muscles are not responsible for the initiation of leg swing. However, with ESA, rectus femoris mEMG during the early portions of swing phase was as much as 74% less than during normal running, confirming that it is responsible for the propagation of leg swing.

Independent metabolic costs of supporting body weight and accelerating body mass during walking

The metabolic cost of walking is determined by many mechanical tasks, but the individual contribution of each task remains unclear. We hypothesized that the force generated to support body weight and the work performed to redirect and accelerate body mass each individually incur a significant metabolic cost during normal walking. To test our hypothesis, we measured changes in metabolic rate in response to combinations of simulated reduced gravity and added loading. We found that reducing body weight by simulating reduced gravity modestly decreased net metabolic rate. By calculating the metabolic cost per Newton of reduced body weight, we deduced that generating force to support body weight comprises approximately 28% of the metabolic cost of normal walking. Similar to previous loading studies, we found that adding both weight and mass increased net metabolic rate in more than direct proportion to load. However, when we added mass alone by using a combination of simulated reduced gravity and added load, net metabolic rate increased about one-half as much as when we added both weight and mass. By calculating the cost per kilogram of added mass, we deduced that the work performed on the center of mass comprises approximately 45% of the metabolic cost of normal walking. Our findings support the hypothesis that force and work each incur a significant metabolic cost. Specifically, the cost of performing work to redirect and accelerate the center of mass is almost twice as great as the cost of generating force to support body weight.

Transfusion-related acute lung injury

BACKGROUND AND OBJECTIVE

Transfusion of blood components can trigger immunological reactions which may result in a transfusion-related acute lung injury (TRALI). The reported incidence is low; however, there is increasing evidence that the true incidence of this complication may be much higher. One reason for underdiagnosing TRALI could be a deficiency of knowledge about this complication. Therefore, we studied the level of knowledge concerning TRALI among clinicians working on intensive care units (ICU) of an university teaching hospital.

METHODS

A total of 65 clinicians were asked to complete a confidential questionnaire designed to evaluate their knowledge about incidence, pathophysiology, clinical symptoms, therapy and outcome of TRALI. This questionnaire consisted of 13 questions which could be assessed by 'yes', 'no' or 'do not know'.

RESULTS

Only 42 +/- 18% (mean +/- SD) of all answers were correct, while 33 +/- 17% were wrong and 25 +/- 8% unanswered ('do not know'). The 95% confidence interval for the correct answers was 30.8-53.8% implying that there was no significant difference compared to the probability of arbitrary guessing (33.3%).

CONCLUSIONS

Our survey uncovered a marked deficit of knowledge about TRALI suggesting that the low reported incidence of this complication may be in part due to a lack of awareness for TRALI. We conclude that training programmes for clinicians should alert them to the symptoms, diagnosis and treatment options of TRALI.

Giant Galápagos tortoises walk without inverted pendulum mechanical-energy exchange

Animals must perform mechanical work during walking, but most conserve substantial mechanical energy via an inverted-pendulum-like mechanism of energy recovery in which fluctuations of kinetic energy (KE) and gravitational potential energy (GPE) are of similar magnitude and 180° out of phase. The greatest energy recovery typically occurs at intermediate speeds. Tortoises are known for their slow speeds, which we anticipated would lead to small fluctuations in KE. To have an effective exchange of mechanical energy using the inverted-pendulum mechanism, tortoises would need to walk with only small changes in GPE corresponding to vertical center-of-mass (COM)fluctuations of <0.5 mm. Thus, we hypothesized that giant Galápagos tortoises would not conserve substantial mechanical energy using the inverted-pendulum mechanism.

We studied five adult giant Galápagos tortoises Geochelone elephantopus (mean mass=142 kg; range= 103–196 kg). Walking speed was extremely slow (0.16±0.052 m s–1; mean ± 1 s.d.). The fluctuations in kinetic energy(8.1±3.98 J stride–1) were only one-third as large as the fluctuations in gravitational potential energy (22.7±8.04 J stride–1). In addition, these energies fluctuated nearly randomly and were only sporadically out of phase. Because of the dissimilar amplitudes and inconsistent phase relationships of these energies, tortoises conserved little mechanical energy during steady walking, recovering only 29.8±3.77% of the mechanical energy (range=13–52%). Thus, giant Galápagos tortoises do not utilize effectively an inverted-pendulum mechanism of energy conservation. Nonetheless, the mass-specific external mechanical work required per distance (0.41±0.092 J kg–1 m–1) was not different from most other legged animals. Other turtle species use less than half as much metabolic energy to walk as other terrestrial animals of similar mass. It is not yet known if Galápagos tortoises are economical walkers. Nevertheless,contrary to biomechanical convention, poor inverted-pendulum mechanics during walking do not necessarily correspond to high mechanical work and may not result in a high metabolic cost.

Ground reaction forces during downhill and uphill running

We investigated the normal and parallel ground reaction forces during downhill and uphill running. Our rationale was that these force data would aid in the understanding of hill running injuries and energetics. Based on a simple spring-mass model, we hypothesized that the normal force peaks, both impact and active, would increase during downhill running and decrease during uphill running. We anticipated that the parallel braking force peaks would increase during downhill running and the parallel propulsive force peaks would increase during uphill running. But, we could not predict the magnitude of these changes. Five male and five female subjects ran at 3m/s on a force treadmill mounted on the level and on 3 degrees, 6 degrees, and 9 degrees wedges. During downhill running, normal impact force peaks and parallel braking force peaks were larger compared to the level. At -9 degrees, the normal impact force peaks increased by 54%, and the parallel braking force peaks increased by 73%. During uphill running, normal impact force peaks were smaller and parallel propulsive force peaks were larger compared to the level. At +9 degrees, normal impact force peaks were absent, and parallel propulsive peaks increased by 75%. Neither downhill nor uphill running affected normal active force peaks. Combined with previous biomechanics studies, our normal impact force data suggest that downhill running substantially increases the probability of overuse running injury. Our parallel force data provide insight into past energetic studies, which show that the metabolic cost increases during downhill running at steep angles.

Biomechanical and energetic determinants of the walk–trot transition in horses

We studied nine adult horses spanning an eightfold range in body mass(Mb) (90–720 kg) and a twofold range in leg length(L) (0.7–1.4 m). We measured the horses' walk–trot transition speeds using step-wise speed increments as they locomoted on a motorized treadmill. We then measured their rates of oxygen consumption over a wide range of walking and trotting speeds. We interpreted the transition speed results using a simple inverted-pendulum model of walking in which gravity provides the centripetal force necessary to keep the leg in contact with the ground. By studying a large size range of horses, we were naturally able to vary the absolute walking speed that would produce the same ratio of centripetal to gravitational forces. This ratio,(Mbv2/L)/(Mbg),reduces to the dimensionless Froude number(v2/gL), where v is forward speed, L is leg length and g is gravitational acceleration. We found that the absolute walk–trot transition speed increased with size from 1.6 to 2.3 m s–1, but it occurred at nearly the same Froude number (0.35). In addition, horses spontaneously switched between gaits in a narrow range of speeds that corresponded to the metabolically optimal transition speed. These results support the hypotheses that the walk–trot transition is triggered by inverted-pendulum dynamics and occurs at the speed that maximizes metabolic economy.

Mechanical and metabolic requirements for active lateral stabilization in human walking

Walking appears to be passively unstable in the lateral direction, requiring active feedback control for stability. The central nervous system may control stability by adjusting medio-lateral foot placement, but potentially with a metabolic cost. This cost increases with narrow steps and may affect the preferred step width. We hypothesized that external stabilization of the body would reduce the active control needed, thereby decreasing metabolic cost and preferred step width. To test these hypotheses, we provided external lateral stabilization, using springs pulling bilaterally from the waist, to human subjects walking on a force treadmill at 1.25 m/s. Ten subjects walked, with and without stabilization, at a prescribed step width of zero and also at their preferred step width. We measured metabolic cost using indirect calorimetry, and step width from force treadmill data. We found that at the prescribed zero step width, external stabilization resulted in a 33% decrease in step width variability (root-mean-square) and a 9.2% decrease in metabolic cost. In the preferred step width conditions, external stabilization caused subjects to prefer a 47% narrower step width, with a 32% decrease in step width variability and a 5.7% decrease in metabolic cost. These results suggest that (a). human walking requires active lateral stabilization, (b). body lateral motion is partially stabilized via medio-lateral foot placement, (c). active stabilization exacts a modest metabolic cost, and (d). humans avoid narrow step widths because they are less stable.

Metabolic cost of generating muscular force in human walking: insights from load-carrying and speed experiments

We sought to understand how leg muscle function determines the metabolic cost of walking. We first indirectly assessed the metabolic cost of swinging the legs and then examined the cost of generating muscular force during the stance phase. Four men and four women walked at 0.5, 1.0, 1.5, and 2.0 m/s carrying loads equal to 0, 10, 20, and 30% body mass positioned symmetrically about the waist. The net metabolic rate increased in nearly direct proportion to the external mechanical power during moderate-speed (0.5-1.5 m/s) load carrying, suggesting that the cost of swinging the legs is relatively small. The active muscle volume required to generate force on the ground and the rate of generating this force accounted for >85% of the increase in net metabolic rate across moderate speeds and most loading conditions. Although these factors explained less of the increase in metabolic rate between 1.5 and 2.0 m/s ( approximately 50%), the cost of generating force per unit volume of active muscle [i.e., the cost coefficient (k)] was similar across all conditions [k = 0.11 +/- 0.03 (SD) J/cm3]. These data indicate that, regardless of the work muscles do, the metabolic cost of walking can be largely explained by the cost of generating muscular force during the stance phase.

Energy cost and muscular activity required for propulsion during walking

We reasoned that with an optimal aiding horizontal force, the reduction in metabolic rate would reflect the cost of generating propulsive forces during normal walking. Furthermore, the reductions in ankle extensor electromyographic (EMG) activity would indicate the propulsive muscle actions. We applied horizontal forces at the waist, ranging from 15% body weight aiding to 15% body weight impeding, while subjects walked at 1.25 m/s. With an aiding horizontal force of 10% body weight, 1) the net metabolic cost of walking decreased to a minimum of 53% of normal walking, 2) the mean EMG of the medial gastrocnemius (MG) during the propulsive phase decreased to 59% of the normal walking magnitude, and yet 3) the mean EMG of the soleus (Sol) did not decrease significantly. Our data indicate that generating horizontal propulsive forces constitutes nearly half of the metabolic cost of normal walking. Additionally, it appears that the MG plays an important role in forward propulsion, whereas the Sol does not.

Mechanical work for step-to-step transitions is a major determinant of the metabolic cost of human walking

In the single stance phase of walking, center of mass motion resembles that of an inverted pendulum. Theoretically, mechanical work is not necessary for producing the pendular motion, but work is needed to redirect the center of mass velocity from one pendular arc to the next during the transition between steps. A collision model predicts a rate of negative work proportional to the fourth power of step length. Positive work is required to restore the energy lost, potentially exacting a proportional metabolic cost. We tested these predictions with humans (N=9) walking over a range of step lengths(0.4-1.1 m) while keeping step frequency fixed at 1.8 Hz. We measured individual limb external mechanical work using force plates, and metabolic rate using indirect calorimetry. As predicted, average negative and positive external mechanical work rates increased with the fourth power of step length(from 1 W to 38 W; r2=0.96). Metabolic rate also increased with the fourth power of step length (from 7 W to 379 W; r2=0.95), and linearly with mechanical work rate. Mechanical work for step-to-step transitions, rather than pendular motion itself, appears to be a major determinant of the metabolic cost of walking.

Simultaneous positive and negative external mechanical work in human walking

In human walking, the center of mass motion is similar to an inverted pendulum. Viewing double support as a transition from one inverted pendulum to the next, we hypothesized that the leading leg performs negative work to redirect the center of mass velocity, while simultaneously, the trailing leg performs positive work to replace the lost energy. To test this hypothesis, we developed a method to quantify the external mechanical work performed by each limb (individual limbs method). Traditional measures of external mechanical work use the sum of the ground reaction forces acting on the limbs (combined limbs method) allowing for the mathematical cancellation of simultaneous positive and negative work during multiple support periods. We expected to find that the traditional combined limbs method underestimates external mechanical work by a substantial amount. We used both methods to measure the external mechanical work performed by humans walking over a range of speeds. We found that during double support, the legs perform a substantial amount of positive and negative external work simultaneously. The combined limbs measures of positive and negative external work were approximately 33% less than those calculated using the individual limbs method. At all speeds, the trailing leg performs greater than 97% of the double support positive work while the leading leg performs greater than 94% of the double support negative work.

Mechanical and metabolic determinants of the preferred step width in human walking

We studied the selection of preferred step width in human walking by measuring mechanical and metabolic costs as a function of experimentally manipulated step width (0.00-0.45L, as a fraction of leg length L). We estimated mechanical costs from individual limb external mechanical work and metabolic costs using open circuit respirometry. The mechanical and metabolic costs both increased substantially (54 and 45%, respectively) for widths greater than the preferred value (0.15-0.45L) and with step width squared (R(2) = 0.91 and 0.83, respectively). As predicted by a three-dimensional model of walking mechanics, the increases in these costs appear to be a result of the mechanical work required for redirecting the centre of mass velocity during the transition between single stance phases (step-to-step transition costs). The metabolic cost for steps narrower than preferred (0.10-0.00L) increased by 8%, which was probably as a result of the added cost of moving the swing leg laterally in order to avoid the stance leg (lateral limb swing cost). Trade-offs between the step-to-step transition and lateral limb swing costs resulted in a minimum metabolic cost at a step width of 0.12L, which is not significantly different from foot width (0.11L) or the preferred step width (0.13L). Humans appear to prefer a step width that minimizes metabolic cost.

Applied horizontal force increases impact loading in reduced-gravity running

The chronic exposure of astronauts to microgravity results in structural degradation of their lower limb bones. Currently, no effective exercise countermeasure exists. On Earth, the impact loading that occurs with regular locomotion is associated with the maintenance of bone's structural integrity, but impact loads are rarely experienced in space. Accurately mimicking Earth-like impact loads in a reduced-gravity environment should help to reduce the degradation of bone caused by weightlessness. We previously showed that running with externally applied horizontal forces (AHF) in the anterior direction qualitatively simulates the high-impact loading associated with downhill running on Earth. We hypothesized that running with AHF at simulated reduced gravity would produce impact loads equal to or greater than values experienced during normal running at Earth gravity. With an AHF of 20% of gravity-specific body weight at all gravity levels, impact force peaks increased 74%, average impact loading rates increased 46%, and maximum impact loading rates increased 89% compared to running without any AHF. In contrast, AHF did not substantially affect active force peaks. Duty factor and stride frequency decreased modestly with AHF at all gravity levels. We found that running with an AHF in simulated reduced gravity produced impact loads equal to or greater than those experienced at Earth gravity. An appropriate AHF could easily augment existing partial gravity treadmill running exercise countermeasures used during spaceflight and help prevent musculoskeletal degradation.

Exploring dynamic similarity in human running using simulated reduced gravity

The Froude number (a ratio of inertial to gravitational forces) predicts the occurrence of dynamic similarity in legged animals over a wide range of sizes and velocities for both walking and running gaits at Earth gravity. This is puzzling because the Froude number ignores elastic forces that are crucial for understanding running gaits. We used simulated reduced gravity as a tool for exploring dynamic similarity in human running. We simulated reduced gravity by applying a nearly constant upward force to the torsos of our subjects while they ran on a treadmill. We found that at equal Froude numbers, achieved through different combinations of velocity and levels of gravity, our subjects did not run in a dynamically similar manner. Thus, the inertial and gravitational forces that comprise the Froude number were not sufficient to characterize running in reduced gravity. Further, two dimensionless numbers that incorporate elastic forces, the Groucho number and the vertical Strouhal number, also failed to predict dynamic similarity in reduced-gravity running. To better understand the separate effects of velocity and gravity, we also studied running mechanics at fixed absolute velocities under different levels of gravity. The effects of velocity and gravity on the requirements of dynamic similarity differed in both magnitude and direction, indicating that there are no two velocity and gravity combinations at which humans will prefer to run in a dynamically similar manner. A comparison of walking and running results demonstrated that reduced gravity had different effects on the mechanics of each gait. This suggests that a single unifying hypothesis for the effects of size, velocity and gravity on both walking and running gaits will not be successful.

Muscular force or work: what determines the metabolic energy cost of running?

It has been proposed that the metabolic energy cost of running is determined by the magnitude and rate of muscular force generation needed to oppose gravity and operate muscle-tendon springs. Whole animal experiments, in vivo muscle force and fascicle length recordings, and in vitro muscle shortening velocity data support the idea.

How animals move: an integrative view

Recent advances in integrative studies of locomotion have revealed several general principles. Energy storage and exchange mechanisms discovered in walking and running bipeds apply to multilegged locomotion and even to flying and swimming. Nonpropulsive lateral forces can be sizable, but they may benefit stability, maneuverability, or other criteria that become apparent in natural environments. Locomotor control systems combine rapid mechanical preflexes with multimodal sensory feedback and feedforward commands. Muscles have a surprising variety of functions in locomotion, serving as motors, brakes, springs, and struts. Integrative approaches reveal not only how each component within a locomotor system operates but how they function as a collective whole.

The independent effects of gravity and inertia on running mechanics

It is difficult to distinguish the independent effects of gravity from those of inertia on a running animal. Simply adding mass proportionally changes both the weight (gravitational force) and mass (inertial force) of the animal. We measured ground reaction forces for eight male humans running normally at 3 m s(−)(1) and under three experimental treatments: added gravitational and inertial forces, added inertial forces and reduced gravitational forces. Subjects ran at 110, 120 and 130 % of normal weight and mass, at 110, 120 and 130 % of normal mass while maintaining 100 % normal weight, and at 25, 50 and 75 % of normal weight while maintaining 100 % normal mass. The peak active vertical forces generated changed with weight, but did not change with mass. Surprisingly, horizontal impulses changed substantially more with weight than with mass. Gravity exerted a greater influence than inertia on both vertical and horizontal forces generated against the ground during running. Subjects changed vertical and horizontal forces proportionately at corresponding times in the step cycle to maintain the orientation of the resultant vector despite a nearly threefold change in magnitude across treatments. Maintaining the orientation of the resultant vector during periods of high force generation aligns the vector with the leg to minimize muscle forces.

Metabolic cost of generating horizontal forces during human running

Previous studies have suggested that generating vertical force on the ground to support body weight (BWt) is the major determinant of the metabolic cost of running. Because horizontal forces exerted on the ground are often an order of magnitude smaller than vertical forces, some have reasoned that they have negligible cost. Using applied horizontal forces (AHF; negative is impeding, positive is aiding) equal to -6, -3, 0, +3, +6, +9, +12, and +15% of BWt, we estimated the cost of generating horizontal forces while subjects were running at 3.3 m/s. We measured rates of oxygen consumption (VO2) for eight subjects. We then used a force-measuring treadmill to measure ground reaction forces from another eight subjects. With an AHF of -6% BWt, VO2 increased 30% compared with normal running, presumably because of the extra work involved. With an AHF of +15% BWt, the subjects exerted approximately 70% less propulsive impulse and exhibited a 33% reduction in VO2. Our data suggest that generating horizontal propulsive forces constitutes more than one-third of the total metabolic cost of normal running.

Walking in simulated reduced gravity: mechanical energy fluctuations and exchange

Walking humans conserve mechanical and, presumably, metabolic energy with an inverted pendulum-like exchange of gravitational potential energy and horizontal kinetic energy. Walking in simulated reduced gravity involves a relatively high metabolic cost, suggesting that the inverted-pendulum mechanism is disrupted because of a mismatch of potential and kinetic energy. We tested this hypothesis by measuring the fluctuations and exchange of mechanical energy of the center of mass at different combinations of velocity and simulated reduced gravity. Subjects walked with smaller fluctuations in horizontal velocity in lower gravity, such that the ratio of horizontal kinetic to gravitational potential energy fluctuations remained constant over a fourfold change in gravity. The amount of exchange, or percent recovery, at 1.00 m/s was not significantly different at 1.00, 0.75, and 0.50 G (average 64.4%), although it decreased to 48% at 0.25 G. As a result, the amount of work performed on the center of mass does not explain the relatively high metabolic cost of walking in simulated reduced gravity.

Energetics of bipedal running. I. Metabolic cost of generating force

Similarly sized bipeds and quadrupeds use nearly the same amount of metabolic energy to run, despite dramatic differences in morphology and running mechanics. It has been shown that the rate of metabolic energy use in quadrupedal runners and bipedal hoppers can be predicted from just body weight and the time available to generate force as indicated by the duration of foot-ground contact. We tested whether this link between running mechanics and energetics also applies to running bipeds. We measured rates of energy consumption and times of foot contact for humans (mean body mass 78.88 kg) and five species of birds (mean body mass range 0.13-40.1 kg). We find that most (70-90%) of the increase in metabolic rate with speed in running bipeds can be explained by changes in the time available to generate force. The rate of force generation also explains differences in metabolic rate over the size range of birds measured. However, for a given rate of force generation, birds use on average 1.7 times more metabolic energy than quadrupeds. The rate of energy consumption for a given rate of force generation for humans is intermediate between that of birds and quadrupeds. These results support the idea that the cost of muscular force production determines the energy cost of running and suggest that bipedal runners use more energy for a given rate of force production because they require a greater volume of muscle to support their body weight.

Force treadmill for measuring vertical and horizontal ground reaction forces

We constructed a force treadmill to measure the vertical, horizontal and lateral components of the ground-reaction forces (Fz, Fy, Fx, respectively) and the ground-reaction force moments (Mz, My, Mx), respectively exerted by walking and running humans. The chassis of a custom-built, lightweight (90 kg), mechanically stiff treadmill was supported along its length by a large commercial force platform. The natural frequencies of vibration were >178 Hz for Fz and >87 Hz for Fy, i.e., well above the signal content of these ground-reaction forces. Mechanical tests and comparisons with data obtained from a force platform runway indicated that the force treadmill recorded Fz, Fy, Mx and My ground-reaction forces and moments accurately. Although the lowest natural frequency of vibration was 88 Hz for Fx, the signal-to-noise ratios for Fx and Mz were unacceptable. This device greatly decreases the time and laboratory space required for locomotion experiments and clinical evaluations. The modular design allows for independent use of both treadmill and force platform.

Energetics and biomechanics of locomotion by red kangaroos (Macropus rufus)

As red kangaroos hop faster over level ground, their rate of oxygen consumption (indicating metabolic energy consumption) remains nearly the same. This phenomenon has been attributed to exceptional elastic energy storage and recovery via long compliant tendons in the legs. Alternatively, red kangaroos may have exceptionally efficient muscles. To estimate efficiency, we measured the metabolic cost of uphill hopping, where muscle fibers must perform mechanical work against gravity. We found that uphill hopping was much more expensive than level hopping. The maximal rate of oxygen consumption measured (3 ml O2 kg-1 s-1) exceeds all but a few vertebrate species. However, efficiency values were normal, approximately 30%. At faster level hopping speeds the effective mechanical advantage of the extensor muscles of the ankle joint remained the same. Thus, kangaroos generate the same muscular force at all speeds but do so more rapidly at faster hopping speeds. This contradicts a recent hypothesis for what sets the cost of locomotion. The cost of transport (J kg-1 m-1) decreases at faster hopping speeds, yet red kangaroos prefer to use relatively slow speeds that avoid high levels of tendon stress.

The effect of reduced gravity on the kinematics of human walking: a test of the dynamic similarity hypothesis for locomotion

To gain insight into the basic principles that govern the biomechanics of locomotion, we investigated the effect of reduced gravity on walking kinematics. We hypothesized that humans walk in a dynamically similar fashion at combinations of speed and simulated gravity that provide equal values of the Froude number, v2/gLleg, where v is forward speed, g is gravitational acceleration and Lleg is leg length. The Froude number has been used to predict the kinematics and kinetics of legged locomotion over a wide range of animal sizes and speeds, and thus provides a potentially unifying theory for the combined effects of speed, size and gravity on locomotion biomechanics. The occurrence of dynamic similarity at equal Froude numbers has been attributed previously to the importance of gravitational forces in determining locomotion mechanics. We simulated reduced gravity using a device that applies a nearly constant upward force to the torso while subjects walked on a treadmill. We found that at equal Froude numbers, under different levels of gravity (0.25g-1.0g), the subjects walked with nearly the same duty factor (ratio of contact time to stride time), but with relative stride lengths (Ls/Lleg, where Ls is stride length) that differed by as much as 67 %, resulting in the rejection of our hypothesis. To understand the separate effects of speed and gravity further, we compared the mechanics of walking at the same absolute speed at different levels of gravity (0.25g-1.0g). In lower gravity, subjects walked with lower duty factors (10 %) and shorter relative stride lengths (16 %). These modest changes in response to the fourfold change in gravity indicate that factors other than gravitational forces are the primary determinants of walking biomechanics.

Three-dimensional kinematics and limb kinetic energy of running cockroaches

We tested the hypothesis that fast-running hexapeds must generate high levels of kinetic energy to cycle their limbs rapidly compared with bipeds and quadrupeds. We used high-speed video analysis to determine the three-dimensional movements of the limbs and bodies of cockroaches (Blaberus discoidalis) running on a motorized treadmill at 21 cm s-1 using an alternating tripod gait. We combined these kinematic data with morphological data to calculate the mechanical energy produced to move the limbs relative to the overall center of mass and the mechanical energy generated to rotate the body (head + thorax + abdomen) about the overall center of mass. The kinetic energy involved in moving the limbs was 8 microJ stride-1 (a power output of 21 mW kg-1, which was only approximately 13% of the external mechanical energy generated to lift and accelerate the overall center of mass at this speed. Pitch, yaw and roll rotational movements of the body were modest (less than +/- 7 degrees), and the mechanical energy required for these rotations was surprisingly small (1.7 microJ stride-1 for pitch, 0.5 microJ stride-1 for yaw and 0.4 microJ stride-1 for roll) as was the power (4.2, 1.2 and 1.1 mW kg-1, respectively). Compared at the same absolute forward speed, the mass-specific kinetic energy generated by the trotting hexaped to swing its limbs was approximately half of that predicted from data on much larger two- and four-legged animals. Compared at an equivalent speed (mid-trotting speed), limb kinetic energy was a smaller fraction of total mechanical energy for cockroaches than for large bipedal runners and hoppers and for quadrupedal trotters. Cockroaches operate at relatively high stride frequencies, but distribute ground reaction forces over a greater number of relatively small legs. The relatively small leg mass and inertia of hexapeds may allow relatively high leg cycling frequencies without exceptionally high internal mechanical energy generation.

Effect of reduced gravity on the preferred walk-run transition speed

We investigated the effect of reduced gravity on the human walk-run gait transition speed and interpreted the results using an inverted-pendulum mechanical model. We simulated reduced gravity using an apparatus that applied a nearly constant upward force at the center of mass, and the subjects walked and ran on a motorized treadmill. In the inverted pendulum model for walking, gravity provides the centripetal force needed to keep the pendulum in contact with the ground. The ratio of the centripetal and gravitational forces (mv2/L)/(mg) reduces to the dimensionless Froude number (v2/gL). Applying this model to a walking human, m is body mass, v is forward velocity, L is leg length and g is gravity. In normal gravity, humans and other bipeds with different leg lengths all choose to switch from a walk to a run at different absolute speeds but at approximately the same Froude number (0.5). We found that, at lower levels of gravity, the walk-run transition occurred at progressively slower absolute speeds but at approximately the same Froude number. This supports the hypothesis that the walk-run transition is triggered by the dynamics of an inverted-pendulum system.

Musculoskeletal adaptations to weightlessness and development of effective countermeasures

A Research Roundtable, organized by the American College of Sports Medicine with sponsorship from the National Aeronautics and Space Administration, met in November 1995 to define research strategies for effective exercise countermeasures to weightlessness. Exercise was considered both independently of, and in conjunction with, other therapeutic modalities (e.g., pharmacological nutritional, hormonal, and growth-related factors) that could prevent or minimize the structural and functional deficits involving skeletal muscle and bone in response to chronic exposure to weightlessness, as well as return to Earth baseline function if a degree of loss is inevitable. Musculoskeletal deficits and countermeasures are described with respect to: 1) muscle and connective tissue atrophy and localized bone loss, 2) reductions in motor performance, 3) potential proneness to injury of hard and soft tissues, and 4) probable interaction between muscle atrophy and cardiovascular alterations that contribute to the postural hypotension observed immediately upon return from space flight. In spite of a variety of countermeasure protocols utilized previously involving largely endurance types of exercise, there is presently no activity-specific countermeasure(s) that adequately prevent or reduce musculoskeletal deficiencies. It seems apparent that countermeasure exercises that have a greater resistance element, as compared to endurance activities, may prove beneficial to the musculoskeletal system. Many questions remain for scientific investigation to identify efficacious countermeasure protocols, which will be imperative with the emerging era of long-term space flight.

Inexpensive load carrying by rhinoceros beetles

These experiments determined the magnitude of loads that rhinoceros beetles (Scarabaeidae) can carry and also the metabolic energy required for carrying loads. I hypothesized that, like many other animals, these beetles would have metabolic rates in direct proportion to the total load (body mass plus added mass). Eight beetles (Xylorctes thestalus) walked at 1 cm s-1 on a motorized treadmill enclosed in a respirometer. The beetles could sustain this speed with loads of more than 30 times their body mass. In addition to being strong, these beetles carry loads with remarkable economy. The metabolic cost of moving a gram of additional load was more than five times cheaper than that of moving a gram of body mass. This phenomenon cannot be explained by conventional models that link the biomechanics and metabolic energy cost of locomotion.

Moving cheaply: energetics of walking in the African elephant

Large animals have a much better fuel economy than small ones, both when they rest and when they run. At rest, each gram of tissue of the largest land animal, the African elephant, consumes metabolic energy at 1/20 the rate of a mouse; using existing allometric relationships, we calculate that it should be able to carry 1 g of its tissue (or a load) for 1 km at 1/40 the cost for a mouse. These relationships between energetics and size are so consistent that they have been characterized as biological laws. The elephant has massive legs and lumbers along awkwardly, suggesting that it might expend more energy to move about than other animals. We find, however, that its energetic cost of locomotion is predicted remarkably well by the allometric relationships and is the lowest recorded for any living land animal.

Carrying loads with springy poles

People throughout Asia use springy bamboo poles to carry the loads of everyday life. These poles are a very compliant suspension system that allows the load to move along a nearly horizontal path while the person bounces up and down with each step. Could this be an economical way to carry loads inasmuch as no gravitational work has to be done to lift the load repeatedly? To find out, an experiment was conducted in which four male subjects ran at 3.0 m/s on a motorized treadmill with no load and while carrying a load equal to 19% body wt with compliant poles. Oxygen consumption rate, vertical ground reaction force, and the force exerted by the load on the shoulders were measured. Oxygen consumption rate increased by 22%. The same increase has previously been observed when loads are carried with a backpack. Thus compliant poles are not a particularly economical method of load carriage. However, pole suspension systems offer important advantages: they minimize peak shoulder forces and loading rates. In addition, the peak vertical ground reaction force is only slightly increased above unloaded levels when loads are carried with poles.

Mechanics of running under simulated low gravity

Using a linear mass-spring model of the body and leg (T. A. McMahon and G. C. Cheng. J. Biomech. 23: 65-78, 1990), we present experimental observations of human running under simulated low gravity and an analysis of these experiments. The purpose of the study was to investigate how the spring properties of the leg are adjusted to different levels of gravity. We hypothesized that leg spring stiffness would not change under simulated low-gravity conditions. To simulate low gravity, a nearly constant vertical force was applied to human subjects via a bicycle seat. The force was obtained by stretching long steel springs via a hand-operated winch. Subjects ran on a motorized treadmill that had been modified to include a force platform under the tread. Four subjects ran at one speed (3.0 m/s) under conditions of normal gravity and six simulated fractions of normal gravity from 0.2 to 0.7 G. For comparison, subjects also ran under normal gravity at five speeds from 2.0 to 6.0 m/s. Two basic principles emerged from all comparisons: both the stiffness of the leg, considered as a linear spring, and the vertical excursion of the center of mass during the flight phase did not change with forward speed or gravity. With these results as inputs, the mathematical model is able to account correctly for many of the changes in dynamic parameters that do take place, including the increasing vertical stiffness with speed at normal gravity and the decreasing peak force observed under conditions simulating low gravity.

Energetics of running: a new perspective

The amount of energy used to run a mile is nearly the same whether it is run at top speed or at a leisurely pace (although it is used more rapidly at the higher speed). This puzzling independence of energy cost and speed is found generally among running animals, although, on a per gram basis, cost is much higher for smaller animals. Running involves little work against the environment; work is done by muscles and tendons to lift and accelerate the body and limbs. Some of the work is recovered from muscle-tendon springs without metabolic cost and work rate does not parallel metabolic rate with either speed or size. Regardless of the amount of work muscles do, they must be activated and develop force to support the weight of the body. Load-carrying experiments have shown that the cost of supporting an extra newton of load is the same as the weight-specific cost of running. Size differences in cost are proportional to stride frequency at equivalent speeds, suggesting that the time available for developing force is important in determining cost. We report a simple inverse relationship between the rate of energy used for running and the time the foot applies force to the ground during each stride. These results support the hypothesis that it is primarily the cost of supporting the animal's weight and the time course of generating this force that determines the cost of running.

A treadmill-mounted force platform

Muscle, bone, and tendon forces; the movement of the center of mass, and the spring properties of the body during terrestrial locomotion can be measured using ground-mounted force platforms. These measurements have been extremely time consuming because of the difficulty in obtaining repeatable constant speed trials (particularly with animals). We have overcome this difficulty by mounting a force platform directly under the belt of a motorized treadmill. With this arrangement, vertical force can be recorded from an unlimited number of successive ground contacts in a much shorter time. With this treadmill-mounted force platform it is possible to accurately make the following measurements over the full range of steady speeds and under various perturbations of normal gait: 1) vertical ground reaction force over the course of the contact phase; 2) peak forces in bone, muscle, and tendon; 3) the vertical displacement of the center of mass; and 4) contact time for the limbs. In our treadmill-force platform design, belt forces and frictional forces cause no measurable cross-talk problem. Natural frequency (160 Hz), nonlinearity (less than 5%), and position independence (less than 2%) are all quite acceptable. Motor-caused vibrations are greater than 150 Hz and thus can be easily filtered.

Stride length in distance running: velocity, body dimensions, and added mass effects

The preferred stride frequency (SF) and stride length (SL) of male recreational distance runners were measured on a level treadmill under a variety of conditions over the typical distance running speed range of 3.15-4.12 m.s-1. At a given speed, the correlation coefficients between the subjects' anthropometric variables (APV) (such as stature, leg length, and limb segment mass) and their preferred stride variables were consistently low (less than or equal to 0.36) and not significantly different from zero. As speed increased through the experimental range, SF remained nearly constant (only a 4% increase) while SL increased by 28%. The use of dimensionless velocity was shown to be no more effective than conventional methods in the prediction of a SL vs velocity relationship, but the dimensionless form of the relationship was remarkably similar to those observed for other animal species and other forms of gait. The addition of masses up to 1.1 kg at each ankle produced no significant change in SF or SL. The results indicate that factors other than APV are the primary determinants of preferred SF and SL. Since it has been shown previously that the preferred SL is usually the most economical, APV cannot be used to accurately predict or prescribe SF or SL on an individual basis.

Alteration of the N-formyl-methionyl-leucyl-phenylalanine-induced response in cystic fibrosis neutrophils

In order to determine whether cystic fibrosis neutrophils are affected in their secretory functions, lysosomal enzyme release and chemiluminescence (light emission from cells) were assayed in patients' cells and compared with those in normal control cells. We observed a decreased response of cystic fibrosis neutrophils in beta-glucuronidase release and chemiluminescence after stimulation by N-formyl-methionyl-leucyl-phenylalanine. There was no significant correlation of these results with the clinical score nor with the medical treatment. On the other hand, responses to the calcium ionophore A23187 and to opsonized zymosan showed no significant difference between normal and cystic fibrosis subjects in lysosomal enzyme release. N-formyl-methionyl-leucyl-phenylalanine receptor alterations did not seem involved in the observed effect as demonstrated by Scatchard plot analysis of N-formyl-methionyl-leucyl-phenylalanine binding to these receptors. These results clearly demonstrate a difference between normal and cystic fibrosis neutrophils in release and chemiluminescence responses to N-formyl-methionyl-leucyl-phenylalanine stimulation, a difference that might be located in the plasma membrane as both responses are membrane dependent.

Mechanical and muscular factors affecting the efficiency of human movement

This paper reviews specific examples of how energy expenditure during submaximal exercise is affected by mechanical and muscular factors. Structural biomechanical variables are discussed as a possible reason for economy differences between individuals. The practical question, "Can economy of performing a certain task be modified?" is posed. Examples of how the manipulation of a particular movement pattern results in an energetic minimum (optimal phenomena) are presented. The physiological mechanisms for these phenomena are summarized. The influence of positive vs negative work and storage of elastic energy in relation to the topic of economy and muscular efficiency is considered. The effects of athletic equipment such as footwear, track surfaces, and bicycle components on economy and muscular efficiency are presented. The prospects for improving athletic performance by improving economy are evaluated, and recommendations for future directions are made.

The efficiency of human movement--a statement of the problem

This paper is an introduction to a multidisciplinary series of papers on the efficiency of human movement. The problem is posed by citing the example of the large variation in oxygen uptake (per kg body weight) within a typical group of subjects running at the same submaximal speed. An analog of the possible causes of this variation is presented where "set points" for biomechanical, physiological, psychological, biochemical, and other factors combine in series to influence the overall energy cost. The various definitions of "efficiency" and "economy" are considered at the whole body and the isolated muscle level, and a discussion of baseline subtraction is presented. The concept of "effectiveness" is reviewed to illustrate the interaction of skilled performance and energy cost. It is recommended that the terms "muscular efficiency," "muscle efficiency," "economy," and "effectiveness" be used in their respective contexts to replace the current diversity of overlapping and, at times, confusing terminology.

Influence of the beta-adrenergic receptor concentration on functional coupling to the adenylate cyclase system

Only part of the beta-adrenergic receptors can undergo functional coupling to the adenylate cyclase regulatory unit. This receptor subpopulation shows an increased affinity for agonists in the presence of Mg2+ and undergoes rapid "inactivation" (locking-in of the agonist) by the alkylating reagent N-ethylmaleimide in the presence of agonists. Several experimental conditions, known to modify the total receptor concentration without alteration of the other components of the adenylate cyclase system, do not affect the percentage of receptors that can undergo functional coupling: (i) homologous regulation of beta 1 receptors in rat brain by noradrenaline (through antidepressive drug or reserpine injections); (ii) up- and down-regulation of the beta 2 receptors in Friend erythroleukemia cells by, respectively, sodium butyrate and cinnarizine treatment; and (iii) dithiothreitol-mediated inactivation of receptors in turkey erythrocytes, Friend erythroleukemia cells, and rat brain. Our findings argue against a stoichiometric limitation in the number of regulatory components, genetically different receptor subpopulations, bound guanine nucleotides, or reduced accessibility of part of the receptors to the agonists as the cause for functional receptor heterogeneity. Differences in either the receptor conformation or its membrane microenvironment are more plausible explanations.

Induction and properties of beta-adrenergic receptors during erythroid differentiation of Friend leukemic cells

beta-Adrenergic receptors on Friend erythroleukemic cells were identified by the use of 125I-labeled hydroxybenzylpindolol, a potent beta-adrenergic antagonist. Binding of this ligand was saturable and stereospecific. The relative orders of potency of isoproterenol, epinephrine, and norepinephrine to displace bound hydroxybenzylpindolol indicate that the Friend cells have beta 2-adrenergic receptors. After culture for 6 days in the presence of dimethyl sulfoxide or hexamethylene bisacetamide, both undifferentiated and differentiated cells have a similar number of receptors (1500 per cell), but the density of beta receptors on the cell surface increases during the process of erythroid differentiation. Incubation of the Friend cells for 24 hr with high concentrations of butyric acid, dimethyl sulfoxide, or hexamethylenebisacetamide resulted in a striking increase of th number of beta-catecholamine receptors. The induction of beta-adrenergic receptors also occurred in the presence of the tumor promoter 12-O-tetradecanoylphorbol 13-acetate and dexamethasone.