Muscular synergism--I. On criteria for load sharing between synergistic muscles

Bending moments in lower extremity bones for two standing postures

The goal of this paper is to study how external gravitational forces stress the lower extremity bones and to ascertain and study how muscle activation compensates for the external load. For these purposes relatively accurate anatomical and biomechanical modelling is necessary. For a comparison of the calculated results to the naturally occurring muscular activity, seven-channel surface EMG activity was recorded. For simplicity a two-dimensional model was developed for the sagittal plane including 19 lower extremity muscles relevant to human standing and walking. In the calculation procedure of muscle forces an optimization procedure is also included. The results give rise to the expected assumption that muscle action is covered by two main requirements: first, to stabilize the joint actively (moment equilibrium) and, second, to compensate efficiently for bending moments produced by gravitational and external forces.

Towards a model for force predictions in the human shoulder

In this paper the concept of a three-dimensional biomechanical model of the human shoulder is introduced. This model is used to analyze static load sharing between the muscles, the bones and the ligaments. The model consists of all shoulder structures, which means that different positions and different load situations may be analyzed using the same model. Solutions can be found for the complete range of shoulder motion. However, this article focuses only on elevation in the scapular plane and on forces in structures attached to the humerus. The intention is to expand the model in future studies to also involve the forces acting on the other shoulder bones: the scapula and the clavicle. The musculoskeletal forces in the shoulder complex are predicted utilizing the optimization technique with the sum of squared muscle stresses as an objective function. Numerical results predict that among the muscles crossing the glenohumeral joint parts of the deltoideus, the infraspinatus, the supraspinatus, the subscapularis, the pectoralis major, the coracobrachialis and the biceps are the muscles most activated during this sort of abduction. Muscle-force levels reached values of 150 N when the hand load was 1 kg. The results from the model seem to be qualitatively accurate, but it is concluded that in the future development of the model the direction of the contact force in the glenohumeral joint must be constrained.

Application and validation of a three-dimensional mathematical model of the human masticatory system in vivo

A previously described three-dimensional mathematical model of the human masticatory system, predicting maximum possible bite forces in all directions and the recruitment patterns of the masticatory muscles necessary to generate these forces, was validated in in vivo experiments. The morphological input parameters to the model for individual subjects were collected using MRI scanning of the jaw system. Experimental measurements included recording of maximum voluntary bite force (magnitude and direction) and surface EMG from the temporalis and masseter muscles. For bite forces with an angle of 0, 10 and 20 degrees relative to the normal to the occlusal plane the predicted maximum possible bite forces were between 0.9 and 1.2 times the measured ones and the average ratio of measured to predicted maximum bite force was close to unity. The average measured and predicted muscle recruitment patterns showed no striking differences. Nevertheless, some systematic differences, dependent on the bite force direction, were found between the predicted and the measured maximum possible bite forces. In a second series of simulations the influence of the direction of the joint reaction forces on these errors was studied. The results suggest that they were caused primarily by an improper determination of the joint force directions.

Fatigue during sustained maximal voluntary contraction of different muscles in humans: dependence on fibre type and body posture

Nine healthy men, aged between 25 and 35 years, performed sustained maximal voluntary contractions (MVC) of foot plantar, foot dorsal, and finger flexor muscles. Contractions lasted 10 min and were followed by short test contractions at 30% MVC during recovery. Two positions of the working extremity high or low were established by different body postures (supine or sitting). Under these conditions, studies of force, integrated electromyogram (iEMG), blood pressure, and heart rate showed firstly that force decreased throughout the first few minutes of maximal contraction but reached a near steady-state value after 5 to 6 min. Secondly, force decay and steady-state level depended on muscle group and body position. When sitting (low leg), muscles with a high incidence of slow twitch fibres (plantar flexors) showed a slower force decay and a higher relative steady-state force than fast dorsal flexor muscles. When supine (high leg), plantar and dorsal flexor muscles reached about the same low level of relative steady-state force. Changes in iEMG, blood pressure, and heart rate did not differ in the two positions. Thirdly, during recovery, plantar flexor muscles showed higher iEMG values as well as higher values of blood pressure and heart rate when supine than when sitting. Recovery of dorsal flexor muscles was little affected by body posture. Fourthly, force development and recovery of predominantly fast finger flexor muscles were almost independent of arm position. It was concluded that muscle fibre composition was the main factor in determining endurance capacity. However, endurance was influenced by changes in the hydrostatic blood pressure component.(ABSTRACT TRUNCATED AT 250 WORDS)

A biomechanical model for the analysis of the cervical spine in static postures

To gain a better understanding of the forces working on the cervical spine, a spatial biomechanical computer model was developed. The first part of our research was concerned with the development of a kinematic model to establish the axes of rotation and the mutual position of the head and vertebrae with regard to flexion, extension, lateroflexion and torsion. The next step was the introduction of lines of action of muscle forces and an external load, created by gravity and accelerations in different directions, working on the centre of gravity of the head and possibly a helmet. Although the results of our calculations should be interpreted cautiously in the present stage of our research, some conclusions can be drawn with respect to different head positions. During flexion muscle forces and joint reaction forces increase, except the force between the odontoid and the ligamentum transversum atlantis. This force shows a minimum during moderate flexion. The joint reaction forces on the levels C0-C1, C1-C2, and C7-T1 reach minimum values during extension, each in different stages of extension. Axial rotation less than 35 degrees does not need great muscle forces, axial rotation further than 35 degrees causes muscle forces and joint reaction forces to increase fast. While performing, lateral flexion muscle forces and joint reaction forces must increase rapidly to balance the head. We obtained some indications that the order of magnitude of the calculated forces is correct.

Coactivation of jaw muscles: recruitment order and level as a function of bite force direction and magnitude

The aim of this study was to obtain insight into the coactivation behaviour of the jaw muscles under various a priori defined static loading conditions of the mandible. As the masticatory system is mechanically redundant, an infinite number of recruitment patterns is theoretically possible to produce a certain bite force. Using a three-component force transducer and a feedback method, subjects could be instructed to produce a bite force of specific direction and magnitude under simultaneous registration of the EMG activity of anterior and posterior temporal, masseter and digastric muscles on each side. Forces were measured at the second premolars. Vertical, anterior, posterior, lateral and medial force directions were examined; in each direction force levels between 50 N and maximal voluntary force were produced. The results show that for all muscles the bite force-EMG relationship obeys a straight-line fit for forces exceeding 50 N. The relationship varies with bite force direction, except in the case of the digastric muscles. Variation is small for the anterior temporal and large for the posterior temporal and masseter muscles. The relative activation of muscles for a particular force in a particular direction in unique, despite the redundancy.

Comparison of neck muscle activation patterns during head stabilization and voluntary movements

The motor system that controls the neck musculature serves two major functions: stabilization of the head in the face of external perturbations or body movements, and generation of voluntary or orientating head movements. Typically the latter are thought to be mediated by complex pathways involving cerebral cortex and superior colliculus while stabilization is thought to be mediated by simple short-loop pathways that generate vestibulocollic and cervicocollic reflexes (VCR and CCR). Our work has been directed towards evaluating the extent to which the VCR and CCR are in fact responsible for head stabilization, and to determining how the motor patterns produced by these reflexes compare with those produced by the voluntary head movement system. To address these questions we have analysed the dynamic and spatial (kinematic) properties of the head movement system in cats and humans.

Stability of the lumbar spine. A study in mechanical engineering

From the mechanical point of view the spinal system is highly complex, containing a multitude of components, passive and active. In fact, even if the active components (the muscles) were exchanged by passive springs, the total number of elements considerably exceeds the minimum needed to maintain static equilibrium. In other words, the system is statically highly indeterminate. The particular role of the active components at static equilibrium is to enable a virtually arbitrary choice of posture, independent of the distribution and magnitude of the outer load albeit within physiological limits. Simultaneously this implies that ordinary procedures known from the analysis of mechanical systems with passive components cannot be applied. Hence the distribution of the forces over the different elements is not uniquely determined. Consequently nervous control of the force distribution over the muscles is needed, but little is known about how this achieved. This lack of knowledge implies great difficulties at numerical simulation of equilibrium states of the spinal system. These difficulties remain even if considerable reductions are made, such as the assumption that the thoracic cage behaves like a rigid body. A particularly useful point of view about the main principles of the force distributions appears to be the distinction between a local and a global system of muscles engaged in the equilibrium of the lumbar spine. The local system consists of muscles with insertion or origin (or both) at lumbar vertebrae, whereas the global system consists of muscles with origin on the pelvis and insertions on the thoracic cage. Given the posture of the lumbar spine, the force distribution over the local system appears to be essentially independent of the outer load of the body (though the force magnitudes are, of course, dependent on the magnitude of this load). Instead different distributions of the outer load on the body are met by different distributions of the forces in the global system. Thus, roughly speaking, the global system appears to take care of different distributions of outer forces on the body, whereas the local system performs an action, which is essentially locally determined (i.e. by the posture of the lumbar spine). The present work focuses on the upright standing posture with different degree of lumbar lordosis. The outer load is assumed to consist of weights carried on the shoulders. By reduction of the number of unknown forces, which is done by using a few different principles, a unique determination of the total force distributions at static equilibrium is obtained.(ABSTRACT TRUNCATED AT 400 WORDS)

Quantitation of human shoulder anatomy for prosthetic arm control--II. Anatomy matrices

Part I presented mathematically continuous surfaces and origin-to-insertion centroidal trajectory data for the muscles of the human shoulder. Part II presents linear trajectory data for the same muscles, in addition to kinematic descriptions of the joints. 'Anatomy' matrices for musculature, which convert muscle forces (as estimated by cutaneously monitored EMG signals) to moments, within a prosthetic arm controller, are developed for both the linear and non-linear (centroidal) data, and then compared. Graphical analyses of the muscle functions are also presented via computer-generated 'circle diagrams'.

Quantitation of human shoulder anatomy for prosthetic arm control--I. Surface modelling

Anatomical data and models for the human shoulder musculo-skeletal system are developed with the intent of quantifying physiological subcomponents of a model-based multi-axis prosthetic limb control scheme which has heretofore been implemented empirically. Part I presents the controller formulation, the surface descriptions of the muscles (and bones), and the centroidal trajectory data of the muscles. The data partially quantify the muscle modelling components of the controller, and set the stage for the analysis of the force-to-moment anatomical conversion factors of Part II.

Estimated mechanical properties of synergistic muscles involved in movements of a variety of human joints

One of the most challenging aspects of biomechanical modelling is parameter estimation. Parameter values that define the nonlinear relations within the classic Hill-based muscle model structure have been estimated for a large number of muscles involved in movements of a number of joints. The technique used to estimate these parameters is based on combining information on muscle as a material with geometrical data on muscle-joint anatomy. The resulting relations are compatible with available human experimental data and with past modelling estimates. An estimation of the relative importance of the various synergistic muscle properties during dynamic movement tasks is also provided, aided by examples of muscle load-sharing as a function of optimization criteria including measures of position error, muscle stress and neural effort.

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

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

Muscular synergism--II. A minimum-fatigue criterion for load sharing between synergistic muscles

P6new physiological criterion for muscular load sharing is developed. The criterion is based on the assumption that the endurance time of muscular contractions is maximized, hence muscular fatigue is minimized. The optimization problem is cast in the form of a linearly constrained, non-linear MINIMAX optimization. The new method predicts that: (1) there is synergistic muscle action, (2) muscle force increases non-linearly with external force (load), (3) relatively more force is allocated to muscles that have a large maximum force (large muscles), (4) relatively more force is allocated to muscles with a high percentage of slow-twitch fibers (muscles that are fatigue-resistant), (5) the load sharing does not depend on the moment arm of the muscles (although the absolute force levels do depend on this variable). The predicted load sharing between two cat muscles during standing and walking is in good agreement with direct force measurement data from the literature.