The role of intrinsic muscle mechanics in the neuromuscular control of stable running in the guinea fowl

Guineafowl with a twist: asymmetric limb control in steady bipedal locomotion

In avian bipeds performing steady locomotion, right and left limbs are typically assumed to act out of phase, but with little kinematic disparity. However, outwardly appearing steadiness may harbor previously unrecognized asymmetries. Here, we present marker-based XROMM data showing that guineafowl on a treadmill routinely yaw away from their direction of travel using asymmetrical limb kinematics. Variation is most strongly reflected at the hip joints, where patterns of femoral long-axis rotation closely correlate to degree of yaw divergence. As yaw deviations increase, hip long-axis rotation angles undergo larger excursions and shift from biphasic to monophasic patterns. At large yaw angles, the alternately striding limbs exhibit synchronous external and internal femoral rotations of substantial magnitude. Hip coordination patterns resembling those used during sidestep maneuvers allow birds to asymmetrically modulate their mediolateral limb trajectories and thereby advance using a range of body orientations.

How do treadmill speed and terrain visibility influence neuromuscular control of guinea fowl locomotion?

Locomotor control mechanisms must flexibly adapt to both anticipated and unexpected terrain changes to maintain movement and avoid a fall. Recent studies revealed that ground birds alter movement in advance of overground obstacles, but not treadmill obstacles, suggesting context-dependent shifts in the use of anticipatory control. We hypothesized that differences between overground and treadmill obstacle negotiation relate to differences in visual sensory information, which influence the ability to execute anticipatory manoeuvres. We explored two possible explanations: (1) previous treadmill obstacles may have been visually imperceptible, as they were low contrast to the tread, and (2) treadmill obstacles are visible for a shorter time compared with runway obstacles, limiting time available for visuomotor adjustments. To investigate these factors, we measured electromyographic activity in eight hindlimb muscles of the guinea fowl (Numida meleagris, N=6) during treadmill locomotion at two speeds (0.7 and 1.3 m s⁻¹) and three terrain conditions at each speed: (i) level, (ii) repeated 5 cm low-contrast obstacles (<10% contrast, black/black), and (iii) repeated 5 cm high-contrast obstacles (>90% contrast, black/white). We hypothesized that anticipatory changes in muscle activity would be higher for (1) high-contrast obstacles and (2) the slower treadmill speed, when obstacle viewing time is longer. We found that treadmill speed significantly influenced obstacle negotiation strategy, but obstacle contrast did not. At the slower speed, we observed earlier and larger anticipatory increases in muscle activity and shifts in kinematic timing. We discuss possible visuomotor explanations for the observed context-dependent use of anticipatory strategies.

Summary: Guinea fowl (Numida meleagris) show speed-dependent shifts in neuromuscular control during obstacle negotiation, characterized by a greater reliance on anticipatory modulation and stride-to-stride neural adjustments at slow speed, shifting towards feedforward activation and intrinsic mechanical stability at high speed.

Don't break a leg: running birds from quail to ostrich prioritise leg safety and economy on uneven terrain

Cursorial ground birds are paragons of bipedal running that span a 500-fold mass range from quail to ostrich. Here we investigate the task-level control priorities of cursorial birds by analysing how they negotiate single-step obstacles that create a conflict between body stability (attenuating deviations in body motion) and consistent leg force–length dynamics (for economy and leg safety). We also test the hypothesis that control priorities shift between body stability and leg safety with increasing body size, reflecting use of active control to overcome size-related challenges. Weight-support demands lead to a shift towards straighter legs and stiffer steady gait with increasing body size, but it remains unknown whether non-steady locomotor priorities diverge with size. We found that all measured species used a consistent obstacle negotiation strategy, involving unsteady body dynamics to minimise fluctuations in leg posture and loading across multiple steps, not directly prioritising body stability. Peak leg forces remained remarkably consistent across obstacle terrain, within 0.35 body weights of level running for obstacle heights from 0.1 to 0.5 times leg length. All species used similar stance leg actuation patterns, involving asymmetric force–length trajectories and posture-dependent actuation to add or remove energy depending on landing conditions. We present a simple stance leg model that explains key features of avian bipedal locomotion, and suggests economy as a key priority on both level and uneven terrain. We suggest that running ground birds target the closely coupled priorities of economy and leg safety as the direct imperatives of control, with adequate stability achieved through appropriately tuned intrinsic dynamics.

Swing-leg trajectory of running guinea fowl suggests task-level priority of force regulation rather than disturbance rejection

To achieve robust and stable legged locomotion in uneven terrain, animals must effectively coordinate limb swing and stance phases, which involve distinct yet coupled dynamics. Recent theoretical studies have highlighted the critical influence of swing-leg trajectory on stability, disturbance rejection, leg loading and economy of walking and running. Yet, simulations suggest that not all these factors can be simultaneously optimized. A potential trade-off arises between the optimal swing-leg trajectory for disturbance rejection (to maintain steady gait) versus regulation of leg loading (for injury avoidance and economy). Here we investigate how running guinea fowl manage this potential trade-off by comparing experimental data to predictions of hypothesis-based simulations of running over a terrain drop perturbation. We use a simple model to predict swing-leg trajectory and running dynamics. In simulations, we generate optimized swing-leg trajectories based upon specific hypotheses for task-level control priorities. We optimized swing trajectories to achieve i) constant peak force, ii) constant axial impulse, or iii) perfect disturbance rejection (steady gait) in the stance following a terrain drop. We compare simulation predictions to experimental data on guinea fowl running over a visible step down. Swing and stance dynamics of running guinea fowl closely match simulations optimized to regulate leg loading (priorities i and ii), and do not match the simulations optimized for disturbance rejection (priority iii). The simulations reinforce previous findings that swing-leg trajectory targeting disturbance rejection demands large increases in stance leg force following a terrain drop. Guinea fowl negotiate a downward step using unsteady dynamics with forward acceleration, and recover to steady gait in subsequent steps. Our results suggest that guinea fowl use swing-leg trajectory consistent with priority for load regulation, and not for steadiness of gait. Swing-leg trajectory optimized for load regulation may facilitate economy and injury avoidance in uneven terrain.

Kinematic primitives for walking and trotting gaits of a quadruped robot with compliant legs

In this work we research the role of body dynamics in the complexity of kinematic patterns in a quadruped robot with compliant legs. Two gait patterns, lateral sequence walk and trot, along with leg length control patterns of different complexity were implemented in a modular, feed-forward locomotion controller. The controller was tested on a small, quadruped robot with compliant, segmented leg design, and led to self-stable and self-stabilizing robot locomotion. In-air stepping and on-ground locomotion leg kinematics were recorded, and the number and shapes of motion primitives accounting for 95% of the variance of kinematic leg data were extracted. This revealed that kinematic patterns resulting from feed-forward control had a lower complexity (in-air stepping, 2–3 primitives) than kinematic patterns from on-ground locomotion (νm4 primitives), although both experiments applied identical motor patterns. The complexity of on-ground kinematic patterns had increased, through ground contact and mechanical entrainment. The complexity of observed kinematic on-ground data matches those reported from level-ground locomotion data of legged animals. Results indicate that a very low complexity of modular, rhythmic, feed-forward motor control is sufficient for level-ground locomotion in combination with passive compliant legged hardware.

Bio-inspired swing leg control for spring-mass robots running on ground with unexpected height disturbance

We proposed three swing leg control policies for spring-mass running robots, inspired by experimental data from our recent collaborative work on ground running birds. Previous investigations suggest that animals may prioritize injury avoidance and/or efficiency as their objective function during running rather than maintaining limit-cycle stability. Therefore, in this study we targeted structural capacity (maximum leg force to avoid damage) and efficiency as the main goals for our control policies, since these objective functions are crucial to reduce motor size and structure weight. Each proposed policy controls the leg angle as a function of time during flight phase such that its objective function during the subsequent stance phase is regulated. The three objective functions that are regulated in the control policies are (i) the leg peak force, (ii) the axial impulse, and (iii) the leg actuator work. It should be noted that each control policy regulates one single objective function. Surprisingly, all three swing leg control policies result in nearly identical subsequent stance phase dynamics. This implies that the implementation of any of the proposed control policies would satisfy both goals (damage avoidance and efficiency) at once. Furthermore, all three control policies require a surprisingly simple leg angle adjustment: leg retraction with constant angular acceleration.

Passive joint forces are tuned to limb use in insects and drive movements without motor activity

Background

Limb movements are generally driven by active muscular contractions working with and against passive forces arising in muscles and other structures. In relatively heavy limbs, the effects of gravity and inertia predominate, whereas in lighter limbs, passive forces intrinsic to the limb are of greater consequence. The roles of passive forces generated by muscles and tendons are well understood, but there has been little recognition that forces originating within joints themselves may also be important, and less still that these joint forces may be adapted through evolution to complement active muscle forces acting at the same joint.

Results

We examined the roles of passive joint forces in insect legs with different arrangements of antagonist muscles. We first show that passive forces modify actively generated movements of a joint across its working range, and that they can be sufficiently strong to generate completely passive movements that are faster than active movements observed in natural behaviors. We further demonstrate that some of these forces originate within the joint itself. In legs of different species adapted to different uses (walking, jumping), these passive joint forces complement the balance of strength of the antagonist muscles acting on the joint. We show that passive joint forces are stronger where they assist the weaker of two antagonist muscles.

Conclusions

In limbs where the dictates of a key behavior produce asymmetry in muscle forces, passive joint forces can be coadapted to provide the balance needed for the effective generation of other behaviors.

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Limb movements are assisted by passive forces arising within joints

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Functional cyclic movements can be generated by a single motor neuron

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Joint forces are matched to the strength of antagonist muscles across species

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Passive joint properties can transfer force from a stronger to a weaker muscle

Muscle function during takeoff and landing flight in the pigeon (Columba livia)

This study explored the muscle strain and activation patterns of several key flight muscles of the pigeon (Columba livia) during takeoff and landing flight. Using electromyography (EMG) to measure muscle activation, and sonomicrometry to quantify muscle strain, we evaluated the muscle function patterns of the pectoralis, biceps, humerotriceps and scapulotriceps as pigeons flew between two perches. These recordings were analyzed in the context of three-dimensional wing kinematics. To understand the different requirements of takeoff, midflight and landing, we compared the activity and strain of these muscles among the three flight modes. The pectoralis and biceps exhibited greater fascicle strain rates during takeoff than during midflight or landing. However, the triceps muscles did not exhibit notable differences in strain among flight modes. All observed strain, activation and kinematics were consistent with hypothesized muscle functions. The biceps contracted to stabilize and flex the elbow during the downstroke. The humerotriceps contracted to extend the elbow at the upstroke-downstroke transition, followed by scapulotriceps contraction to maintain elbow extension during the downstroke. The scapulotriceps also appeared to contribute to humeral elevation. Greater muscle activation intensity was observed during takeoff, compared with mid-flight and landing, in all muscles except the scapulotriceps. The timing patterns of muscle activation and length change differed among flight modes, yet demonstrated that pigeons do not change the basic mechanical actions of key flight muscles as they shift from flight activities that demand energy production, such as takeoff and midflight, to maneuvers that require absorption of energy, such as landing. Similarly, joint kinematics were consistent among flight modes. The stereotypy of these neuromuscular and joint kinematic patterns is consistent with previously observed stereotypy of wing kinematics relative to the pigeon's body (in the local body frame) across these flight behaviors. Taken together, these observations suggest that the control of takeoff and landing flight primarily involves modulation of overall body pitch to effect changes in stroke plane angle and resulting wing aerodynamics.

A buckling region in locust hindlegs contains resilin and absorbs energy when jumping or kicking goes wrong

If a hindleg of a locust slips during jumping, or misses its target during kicking, energy generated by the two extensor tibiae muscles is no longer expended in raising the body or striking a target. How, then, is the energy in a jump (4100-4800 μJ) or kick (1700 μJ) dissipated? A specialised buckling region found in the proximal hind-tibia where the bending moment is high, but not present in the other legs, buckled and allowed the distal part of the tibia to extend. In jumps when a hindleg slipped, it bent by a mean of 23±14 deg at a velocity of 13.4±9.5 deg ms(-1); in kicks that failed to contact a target it bent by 32±16 deg at a velocity of 32.9±9.5 deg ms(-1). It also buckled 8.5±4.0 deg at a rate of 0.063±0.005 deg ms(-1) when the tibia was prevented from flexing fully about the femur in preparation for both these movements. By experimentally buckling this region through 40 deg at velocities of 0.001-0.65 deg ms(-1), we showed that one hindleg could store about 870 μJ on bending, of which 210 μJ was dissipated back to the leg on release. A band of blue fluorescence was revealed at the buckling region under UV illumination that had the two key signatures of the elastic protein resilin. A group of campaniform sensilla 300 μm proximal to the buckling region responded to imposed buckling movements. The features of the buckling region show that it can act as a shock absorber as proposed previously when jumping and kicking movements go wrong.

Birds achieve high robustness in uneven terrain through active control of landing conditions

We understand little about how animals adjust locomotor behaviour to negotiate uneven terrain. The mechanical demands and constraints of such behaviours likely differ from uniform terrain locomotion. Here we investigated how common pheasants negotiate visible obstacles with heights from 10 to 50% of leg length. Our goal was to determine the neuro-mechanical strategies used to achieve robust stability, and address whether strategies vary with obstacle height. We found that control of landing conditions was crucial for minimising fluctuations in stance leg loading and work in uneven terrain. Variation in touchdown leg angle (θTD) was correlated with the orientation of ground force during stance, and the angle between the leg and body velocity vector at touchdown (βTD) was correlated with net limb work. Pheasants actively targeted obstacles to control body velocity and leg posture at touchdown to achieve nearly steady dynamics on the obstacle step. In the approach step to an obstacle, the birds produced net positive limb work to launch themselves upward. On the obstacle, body dynamics were similar to uniform terrain. Pheasants also increased swing leg retraction velocity during obstacle negotiation, which we suggest is an active strategy to minimise fluctuations in peak force and leg posture in uneven terrain. Thus, pheasants appear to achieve robustly stable locomotion through a combination of path planning using visual feedback and active adjustment of leg swing dynamics to control landing conditions. We suggest that strategies for robust stability are context specific, depending on the quality of sensory feedback available, especially visual input.

Measurement of in vivo tendon function

Chronic tendon pathologies (eg, rotator cuff tears, Achilles tendon ruptures) are common, painful, debilitating, and a significant source of medical expense. Treatment strategies for managing tendon pathologies vary widely in invasiveness and cost, with little scientific basis on which to base treatment selection. Conventional techniques for assessing the outcomes of physical therapy or surgical repair typically rely on patient-based assessments of pain and function, physical measures (eg, strength, range of motion, or stability), and qualitative assessments using magnetic resonance imaging or ultrasound. Unfortunately, these conventional techniques provide only an indirect assessment of tendon function. The inability to make a direct quantitative assessment of the tendon's mechanical capabilities may help to explain the relatively high rate of failed tendon repairs and has led to an interest in the development of tools for directly assessing in vivo tendon function. The purpose of this article is to review methods for assessing tendon function (ie, mechanical properties and capabilities) during in vivo activities. This review will describe the general principles behind the experimental techniques and provide examples of previous applications of these techniques. In addition, this review will characterize the advantages and limitations of each technique, along with its potential clinical utility. Future efforts should focus on developing broadly translatable technologies for quantitatively assessing in vivo tendon function. The ability to accurately characterize the in vivo mechanical properties of tendons would improve patient care by allowing for the systematic development and assessment of new techniques for treating tendon pathologies.

Stabilisation of walking by intrinsic muscle properties revealed in a three-dimensional muscle-driven simulation

A fundamental question in movement science is how humans perform stable movements in the presence of disturbances such as contact with objects. It remains unclear how the nervous system, with delayed responses to disturbances, maintains the stability of complex movements. We hypothesised that intrinsic muscle properties (i.e. the force-length-velocity properties of muscle fibres and tendon elasticity) may help stabilise human walking by responding instantaneously to a disturbance and providing forces that help maintain the movement trajectory. To investigate this issue, we generated a 3D muscle-driven simulation of walking and analysed the changes in the simulation's motion when a disturbance was applied to models with and without intrinsic muscle properties. Removing the intrinsic properties reduced the stability; this was true when the disturbing force was applied at a variety of times and in different directions. Thus, intrinsic muscle properties play a unique role in stabilising walking, complementing the delayed response of the central nervous system.

Neuromuscular and biomechanical compensation for wing asymmetry in insect hovering flight

Wing damage is common in flying insects and has been studied using a variety of approaches to assess its biomechanical and fitness consequences. Results of these studies range from strong to nil effect among the variety of species, fitness measurements and damage modes studied, suggesting that not all damage modes are equal and that insects may be well adapted to compensate for some types of damage. Here, we examine the biomechanical and neuromuscular means by which flying insects compensate for asymmetric wing damage, which is expected to produce asymmetric flight forces and torques and thus destabilize the animal in addition to reducing its total wing size. We measured the kinematic and neuromuscular responses of hawkmoths (Manduca sexta) hovering in free flight with asymmetrically damaged wings via high-speed videography and extracellular neuromuscular activity recordings. The animals responded to asymmetric wing damage with asymmetric changes to wing stroke amplitude sufficient to restore symmetry in lift production. These asymmetries in stroke amplitude were significantly correlated with bilateral asymmetries in the timing of activation of the dorsal ventral muscle among and within trials. Correspondingly, the magnitude of wing asymmetry was significantly although non-linearly correlated with the magnitude of the neuromuscular response among individuals. The strongly non-linear nature of the relationship suggests that active neural compensation for asymmetric wing damage may only be necessary above a threshold, &gt;12% asymmetry in wing second moment of area in this case, below which passive mechanisms may be adequate to maintain flight stability.

Building a robotic link between muscle dynamics and hydrodynamics

This study used a novel feedback approach to control a robotic foot using force and length signals transmitted from an isolated Xenopus laevis frog muscle. The foot's environment (inertial versus hydrodynamic), gearing (outlever/inlever) and size were changed to alter the muscle's load. Upon nerve stimulation (250 Hz, 80 ms train duration), variation in loading generated a range of muscle stress (19.8±5.3 to 66.0±22.5 kPa), work (1.89±0.67 to 6.87±2.96 J kg(-1) muscle) and power (12.4±7.5 to 64.8±28.3 W kg(-1) muscle; mean ± s.d., N=6 frogs). Inertial versus hydrodynamic loading dramatically shifted contractile dynamics. With the foot in water, the muscle generated ∼30% higher force, yet shortened slower, producing lower power than inertial loading. Power increased in air from 22.6±5.8 to 63.6±27.2 W kg(-1) muscle in response to doubling the gear ratio, but did not increase in water. Surprisingly, altering foot size diminished muscle performance in water, causing power to drop significantly from 41.6±11.1 to 25.1±8.0 W kg(-1) muscle as foot area was doubled. Thus, morphological modifications influenced muscle dynamics independently of neural control; however, changes in loading environment and gearing affected contractile output more strongly than changes in foot size. Confirming recent theory, these findings demonstrate how muscle contractile output can be modulated solely by altering the mechanical environment.

Electromyography activity of the equine splenius muscle and neck kinematics during walk and trot on the treadmill

REASONS FOR PERFORMING STUDY

Skeletal muscle activity can be concentric or eccentric, anisometric or isometric and correlation of the equine splenius muscle activity with the movement of its effector joints at walk and trot has not yet been fully characterised.

OBJECTIVE

Investigating activity of the splenius muscle together with kinematics of head and cranial neck at walk and trot.

MATERIALS AND METHODS

Kinematics and surface electromyography were measured in 6 horses (8-20-years-old, 450-700 kg) without signs of neck pain. Markers were placed on left and right crista facialis, and on left and right cervical vertebrae 1 and 3. Head and neck angle was calculated in sagittal and horizontal planes. Electrodes were placed over both splenius muscles at the level of C2. Left and right muscle activity was compared using Student t test for paired samples and correlations calculated using Pearson correlation coefficient. Significance was set at P < 0.05.

RESULTS

In all horses, maximum surface electromyography (sEMG) values at the trot were higher than at the walk. The intraindividual differences between maximum and minimum values of the EMG ranged from 45-127 mV in walk and from 154-524 mV in trot. Flexion-extension C1 angle changed by 43° in walk and 27° in trot. For each motion cycle, 2 EMG maxima were found in both gaits, occurring just prior to maximum extension of the C1 angle. Lateral bending at C1 angle changed by 16° in walk and 17° in trot and EMG reached maximum values bilaterally during maximum lateral bending at walk.

CONCLUSIONS

The splenius muscle reaches maximum activity at the beginning of the forelimb stance phases in trot, indicating functional stabilisation against flexion of the head and neck. Unilateral activity of the splenius muscle representing stabilisation against lateral movement was not found.

Leg muscles that mediate stability: mechanics and control of two distal extensor muscles during obstacle negotiation in the guinea fowl

Here, we used an obstacle treadmill experiment to investigate the neuromuscular control of locomotion in uneven terrain. We measured in vivo function of two distal muscles of the guinea fowl, lateral gastrocnemius (LG) and digital flexor-IV (DF), during level running, and two uneven terrains, with 5 and 7 cm obstacles. Uneven terrain required one step onto an obstacle every four to five strides. We compared both perturbed and unperturbed strides in uneven terrain to level terrain. When the bird stepped onto an obstacle, the leg became crouched, both muscles acted at longer lengths and produced greater work, and body height increased. Muscle activation increased on obstacle strides in the LG, but not the DF, suggesting a greater reflex contribution to LG. In unperturbed strides in uneven terrain, swing pre-activation of DF increased by 5 per cent compared with level terrain, suggesting feed-forward tuning of leg impedance. Across conditions, the neuromechanical factors in work output differed between the two muscles, probably due to differences in muscle-tendon architecture. LG work depended primarily on fascicle length, whereas DF work depended on both length and velocity during loading. These distal muscles appear to play a critical role in stability by rapidly sensing and responding to altered leg-ground interaction.

Shifts in a single muscle's control potential of body dynamics are determined by mechanical feedback

Muscles are multi-functional structures that interface neural and mechanical systems. Muscle work depends on a large multi-dimensional space of stimulus (neural) and strain (mechanical) parameters. In our companion paper, we rewrote activation to individual muscles in intact, behaving cockroaches (Blaberus discoidalis L.), revealing a specific muscle's potential to control body dynamics in different behaviours. Here, we use those results to provide the biologically relevant parameters for in situ work measurements. We test four hypotheses about how muscle function changes to provide mechanisms for the observed control responses. Under isometric conditions, a graded increase in muscle stress underlies its linear actuation during standing behaviours. Despite typically absorbing energy, this muscle can recruit two separate periods of positive work when controlling running. This functional change arises from mechanical feedback filtering a linear increase in neural activation into nonlinear work output. Changing activation phase again led to positive work recruitment, but at different times, consistent with the muscle's ability to also produce a turn. Changes in muscle work required considering the natural sequence of strides and separating swing and stance contributions of work. Both in vivo control potentials and in situ work loops were necessary to discover the neuromechanical coupling enabling control.

Running on uneven ground: leg adjustments to altered ground level

In locomotion, humans have to deal with changes in ground level like pavement or stairs. When they encounter uneven ground with changes in terrain height, they reduce their angle of attack and leg stiffness on a step. This strategy was found for the single step upward movement. However, are these adjustments the result of a general strategy? In our study we focused on leg adjustments while running up and down, implying permanent adaptation to a new track level. To investigate this, we measured ten healthy participants as they ran along a runway with 10 cm increased and 10 cm lowered steps. We found that ground reaction force, leg length, leg stiffness, and angle of attack were adjusted to the direction of the vertical disturbance (up or down) but also to its length. When running upwards, leg stiffness decreased by about 20.4% on the single step and by about 9.3% on the permanently elevated track step. In addition to that - when running downwards - leg stiffness decreased in preparation for the downward step by about 18.8%. We also observed that the angle of attack diminished on elevated contact from 61 degrees to 59 degrees, and increased on lowered contact from 61 degrees to 65 degrees. The adjustment of leg stiffness seemed to be actively achieved, whereas the angle of attack appeared to be passively adjusted, consistent with a running model that includes leg retraction in late swing phase.

Achilles tendon length changes during walking in long-term diabetes patients

BACKGROUND

Diabetes leads to numerous side effects, including an increased density of collagen fibrils and thickening of the Achilles tendon. This may increase tissue stiffness and could affect stretch distribution between muscle and tendinous tissues during walking. The primary aim of this study was to examine stretch distribution between muscle and tendinous tissues in the medial gastrocnemius muscle-tendon unit in long-term diabetes patients and control subjects during walking.

METHODS

Achilles tendon length changes were investigated in 13 non-neuropathic diabetes patients and 12 controls, whilst walking at a self selected speed across a 10 m force platform. Electromyographic activity was recorded in the medial gastrocnemius, soleus and tibialis anterior muscles, goniometers were used to detect joint angle changes, and ultrasound was used to estimate tendon length changes.

FINDINGS

Achilles tendon length changes were attenuated in diabetes patients compared to controls, and were inversely correlated with diabetes duration (r=-0.628; P<0.05), as was ankle range of motion (r=-0.693; P<0.01). Tendon length changes were also independent of walking speed (r=-0.299; P=0.224) and age (r=0.115; P=0.721) in the diabetic group.

INTERPRETATION

Stretch distribution between muscle and tendon during walking is altered in diabetic patients, which could decrease walking efficiency, a factor that may be exacerbated with increasing diabetes duration. Diabetes-induced changes in mechanical tendon properties may be at least partly responsible for attenuated tendon length changes during walking in this patient group.

The role of intrinsic muscle properties for stable hopping--stability is achieved by the force-velocity relation

A reductionist approach was presented to investigate which level of detail of the physiological muscle is required for stable locomotion. Periodic movements of a simplified one-dimensional hopping model with a Hill-type muscle (one contractile element, neither serial nor parallel elastic elements) were analyzed. Force-length and force-velocity relations of the muscle were varied in three levels of approximation (constant, linear and Hill-shaped nonlinear) resulting in nine different hopping models of different complexity. Stability of these models was evaluated by return map analysis and the performance by the maximum hopping height. The simplest model (constant force-length and constant force-velocity relations) outperformed all others in the maximum hopping height but was unstable. Stable hopping was achieved with linear and Hill-shaped nonlinear characteristic of the force-velocity relation. The characteristics of the force-length relation marginally influenced hopping stability. The results of this approach indicate that the intrinsic properties of the contractile element are responsible for stabilization of periodic movements. This connotes that (a) complex movements like legged locomotion could benefit from stabilizing effects of muscle properties, and (b) technical systems could benefit from the emerging stability when implementing biological characteristics into artificial muscles.