Adjustment of muscle mechanics model parameters to simulate dynamic contractions in older adults

Modeling musculoskeletal kinematic and dynamic redundancy using null space projection

The coordination of the human musculoskeletal system is deeply influenced by its redundant structure, in both kinematic and dynamic terms. Noticing a lack of a relevant, thorough treatment in the literature, we formally address the issue in order to understand and quantify factors affecting the motor coordination. We employed well-established techniques from linear algebra and projection operators to extend the underlying kinematic and dynamic relations by modeling the redundancy effects in null space. We distinguish three types of operational spaces, namely task, joint and muscle space, which are directly associated with the physiological factors of the system. A method for consistently quantifying the redundancy on multiple levels in the entire space of feasible solutions is also presented. We evaluate the proposed muscle space projection on segmental level reflexes and the computation of the feasible muscle forces for arbitrary movements. The former proves to be a convenient representation for interfacing with segmental level models or implementing controllers for tendon driven robots, while the latter enables the identification of force variability and correlations between muscle groups, attributed to the system’s redundancy. Furthermore, the usefulness of the proposed framework is demonstrated in the context of estimating the bounds of the joint reaction loads, where we show that misinterpretation of the results is possible if the null space forces are ignored. This work presents a theoretical analysis of the redundancy problem, facilitating application in a broad range of fields related to motor coordination, as it provides the groundwork for null space characterization. The proposed framework rigorously accounts for the effects of kinematic and dynamic redundancy, incorporating it directly into the underlying equations using the notion of null space projection, leading to a complete description of the system.

The lever arm ratio of the rotator cuff to deltoid muscle explains and predicts pseudoparalysis of the shoulder

Aims

In patients with a rotator cuff tear, tear pattern and tendon involvement are known risk factors for the development of pseudoparalysis of the shoulder. It remains unclear, however, why similar tears often have very different functional consequences. The present study hypothesizes that individual shoulder anatomy, specifically the moment arms (MAs) of the rotator cuff (RC) and the deltoid muscle, as well as their relative recruitment during shoulder abduction, plays a central role in pseudoparalysis.

Materials and Methods

Biomechanical and clinical analyses of the pseudoparalytic shoulder were conducted based on the ratio of the RC/deltoid MAs, which were used to define a novel anatomical descriptor called the Shoulder Abduction Moment (SAM) index. The SAM index is the ratio of the radii of two concentric spheres based on the centre of rotation of the joint. One sphere captures the humeral head (numerator) and the other the deltoid origin of the acromion (denominator). A computational rigid body simulation was used to establish the functional link between the SAM index and a potential predisposition for pseudoparalysis. A retrospective radiological validation study based on these measures was also undertaken using two cohorts with and without pseudoparalysis and massive RC tears.

Results

Decreased RC activity and improved glenohumeral stability was predicted by simulations of SAM indices with larger diameters of the humeral head, being consequently beneficial for joint stability. Clinical investigation of the SAM index showed significant risk of pseudoparalysis in patients with massive tears and a SAM < 0.77 (odds ratio (OR) 11).

Conclusion

The SAM index, which represents individual biomechanical characteristics of shoulder morphology, plays a determinant role in the presence or absence of pseudoparalysis in shoulders with massive RC tears.

Estimation of compressive tibiofemoral force using over resistance of ankle-foot orthosis on gait

The purpose of this study was to investigate the effect of changing the plantar flexion resistance (PFR) of an ankle-foot orthosis (AFO) on the compressive tibiofemoral force, knee muscle forces, and knee joint angle. We measured and estimated knee flexion angle, knee muscle force, and the compressive tibiofemoral force in healthy adult males. The results showed that the first peak compressive tibiofemoral force, peak knee flexion angle, and peak quadriceps muscle force increased in the strong PFR condition compared with the no-AFO condition. These results suggest that over-PFR caused various knee troubles.

Forward dynamic optimization of handle path and muscle activity for handle based isokinetic wheelchair propulsion: A simulation study

Push-rim wheelchair propulsion is biomechanically inefficient and physiologically stressful to the musculoskeletal structure of human body. This study focuses to obtain a new, optimized propulsion shape for wheelchair users, which is within the ergonomic ranges of joint motion, thus reducing the probability of injuries. To identify the propulsion movement, forward dynamic optimization was performed on a 3D human musculoskeletal model linked to a handle based propulsion mechanism, having shape and muscle excitations as optimization variables. The optimization resulted in a handle path shape with a circularity ratio of 0.95, and produced a net propulsion power of 34.7 watts for an isokinetic propulsion cycle at 50 rpm. Compared to push-rim propulsion, the compact design of the new propulsion mechanism along with the ergonomically optimized propulsion shape may help to reduce the risk of injuries and thus improve the quality of life for wheelchair users.

Supporting Effects on Muscles of a Motion Assistive Wear Depending on the Fixture Position

As muscle weakness due to aging or fatigue potentially increases the risk of injuries or accidents, support wears may be needed that can play a role in assisting various motions. Recently, research and development of such support wears have gained momentum in order to measure a variety of their supporting effects. While in the research stage, they are designed and evaluated on the premise that they are carefully adjusted to fit the specific wearers’ physiques. However, in actually producing and using such support wears on sites, they pose a problem in that their supporting effects cannot sufficiently be felt because they are difficult to fix, or because they do not fit all body sizes. Therefore, in this study, we have quantitatively evaluated their assisting effects using simulations with a musculoskeletal model with a built-in functional underwear with support parts. In particular, we evaluated whether any differences in arrangement of support parts on the human body, due to their different fixture methods, will have an effect on their assisting effects. We have also developed a support wear, with easy to adjust support parts and fixture positions, and have verified the abovementioned simulation accuracies by myoelectric measurements. This verification found that the proposed simulation method can predict, to some extent, the impacts of any deviations in the support parts’ positions and their assisting effects.

Prediction of Perceived Steering Wheel Operation Force by Muscle Activity

Humans feel forces or weights while grasping and manipulating an object. There is a difference between the physical and perceived forces because the physical characteristics of an object and/or human psychophysical characteristics affect perceived force. Sense of effort plays an important role in deciding the movement made by humans. In this study, we propose a computational method to predict the perceived force by evaluating the muscle activity as a function of effort in the operation of a steering wheel based on a 3D-musculoskeletal model simulation. We found that the perceived-force characteristics depend on the driving posture, though the applied force is the same. We evaluated the results, and showed that the mean of the absolute error is 1.78 N for the experiments conducted on four different vehicles in commercially available.

Evaluation of the accuracy of musculoskeletal simulation during squats by means of instrumented knee prostheses

Standard musculoskeletal simulation tools now offer widespread access to internal loading conditions for use in improving rehabilitation concepts or training programmes. However, despite broad reliance on their outcome, the accuracy of such loading estimations, specifically in deep knee flexion, remains generally unknown. The aim of this study was to evaluate the error of tibio-femoral joint contact force (JCF) calculations using musculoskeletal simulation compared to in vivo measured JCFs in subjects with instrumented total knee endoprostheses during squat exercises. Using the early but common "Gait2392_simbody" (OpenSim) scaled musculoskeletal models, tibio-femoral JCFs were calculated in 6 subjects for 5 repetitions of squats. Tibio-femoral JCFs of 0.8-3.2 times bodyweight (BW) were measured. While the musculoskeletal simulations underestimated the measured knee JCFs at low flexion angles, an average error of less than 20% was achieved between approximately 25°-60° knee flexion. With an average error that behaved almost linearly with knee flexion angle, an overestimation of approximately 60% was observed at deep flexion (ca. 80°), with an absolute maximum error of ca. 1.9BW. Our data indicate that loading estimations from early musculoskeletal gait models at both high and low knee joint flexion angles should be interpreted carefully.

A comparison of lumbar spine and muscle loading between male and female workers during box transfers

There is a clear relationship between lumbar spine loading and back musculoskeletal disorders in manual materials handling. The incidence of back disorders is greater in women than men, and for similar work demands females are functioning closer to their physiological limit. It is crucial to study loading on the spine musculoskeletal system with actual handlers, including females, to better understand the risk of back disorders. Extrapolation from biomechanical studies conducted on unexperienced subjects (mainly males) might not be applicable to actual female workers. For male workers, expertise changes the lumbar spine flexion, passive spine resistance, and active/passive muscle forces. However, experienced females select similar postures to those of novices when spine loading is critical. This study proposes that the techniques adopted by male experts, male novices, and females (with considerable experience but not categorized as experts) impact their lumbar spine musculoskeletal systems differently. Spinal loads, muscle forces, and passive resistance (muscle and ligamentous spine) were predicted by a multi-joint EMG-assisted optimization musculoskeletal model of the lumbar spine. Expert males flexed their lumbar spine less (avg. 21.9° vs 30.3-31.7°) and showed decreased passive internal moments (muscle avg. 8.9% vs 15.9-16.0%; spine avg. 4.7% vs 7.1-7.8%) and increased active internal moments (avg. 72.9% vs 62.0-63.9%), thus producing a different impact on their lumbar spine musculoskeletal systems. Experienced females sustained the highest relative spine loads (compression avg. 7.3 N/BW vs 6.2-6.4 N/BW; shear avg. 2.3 N/BW vs 1.7-1.8 N/BW) in addition to passive muscle and ligamentous spine resistance similar to novices. Combined with smaller body size, less strength, and the sequential lifting technique used by females, this could potentially mean greater risk of back injury. Workers should be trained early to limit excessive and repetitive stretching of their lumbar spine passive tissues.

Estimation of knee joint reaction force based on the plantar flexion resistance of an ankle-foot orthosis during gait

[Purpose] The purpose of this study was to investigate the effect of changing the plantar flexion resistance of an ankle-foot orthosis on knee joint reaction and knee muscle forces. Furthermore, the influence of an ankle-foot orthosis with an over-plantar flexion resistance function on knee joint reaction force was verified. [Participants and Methods] Ten healthy adult males walked under the following three conditions: (1) no ankle-foot orthosis, and with ankle-foot orthoses with (2) a strong and (3) a weak plantar flexion resistance (ankle-foot orthosis conditions). The knee flexion angle, quadricep muscle force, hamstring muscle force, and knee joint reaction force during the stance phase were measured using a motion analysis system, musculoskeletal model, and ankle-foot orthosis model. [Results] The peak knee joint reaction force, knee flexion angle, and quadricep muscle force in the early stance phase significantly increased in the strong plantar flexion resistance condition in comparison with the “no ankle-foot orthosis” condition. [Conclusion] Increased knee joint reaction force with over-plantar flexion resistance suggests that over-plantar flexion resistance causes various knee problems such as knee pain and knee osteoarthritis.

Mid-term development of hamstring tendon length and velocity after distal femoral extension osteotomy in children with bilateral cerebral palsy: a retrospective cohort study

AIM

Flexed knee gait can be treated with distal femoral extension osteotomy (DFEO) and additional patellar tendon advancement (PTA) in children with cerebral palsy (CP). This study assesses changes in hamstring muscle tendon length (MTL) and velocity after DFEO (+PTA).

METHOD

Nineteen children (mean age 13y [standard deviation 3y] at surgery) with CP and flexed knee gait who were treated with DFEO (15 limbs) or DFEO+PTA (10 limbs) were retrospectively included in this study. Gait analyses were performed preoperatively (E0), 1 year postoperatively (E1), and for 10 limbs additionally 2 to 5 years postoperatively (E2). Hamstring MTL and velocities were assessed at all examination dates using OpenSim.

RESULTS

Hamstring MTL and velocity did not change significantly over time. From E0 to E1, knee flexion in stance improved for both DFEO and DFEO+PTA (p<0.05), knee flexion in swing only improved after DFEO+PTA (p<0.05). The improved knee flexion in stance and swing was maintained at E2.

INTERPRETATION

DFEO led to a significant improvement in knee kinematics at E1 which was maintained at E2. DFEO seems to prevent recurrent hamstring tightness but does not lead to lengthened or fastened hamstrings.

WHAT THIS PAPER ADDS

Distal femoral extension osteotomy (DFEO) does not change hamstring muscle tendon length. DFEO does not change hamstring lengthening velocity. DFEO leads to a significant improvement in knee kinematics. Changes in knee kinematics after DFEO can be maintained at mid-term. DFEO seems to prevent recurrent hamstring tightness.

Simulated work loops predict maximal human cycling power

Fish, birds and lizards sometimes perform locomotor activities with maximized muscle power. Whether humans maximize muscle power is unknown because current experimental techniques cannot be applied non-invasively. This study leveraged simulated muscle work loops to examine whether voluntary maximal cycling is characterized by maximized muscle power. The simulated work loops used experimentally measured joint angles, anatomically realistic muscle parameters (muscle-tendon lengths, velocities and moment arms) and a published muscle model to calculate power and force for 38 muscles. For each muscle, stimulation onset and offset were optimized to maximize muscle work and power for the complete shortening/lengthening cycle. Simulated joint power and total leg power (i.e. summed muscle power) were compared with previously reported experimental joint and leg power. Experimental power values were closely approximated by simulated maximal power for the leg [intraclass correlation coefficient (ICC)=0.91], the hip (ICC=0.92) and the knee (ICC=0.95), but less closely for the ankle (ICC=0.74). Thus, during maximal cycling, humans maximize muscle power at the hip and knee, but the ankle acts to transfer (instead of maximize) power. Given that only the timing of muscle stimulation onset and offset were altered, these results suggest that human motor control strategies may optimize muscle activation to maximize power. The simulations also provide insight into biarticular muscle function by demonstrating that the power values at each joint spanned by a biarticular muscle can be substantially greater than the net power produced by the muscle. Our work-loop simulation technique may be useful for examining clinical deficits in muscle power production.

Electromyography-Driven Forward Dynamics Simulation to Estimate In Vivo Joint Contact Forces During Normal, Smooth, and Bouncy Gaits

Computational models that predict in vivo joint loading and muscle forces can potentially enhance and augment our knowledge of both typical and pathological gaits. To adopt such models into clinical applications, studies validating modeling predictions are essential. This study created a full-body musculoskeletal model using data from the "Sixth Grand Challenge Competition to Predict in vivo Knee Loads." This model incorporates subject-specific geometries of the right leg in order to concurrently predict knee contact forces, ligament forces, muscle forces, and ground contact forces. The objectives of this paper are twofold: (1) to describe an electromyography (EMG)-driven modeling methodology to predict knee contact forces and (2) to validate model predictions by evaluating the model predictions against known values for a patient with an instrumented total knee replacement (TKR) for three distinctly different gait styles (normal, smooth, and bouncy gaits). The model integrates a subject-specific knee model onto a previously validated generic full-body musculoskeletal model. The combined model included six degrees-of-freedom (6DOF) patellofemoral and tibiofemoral joints, ligament forces, and deformable contact forces with viscous damping. The foot/shoe/floor interactions were modeled by incorporating shoe geometries to the feet. Contact between shoe segments and the floor surface was used to constrain the shoe segments. A novel EMG-driven feedforward with feedback trim motor control strategy was used to concurrently estimate muscle forces and knee contact forces from standard motion capture data collected on the individual subject. The predicted medial, lateral, and total tibiofemoral forces represented the overall measured magnitude and temporal patterns with good root-mean-squared errors (RMSEs) and Pearson's correlation (p2). The model accuracy was high: medial, lateral, and total tibiofemoral contact force RMSEs = 0.15, 0.14, 0.21 body weight (BW), and (0.92 < p2 < 0.96) for normal gait; RMSEs = 0.18 BW, 0.21 BW, 0.29 BW, and (0.81 < p2 < 0.93) for smooth gait; and RMSEs = 0.21 BW, 0.22 BW, 0.33 BW, and (0.86 < p2 < 0.95) for bouncy gait, respectively. Overall, the model captured the general shape, magnitude, and temporal patterns of the contact force profiles accurately. Potential applications of this proposed model include predictive biomechanics simulations, design of TKR components, soft tissue balancing, and surgical simulation.

Effectively Quantifying the Performance of Lower-Limb Exoskeletons Over a Range of Walking Conditions

Exoskeletons and other wearable robotic devices have a wide range of potential applications, including assisting patients with walking pathologies, acting as tools for rehabilitation, and enhancing the capabilities of healthy humans. However, applying these devices effectively in a real-world setting can be challenging, as the optimal design features and control commands for an exoskeleton are highly dependent on the current user, task and environment. Consequently, robust metrics and methods for quantifying exoskeleton performance are required. This work presents an analysis of walking data collected for healthy subjects walking with an active pelvis exoskeleton over three assistance scenarios and five walking contexts. Spatial and temporal, kinematic, kinetic and other novel dynamic gait metrics were compared to identify which metrics exhibit desirable invariance properties, and so are good candidates for use as a stability metric over varying walking conditions. Additionally, using a model-based approach, the average metabolic power consumption was calculated for a subset of muscles crossing the hip, knee and ankle joints, and used to analyse how the energy-reducing properties of an exoskeleton are affected by changes in walking context. The results demonstrated that medio-lateral centre of pressure displacement and medio-lateral margin of stability exhibit strong invariance to changes in walking conditions. This suggests that these dynamic gait metrics are optimised in human gait and are potentially suitable metrics for optimising in an exoskeleton control paradigm. The effectiveness of the exoskeleton at reducing human energy expenditure was observed to increase when walking on an incline, where muscles aiding in hip flexion were assisted, but decrease when walking at a slow speed. These results underline the need for adaptive control algorithms for exoskeletons if they are to be used in varied environments.

Changes in the Neural and Non-neural Related Properties of the Spastic Wrist Flexors After Treatment With Botulinum Toxin A in Post-stroke Subjects: An Optimization Study

Quantifying neural and non-neural contributions to the joint resistance in spasticity is essential for a better evaluation of different intervention strategies such as botulinum toxin A (BoTN-A). However, direct measurement of muscle mechanical properties and spasticity-related parameters in humans is extremely challenging. The aim of this study was to use a previously developed musculoskeletal model and optimization scheme to evaluate the changes of neural and non-neural related properties of the spastic wrist flexors during passive wrist extension after BoTN-A injection. Data of joint angle and resistant torque were collected from 21 chronic stroke patients before, and 4 and 12 weeks post BoTN-A injection using NeuroFlexor, which is a motorized force measurement device to passively stretch wrist flexors. The model was optimized by tuning the passive and stretch-related parameters to fit the measured torque in each participant. It was found that stroke survivors exhibited decreased neural components at 4 weeks post BoNT-A injection, which returned to baseline levels after 12 weeks. The decreased neural component was mainly due to the increased motoneuron pool threshold, which is interpreted as a net excitatory and inhibitory inputs to the motoneuron pool. Though the linear stiffness and viscosity properties of wrist flexors were similar before and after treatment, increased exponential stiffness was observed over time which may indicate a decreased range of motion of the wrist joint. Using a combination of modeling and experimental measurement, valuable insights into the treatment responses, i.e., transmission of motoneurons, are provided by investigating potential parameter changes along the stretch reflex pathway in persons with chronic stroke.

Towards Subject-Specific Strength Training Design through Predictive Use of Musculoskeletal Models

Lower extremity dysfunction is often associated with hip muscle strength deficiencies. Detailed knowledge of the muscle forces generated in the hip under specific external loading conditions enables specific structures to be trained. The aim of this study was to find the most effective movement type and loading direction to enable the training of specific parts of the hip muscles using a standing posture and a pulley system. In a novel approach to release the predictive power of musculoskeletal modelling techniques based on inverse dynamics, flexion/extension and ab-/adduction movements were virtually created. To demonstrate the effectiveness of this approach, three hip orientations and an external loading force that was systematically rotated around the body were simulated using a state-of-the art OpenSim model in order to establish ideal designs for training of the anterior and posterior parts of the M. gluteus medius (GM). The external force direction as well as the hip orientation greatly influenced the muscle forces in the different parts of the GM. No setting was found for simultaneous training of the anterior and posterior parts with a muscle force higher than 50% of the maximum. Importantly, this study has demonstrated the use of musculoskeletal models as an approach to predict muscle force variations for different strength and rehabilitation exercise variations.

B. G, João F. Influence of the Musculotendon Dynamics on the Muscle Force-Sharing Problem of the Shoulder—A Fully Inverse Dynamics Approach

Most dynamic simulations are based on inverse dynamics, being the time-dependent physiological nature of the muscle properties rarely considered due to numerical challenges. Since the influence of muscle physiology on the consistency of inverse dynamics simulations remains unclear, the purpose of the present study is to evaluate the computational efficiency and biological validity of four musculotendon models that differ in the simulation of the muscle activation and contraction dynamics. Inverse dynamic analyses are performed using a spatial musculoskeletal model of the upper limb. The muscle force-sharing problem is solved for five repetitions of unloaded and loaded motions of shoulder abduction and shoulder flexion. The performance of the musculotendon models is evaluated by comparing muscle activation predictions with electromyography (EMG) signals, measured synchronously with motion for 11 muscles, and the glenohumeral joint reaction forces estimated numerically with those measured in vivo. The results show similar muscle activations for all muscle models. Overall, high cross-correlations are computed between muscle activations and the EMG signals measured for all movements analyzed, which provides confidence in the results. The glenohumeral joint reaction forces estimated compare well with those measured in vivo, but the influence of the muscle dynamics is found to be negligible. In conclusion, for slow-speed, standard movements of the upper limb, as those studied here, the activation and musculotendon contraction dynamics can be neglected in inverse dynamic analyses without compromising the prediction of muscle and joint reaction forces.

Exploring novel objective functions for simulating muscle coactivation in the neck

Musculoskeletal modeling allows for analysis of individual muscles in various situations. However, current techniques to realistically simulate muscle response when significant amounts of intentional coactivation is required are inadequate. This would include stiffening the neck or spine through muscle coactivation in preparation for perturbations or impacts. Muscle coactivation has been modeled previously in the neck and spine using optimization techniques that seek to maximize the joint stiffness by maximizing total muscle activation or muscle force. These approaches have not sought to replicate human response, but rather to explore the possible effects of active muscle. Coactivation remains a challenging feature to include in musculoskeletal models, and may be improved by extracting optimization objective functions from experimental data. However, the components of such an objective function must be known before fitting to experimental data. This study explores the effect of components in several objective functions, in order to recommend components to be used for fitting to experimental data. Four novel approaches to modeling coactivation through optimization techniques are presented, two of which produce greater levels of stiffness than previous techniques. Simulations were performed using OpenSim and MATLAB cooperatively. Results show that maximizing the moment generated by a particular muscle appears analogous to maximizing joint stiffness. The approach of optimizing for maximum moment generated by individual muscles may be a good candidate for developing objective functions that accurately simulate muscle coactivation in complex joints. This new approach will be the focus of future studies with human subjects.

Evaluating Muscle Activation Models for Elbow Motion Estimation

Adoption of wearable assistive technologies relies heavily on improvement of existing control system models. Knowing which models to use and how to improve them is difficult to determine due to the number of proposed solutions with relatively little broad comparisons. One type of these models, muscle activation models, describes the nonlinear relationship between neural inputs and mechanical activation of the muscle. Many muscle activation models can be found in the literature, but no comparison is available to guide the community on limitations and improvements. In this research, an EMG-driven elbow motion model is developed for the purpose of evaluating muscle activation models. Seven muscle activation models are used in an optimization procedure to determine which model has the best performance. Root mean square errors in muscle torque estimation range from 1.67–2.19 Nm on average over varying input trajectories. The computational resource demand was also measured during the optimization procedure, as it is an important aspect for determining if a model is feasible for use in a particular wearable assistive device. This study provides insight into the ability of these models to estimate elbow motion and the trade-off between estimation accuracy and computational demand.

Predictive neuromechanical simulations indicate why walking performance declines with ageing

KEY POINTS

Although the natural decline in walking performance with ageing affects the quality of life of a growing elderly population, its physiological origins remain unknown. By using predictive neuromechanical simulations of human walking with age-related neuro-musculo-skeletal changes, we find evidence that the loss of muscle strength and muscle contraction speed dominantly contribute to the reduced walking economy and speed. The findings imply that focusing on recovering these muscular changes may be the only effective way to improve performance in elderly walking. More generally, the work is of interest for investigating the physiological causes of altered gait due to age, injury and disorders.

ABSTRACT

Healthy elderly people walk slower and energetically less efficiently than young adults. This decline in walking performance lowers the quality of life for a growing ageing population, and understanding its physiological origin is critical for devising interventions that can delay or revert it. However, the origin of the decline in walking performance remains unknown, as ageing produces a range of physiological changes whose individual effects on gait are difficult to separate in experiments with human subjects. Here we use a predictive neuromechanical model to separately address the effects of common age-related changes to the skeletal, muscular and nervous systems. We find in computer simulations of this model that the combined changes produce gait consistent with elderly walking and that mainly the loss of muscle strength and mass reduces energy efficiency. In addition, we find that the slower preferred walking speed of elderly people emerges in the simulations when adapting to muscle fatigue, again mainly caused by muscle-related changes. The results suggest that a focus on recovering these muscular changes may be the only effective way to improve performance in elderly walking.

Evaluation and validation of musculoskeletal force feasible set indices: Application to manual wheelchair propulsion

The aim of this work was to assess handrim wheelchair propulsion effectiveness, related to the applied forces on the handrim, through the force feasible set. For a given posture of the upper-limb, it represents the set of isometric forces that can be applied on the handrim in any direction. The force feasible set was predicted from a musculoskeletal model of the upper-limb and trunk (10 degrees of freedom and 56 muscles). The aim of the first part of the study was to compare the force feasible set prediction and the force currently applied on the handrim. The second part proposes the creation of a new index called "Musculoskeletal Postural Performance Index" (MPPI) derived from the force feasible set and its comparison with the Mechanical Efficiency Force (MEF). These comparisons were conducted at 60, 80, 100, 120 and 140% of the Freely Chosen Frequency at submaximal and maximal conditions on 5 different phases of the push phase. The values of the MPPI were significantly correlated with those of the MEF. During the course of the push phase, the orientation of the force feasible set main axis approached that of the measured force and the force effectiveness evaluated through the MPPI increased.

Integrating Brain and Biomechanical Models-A New Paradigm for Understanding Neuro-muscular Control

To date, realistic models of how the central nervous system governs behavior have been restricted in scope to the brain, brainstem or spinal column, as if these existed as disembodied organs. Further, the model is often exercised in relation to an in vivo physiological experiment with input comprising an impulse, a periodic signal or constant activation, and output as a pattern of neural activity in one or more neural populations. Any link to behavior is inferred only indirectly via these activity patterns. We argue that to discover the principles of operation of neural systems, it is necessary to express their behavior in terms of physical movements of a realistic motor system, and to supply inputs that mimic sensory experience. To do this with confidence, we must connect our brain models to neuro-muscular models and provide relevant visual and proprioceptive feedback signals, thereby closing the loop of the simulation. This paper describes an effort to develop just such an integrated brain and biomechanical system using a number of pre-existing models. It describes a model of the saccadic oculomotor system incorporating a neuromuscular model of the eye and its six extraocular muscles. The position of the eye determines how illumination of a retinotopic input population projects information about the location of a saccade target into the system. A pre-existing saccadic burst generator model was incorporated into the system, which generated motoneuron activity patterns suitable for driving the biomechanical eye. The model was demonstrated to make accurate saccades to a target luminance under a set of environmental constraints. Challenges encountered in the development of this model showed the importance of this integrated modeling approach. Thus, we exposed shortcomings in individual model components which were only apparent when these were supplied with the more plausible inputs available in a closed loop design. Consequently we were able to suggest missing functionality which the system would require to reproduce more realistic behavior. The construction of such closed-loop animal models constitutes a new paradigm of computational neurobehavior and promises a more thoroughgoing approach to our understanding of the brain's function as a controller for movement and behavior.

Computational model to investigate the relative contributions of different neuromuscular properties of tibialis anterior on force generated during ankle dorsiflexion

This study describes a new model of the force generated by tibialis anterior muscle with three new features: single-fiber action potential, twitch force, and pennation angle. This model was used to investigate the relative effects and interaction of ten age-associated neuromuscular parameters. Regression analysis (significance level of 0.05) between the neuromuscular properties and corresponding simulated force produced at the footplate was performed. Standardized slope coefficients were computed to rank the effect of the parameters. The results show that reduction in the average firing rate is the reason for the sharp decline in the force and other factors, such as number of muscle fibers, specific force, pennation angle, and innervation ratio. The fast fiber ratio affects the simulated force through two significant interactions. This study has ranked the individual contributions of the neuromuscular factors to muscle strength decline of the TA and identified firing rate decline as the biggest cause followed by decrease in muscle fiber number and specific force. The strategy for strength preservation for the elderly should focus on improving firing rate. Graphical abstract Neuromuscular properties of Tibialis Anterior on force generated during ankle dorsiflexion.

Muscle function in glenohumeral joint stability during lifting task

Ensuring glenohumeral stability during repetitive lifting tasks is a key factor to reduce the risk of shoulder injuries. Nevertheless, the literature reveals some lack concerning the assessment of the muscles that ensure glenohumeral stability during specific lifting tasks. Therefore, the purpose of this study was to assess the stabilization function of shoulder muscles during a lifting task. Kinematics and muscle electromyograms (n = 9) were recorded from 13 healthy adults during a bi-manual lifting task performed from the hip to the shoulder level. A generic upper-limb OpenSim model was implemented to simulate glenohumeral stability and instability by performing static optimizations with and without glenohumeral stability constraints. This procedure enabled to compute the level of shoulder muscle activity and forces in the two conditions. Without the stability constraint, the simulated movement was unstable during 74%±16% of the time. The force of the supraspinatus was significantly increased of 107% (p<0.002) when the glenohumeral stability constraint was implemented. The increased supraspinatus force led to greater compressive force (p<0.001) and smaller shear force (p<0.001), which contributed to improved glenohumeral stability. It was concluded that the supraspinatus may be the main contributor to glenohumeral stability during lifting task.

Intraoperative and biomechanical studies of human vastus lateralis and vastus medialis sarcomere length operating range

The vast majority of musculoskeletal models are not validated against primary experimental data. Conversely, most human experimental measurements are not explained theoretically using models to provide a mechanistic understanding of experimental results. Here we present a study with both primary human data and primary modeling data. Intraoperative sarcomere length was measured on the human vastus lateralis (VL) and vastus medialis (VM) muscles (n = 8) by laser diffraction. These data were compared to a biomechanical model based on muscle architecture and moment arms obtained independently from cadaveric specimens (n = 9). Measured VL sarcomere length ranged from about 3.2 µm with the knee flexed to 45° to 3.8 µm with the knee flexed to 90°. These values were remarkably close to theoretical predictions. Measured VM sarcomere length ranged from 3.6 µm with the knee flexed to 45° to 4.1 µm with the knee flexed to 90°. These values were dramatically longer than theoretical predictions. Our measured sarcomere length values suggest that human vasti may have differing functions with regard to knee extension and patellar stabilization. This report underscores the importance of validating experimental data to theoretical models and vice versa.

Sensitivity of a juvenile subject-specific musculoskeletal model of the ankle joint to the variability of operator-dependent input

Subject-specific musculoskeletal modelling is especially useful in the study of juvenile and pathological subjects. However, such methodologies typically require a human operator to identify key landmarks from medical imaging data and are thus affected by unavoidable variability in the parameters defined and subsequent model predictions. The aim of this study was to thus quantify the inter- and intra-operator repeatability of a subject-specific modelling methodology developed for the analysis of subjects with juvenile idiopathic arthritis. Three operators each created subject-specific musculoskeletal foot and ankle models via palpation of bony landmarks, adjustment of geometrical muscle points and definition of joint coordinate systems. These models were then fused to a generic Arnold lower limb model for each of three modelled patients. The repeatability of each modelling operation was found to be comparable to those previously reported for the modelling of healthy, adult subjects. However, the inter-operator repeatability of muscle point definition was significantly greater than intra-operator repeatability (p < 0.05) and predicted ankle joint contact forces ranged by up to 24% and 10% of the peak force for the inter- and intra-operator analyses, respectively. Similarly, the maximum inter- and intra-operator variations in muscle force output were 64% and 23% of peak force, respectively. Our results suggest that subject-specific modelling is operator dependent at the foot and ankle, with the definition of muscle geometry the most significant source of output uncertainty. The development of automated procedures to prevent the misplacement of crucial muscle points should therefore be considered a particular priority for those developing subject-specific models.

Muscle force distribution of the lower limbs during walking in diabetic individuals with and without polyneuropathy

BACKGROUND

Muscle force estimation could advance the comprehension of the neuromuscular strategies that diabetic patients adopt to preserve walking ability, which guarantees their independence as they deal with their neural and muscular impairments due to diabetes and neuropathy. In this study, the lower limb's muscle force distribution during gait was estimated and compared in diabetic patients with and without polyneuropathy.

METHODS

Thirty individuals were evaluated in a cross-sectional study, equally divided among controls (CG) and diabetic patients with (DNG) and without (DG) polyneuropathy. The acquired ground reaction forces and kinematic data were used as input variables for a scaled musculoskeletal model in the OpenSim software. The maximum isometric force of the ankle extensors and flexors was reduced in the model of DNG by 30% and 20%, respectively. The muscle force was calculated using static optimization, and peak forces were compared among groups (flexors and extensors of hip, knee, and ankle; ankle evertors; and hip abductors) using MANOVAs, followed by univariate ANOVAs and Newman-Keuls post-hoc tests (p < 0.05).

RESULTS

From the middle to late stance phase, DG showed a lower soleus muscle peak force compared to the CG (p=0.024) and the DNG showed lower forces in the gastrocnemius medialis compared to the DG (p=0.037). At the terminal swing phase, the semitendinosus and semimembranosus peak forces showed lower values in the DG compared to the CG and DNG. At the late stance, the DNG showed a higher peak force in the biceps short head, semimembranosus, and semitendinosus compared to the CG and DG.

CONCLUSION

Peak forces of ankle (flexors, extensors, and evertors), knee (flexors and extensors), and hip abductors distinguished DNG from DG, and both of those from CG. Both diabetic groups showed alterations in the force production of the ankle extensors with reductions in the forces of soleus (DG) and gastrocnemius medialis (DNG) seen in both diabetic groups, but only DNG showed an increase in the hamstrings (knee flexor) at push-off. A therapeutic approach focused on preserving the functionality of the knee muscles is a promising strategy, even if the ankle dorsiflexors and plantarflexors are included in the resistance training.

Evaluating the Ergonomic Benefit of a Wrist Brace on Wrist Posture, Muscle Activity, Rotational Stiffness, and Peak Shovel-Ground Impact Force During a Simulated Tree-Planting Task

Background Tree planters are at a high risk for wrist injury due to awkward postures and high wrist loads experienced during each planting cycle, specifically at shovel-ground impact. Wrist joint stiffness provides a measure that integrates postural and loading information. Objective The purpose of this study was to evaluate wrist joint stiffness requirements at the instant of shovel-ground impact during tree planting and determine if a wrist brace could alter muscular contributions to wrist joint stiffness. Method Planters simulated tree planting with and without wearing a brace on their planting arm. Surface electromyography (sEMG) from six forearm muscles and wrist kinematics were collected and used to calculate muscular contributions to joint rotational stiffness about the wrist. Results Wrist joint stiffness increased with brace use, an unanticipated and negative consequence of wearing a brace. As a potential benefit, planters achieved a more neutrally oriented wrist angle about the flexion/extension axis, although a less neutral wrist angle about the ulnar/radial axis was observed. Muscle activity did not change between conditions. Conclusion The joint stiffness analysis, combining kinematic and sEMG information in a biologically relevant manner, revealed clear limitations with the interface between the brace grip and shovel handle that jeopardized the prophylactic benefits of the current brace design. This limitation was not as evident when considering kinematics and sEMG data independently. Application A neuromechanical model (joint rotational stiffness) enhanced our ability to evaluate the brace design relative to kinematic and sEMG parameter-based metrics alone.

Hill equation and Hatze's muscle activation dynamics complement each other: enhanced pharmacological and physiological interpretability of modelled activity-pCa curves

In pharmacology, particularly receptor theory, the drug dose-effect relation of bio-active substances is frequently described by a sigmoidal function formulated by A.V. Hill. In biomechanics and muscle physiology then again, H. Hatze had elaborated a mathematical model for the stimulation- and length-dependent dynamics of the calcium-induced activation of mammalian skeletal muscle. Here, we prove that muscular activity-pCa curves described by the Hill equation and the equilibrium state predicted by Hatze's activation dynamics are equivalent. Thus, the exponent introduced by Hatze can be directly identified with its counterpart in the Hill equation, by which the former model gains further physiological interpretability. Conversely, the Hill constant can now be interpreted as a function of the fibre length, generally allowing for advanced Hill plots based on model ideas. We derive and examine the complementary relation of both model approaches, highlight the benefits of mutually viewing one approach from the perspective of the other, and address the physiology behind sigmoidal curves.

Towards evidence based strength training: a comparison of muscle forces during deadlifts, goodmornings and split squats

BACKGROUND

To ensure an efficient and targeted adaptation with low injury risk during strength exercises, knowledge of the participant specific internal loading conditions is essential. The goal of this study was to calculate the lower limb muscles forces during the strength exercises deadlifts, goodmornings and splits squats by means of musculoskeletal simulation.

METHODS

11 participants were assessed performing 10 different variations of split squats by varying the step length as well as the maximal frontal tibia angle, and 13 participants were measured performing deadlift and goodmorning exercises. Using individualised musculoskeletal models, forces of the Quadriceps (four parts), Hamstrings (four parts) and m. gluteus maximus (three parts) were computed.

RESULTS

Deadlifts resulted highest loading for the Quadriceps, especially for the vasti (18-34 N/kg), but not for the rectus femoris (8-10 N/kg), which exhibited its greatest loading during split squats (13-27 N/kg) in the rear limb. Hamstrings were loaded isometrically during goodmornings but dynamically during deadlifts. For the m. gluteus maximus, the highest loading was observed during split squats in the front limb (up to 25 N/kg), while deadlifts produced increasingly, large loading over large ranges of motion in hip and knee.

CONCLUSIONS

Acting muscle forces vary between exercises, execution form and joint angle. For all examined muscles, deadlifts produced considerable loading over large ranges of motion, while split squats seem to be highly dependent upon exercise variation. This study provides key information to design strength-training programs with respect to loading conditions and ranges of motion of lower extremity muscles.

Chimpanzee super strength and human skeletal muscle evolution

Since at least the 1920s, it has been reported that common chimpanzees (Pan troglodytes) differ from humans in being capable of exceptional feats of "super strength," both in the wild and in captive environments. A mix of anecdotal and more controlled studies provides some support for this view; however, a critical review of available data suggests that chimpanzee mass-specific muscular performance is a more modest 1.5 times greater than humans on average. Hypotheses for the muscular basis of this performance differential have included greater isometric force-generating capabilities, faster maximum shortening velocities, and/or a difference in myosin heavy chain (MHC) isoform content in chimpanzee relative to human skeletal muscle. Here, we show that chimpanzee muscle is similar to human muscle in its single-fiber contractile properties, but exhibits a much higher fraction of MHC II isoforms. Unlike humans, chimpanzee muscle is composed of ∼67% fast-twitch fibers (MHC IIa+IId). Computer simulations of species-specific whole-muscle models indicate that maximum dynamic force and power output is 1.35 times higher in a chimpanzee muscle than a human muscle of similar size. Thus, the superior mass-specific muscular performance of chimpanzees does not stem from differences in isometric force-generating capabilities or maximum shortening velocities-as has long been suggested-but rather is due in part to differences in MHC isoform content and fiber length. We propose that the hominin lineage experienced a decline in maximum dynamic force and power output during the past 7-8 million years in response to selection for repetitive, low-cost contractile behavior.

Lower extremity EMG-driven modeling of walking with automated adjustment of musculoskeletal geometry

Neuromusculoskeletal disorders affecting walking ability are often difficult to manage, in part due to limited understanding of how a patient’s lower extremity muscle excitations contribute to the patient’s lower extremity joint moments. To assist in the study of these disorders, researchers have developed electromyography (EMG) driven neuromusculoskeletal models utilizing scaled generic musculoskeletal geometry. While these models can predict individual muscle contributions to lower extremity joint moments during walking, the accuracy of the predictions can be hindered by errors in the scaled geometry. This study presents a novel EMG-driven modeling method that automatically adjusts surrogate representations of the patient’s musculoskeletal geometry to improve prediction of lower extremity joint moments during walking. In addition to commonly adjusted neuromusculoskeletal model parameters, the proposed method adjusts model parameters defining muscle-tendon lengths, velocities, and moment arms. We evaluated our EMG-driven modeling method using data collected from a high-functioning hemiparetic subject walking on an instrumented treadmill at speeds ranging from 0.4 to 0.8 m/s. EMG-driven model parameter values were calibrated to match inverse dynamic moments for five degrees of freedom in each leg while keeping musculoskeletal geometry close to that of an initial scaled musculoskeletal model. We found that our EMG-driven modeling method incorporating automated adjustment of musculoskeletal geometry predicted net joint moments during walking more accurately than did the same method without geometric adjustments. Geometric adjustments improved moment prediction errors by 25% on average and up to 52%, with the largest improvements occurring at the hip. Predicted adjustments to musculoskeletal geometry were comparable to errors reported in the literature between scaled generic geometric models and measurements made from imaging data. Our results demonstrate that with appropriate experimental data, joint moment predictions for walking generated by an EMG-driven model can be improved significantly when automated adjustment of musculoskeletal geometry is included in the model calibration process.

Neural and non-neural related properties in the spastic wrist flexors: An optimization study

Quantifying neural and non-neural contributions to increased joint resistance in spasticity is essential for a better understanding of its pathophysiological mechanisms and evaluating different intervention strategies. However, direct measurement of spasticity-related manifestations, e.g., motoneuron and biophysical properties in humans, is extremely challenging. In this vein, we developed a forward neuromusculoskeletal model that accounts for dynamics of muscle spindles, motoneuron pools, muscle activation and musculotendon of wrist flexors and relies on the joint angle and resistant torque as the only input measurement variables. By modeling the stretch reflex pathway, neural and non-neural related properties of the spastic wrist flexors were estimated during the wrist extension test. Joint angle and resistant torque were collected from 17 persons with chronic stroke and healthy controls using NeuroFlexor, a motorized force measurement device during the passive wrist extension test. The model was optimized by tuning the passive and stretch reflex-related parameters to fit the measured torque in each participant. We found that persons with moderate and severe spasticity had significantly higher stiffness than controls. Among subgroups of stroke survivors, the increased neural component was mainly due to a lower muscle spindle rate at 50% of the motoneuron recruitment. The motoneuron pool threshold was highly correlated to the motoneuron pool gain in all subgroups. The model can describe the overall resistant behavior of the wrist joint during the test. Compared to controls, increased resistance was predominantly due to higher elasticity and neural components. We concluded that in combination with the NeuroFlexor measurement, the proposed neuromusculoskeletal model and optimization scheme served as suitable tools for investigating potential parameter changes along the stretch-reflex pathway in persons with spasticity.

The effects of Achilles tendon compliance on triceps surae mechanics and energetics in walking

Achilles tendon (AT) compliance can affect the generation and transmission of triceps surae muscle forces, and thus has important biomechanical consequences for walking performance. However, the uniarticular soleus (SOL) and the biarticular (GAS) function differently during walking, with in vivo evidence suggesting that their associated fascicles and tendinous structures exhibit unique kinematics during walking. Given the strong association between muscle fiber length, velocity and force production, we conjectured that SOL and GAS mechanics and energetic behavior would respond differently to altered AT compliance. To test this, we characterized GAS and SOL muscle and tendon mechanics and energetics due to systematic changes in tendon compliance using musculoskeletal simulations of walking. Increased tendon compliance enlarged GAS and SOL tendon excursions, shortened fiber operation lengths and affected muscle excitation patterns. For both muscles, an optimal tendon compliance (tendon strains of approximately 5% with maximum isometric force) existed that minimized metabolic energy consumption. However, GAS muscle-tendon mechanics and energetics were significantly more sensitive to changes in tendon compliance than were those for SOL. In addition, GAS was not able to return stored tendon energy during push-off as effectively as SOL, particularly for larger values of tendon compliance. These fundamental differences between GAS and SOL sensitivity to altered tendon compliance seem to arise from the biarticular nature of GAS. These insights are potentially important for understanding the functional consequences of altered Achilles tendon compliance due to aging, injury, or disease.

Spinal Loading Patterns From Biomechanical Modeling Explain the High Incidence of Vertebral Fractures in the Thoracolumbar Region

Vertebral fractures occur most frequently in the mid-thoracic and thoracolumbar regions of the spine, yet the reasons for this site-specific occurrence are not known. Our working hypothesis is that the locations of vertebral fracture may be explained by the pattern of spine loading, such that during daily activities the mid-thoracic and thoracolumbar regions experience preferentially higher mechanical loading compared to other spine regions. To test this hypothesis, we used a female musculoskeletal model of the full thoracolumbar spine and rib cage to estimate the variation in vertebral compressive loads and associated factor-of-risk (load-to-strength ratio) throughout the spine for 119 activities of daily living, while also parametrically varying spine curvature (high, average, low, and zero thoracic kyphosis models). We found that nearly all activities produced loading peaks in the thoracolumbar and lower lumbar regions of the spine, but that the highest factor-of-risk values generally occurred in the thoracolumbar region of the spine because these vertebrae had lower compressive strength than vertebrae in the lumbar spine. The peaks in compressive loading and factor-of-risk in the thoracolumbar region were accentuated by increasing thoracic kyphosis. Activation of the multifidus muscle fascicles selectively in the thoracolumbar region appeared to be the main contributor to the relatively high vertebral compressive loading in the thoracolumbar spine. In summary, by using advanced musculoskeletal modeling to estimate vertebral loading throughout the spine, this study provides a biomechanical mechanism for the higher incidence of fractures in thoracolumbar vertebrae compared to other spinal regions. © 2017 American Society for Bone and Mineral Research.

Three-dimensional data-tracking dynamic optimization simulations of human locomotion generated by direct collocation

The aim of this study was to perform full-body three-dimensional (3D) dynamic optimization simulations of human locomotion by driving a neuromusculoskeletal model toward in vivo measurements of body-segmental kinematics and ground reaction forces. Gait data were recorded from 5 healthy participants who walked at their preferred speeds and ran at 2m/s. Participant-specific data-tracking dynamic optimization solutions were generated for one stride cycle using direct collocation in tandem with an OpenSim-MATLAB interface. The body was represented as a 12-segment, 21-degree-of-freedom skeleton actuated by 66 muscle-tendon units. Foot-ground interaction was simulated using six contact spheres under each foot. The dynamic optimization problem was to find the set of muscle excitations needed to reproduce 3D measurements of body-segmental motions and ground reaction forces while minimizing the time integral of muscle activations squared. Direct collocation took on average 2.7±1.0h and 2.2±1.6h of CPU time, respectively, to solve the optimization problems for walking and running. Model-computed kinematics and foot-ground forces were in good agreement with corresponding experimental data while the calculated muscle excitation patterns were consistent with measured EMG activity. The results demonstrate the feasibility of implementing direct collocation on a detailed neuromusculoskeletal model with foot-ground contact to accurately and efficiently generate 3D data-tracking dynamic optimization simulations of human locomotion. The proposed method offers a viable tool for creating feasible initial guesses needed to perform predictive simulations of movement using dynamic optimization theory. The source code for implementing the model and computational algorithm may be downloaded at http://simtk.org/home/datatracking.

Muscle and Limb Mechanics

Understanding of the musculoskeletal system has evolved from the collection of individual phenomena in highly selected experimental preparations under highly controlled and often unphysiological conditions. At the systems level, it is now possible to construct complete and reasonably accurate models of the kinetics and energetics of realistic muscles and to combine them to understand the dynamics of complete musculoskeletal systems performing natural behaviors. At the reductionist level, it is possible to relate most of the individual phenomena to the anatomical structures and biochemical processes that account for them. Two large challenges remain. At a systems level, neuroscience must now account for how the nervous system learns to exploit the many complex features that evolution has incorporated into muscle and limb mechanics. At a reductionist level, medicine must now account for the many forms of pathology and disability that arise from the many diseases and injuries to which this highly evolved system is inevitably prone. © 2017 American Physiological Society. Compr Physiol 7:429-462, 2017.

Classical and adaptive control of ex vivo skeletal muscle contractions using Functional Electrical Stimulation (FES)

Functional Electrical Stimulation is a promising approach to treat patients by stimulating the peripheral nerves and their corresponding motor neurons using electrical current. This technique helps maintain muscle mass and promote blood flow in the absence of a functioning nervous system. The goal of this work is to control muscle contractions from FES via three different algorithms and assess the most appropriate controller providing effective stimulation of the muscle. An open-loop system and a closed-loop system with three types of model-free feedback controllers were assessed for tracking control of skeletal muscle contractions: a Proportional-Integral (PI) controller, a Model Reference Adaptive Control algorithm, and an Adaptive Augmented PI system. Furthermore, a mathematical model of a muscle-mass-spring system was implemented in simulation to test the open-loop case and closed-loop controllers. These simulations were carried out and then validated through experiments ex vivo. The experiments included muscle contractions following four distinct trajectories: a step, sine, ramp, and square wave. Overall, the closed-loop controllers followed the stimulation trajectories set for all the simulated and tested muscles. When comparing the experimental outcomes of each controller, we concluded that the Adaptive Augmented PI algorithm provided the best closed-loop performance for speed of convergence and disturbance rejection.

Biologically plausible learning in recurrent neural networks reproduces neural dynamics observed during cognitive tasks

Neural activity during cognitive tasks exhibits complex dynamics that flexibly encode task-relevant variables. Chaotic recurrent networks, which spontaneously generate rich dynamics, have been proposed as a model of cortical computation during cognitive tasks. However, existing methods for training these networks are either biologically implausible, and/or require a continuous, real-time error signal to guide learning. Here we show that a biologically plausible learning rule can train such recurrent networks, guided solely by delayed, phasic rewards at the end of each trial. Networks endowed with this learning rule can successfully learn nontrivial tasks requiring flexible (context-dependent) associations, memory maintenance, nonlinear mixed selectivities, and coordination among multiple outputs. The resulting networks replicate complex dynamics previously observed in animal cortex, such as dynamic encoding of task features and selective integration of sensory inputs. We conclude that recurrent neural networks offer a plausible model of cortical dynamics during both learning and performance of flexible behavior.

Predictive Simulation of Reaching Moving Targets Using Nonlinear Model Predictive Control

This article investigates the application of optimal feedback control to trajectory planning in voluntary human arm movements. A nonlinear model predictive controller (NMPC) with a finite prediction horizon was used as the optimal feedback controller to predict the hand trajectory planning and execution of planar reaching tasks. The NMPC is completely predictive, and motion tracking or electromyography data are not required to obtain the limb trajectories. To present this concept, a two degree of freedom musculoskeletal planar arm model actuated by three pairs of antagonist muscles was used to simulate the human arm dynamics. This study is based on the assumption that the nervous system minimizes the muscular effort during goal-directed movements. The effects of prediction horizon length on the trajectory, velocity profile, and muscle activities of a reaching task are presented. The NMPC predictions of the hand trajectory to reach fixed and moving targets are in good agreement with the trajectories found by dynamic optimization and those from experiments. However, the hand velocity and muscle activations predicted by NMPC did not agree as well with experiments or with those found from dynamic optimization.

Cervical Spine Injuries: A Whole-Body Musculoskeletal Model for the Analysis of Spinal Loading

Cervical spine trauma from sport or traffic collisions can have devastating consequences for individuals and a high societal cost. The precise mechanisms of such injuries are still unknown as investigation is hampered by the difficulty in experimentally replicating the conditions under which these injuries occur. We harness the benefits of computer simulation to report on the creation and validation of i) a generic musculoskeletal model (MASI) for the analyses of cervical spine loading in healthy subjects, and ii) a population-specific version of the model (Rugby Model), for investigating cervical spine injury mechanisms during rugby activities. The musculoskeletal models were created in OpenSim, and validated against in vivo data of a healthy subject and a rugby player performing neck and upper limb movements. The novel aspects of the Rugby Model comprise i) population-specific inertial properties and muscle parameters representing rugby forward players, and ii) a custom scapula-clavicular joint that allows the application of multiple external loads. We confirm the utility of the developed generic and population-specific models via verification steps and validation of kinematics, joint moments and neuromuscular activations during rugby scrummaging and neck functional movements, which achieve results comparable with in vivo and in vitro data. The Rugby Model was validated and used for the first time to provide insight into anatomical loading and cervical spine injury mechanisms related to rugby, whilst the MASI introduces a new computational tool to allow investigation of spinal injuries arising from other sporting activities, transport, and ergonomic applications. The models used in this study are freely available at simtk.org and allow to integrate in silico analyses with experimental approaches in injury prevention.

The influence of muscle pennation angle and cross-sectional area on contact forces in the ankle joint

Data about a muscle's fibre pennation angle and physiological cross-sectional area are used in musculoskeletal modelling to estimate muscle forces, which are used to calculate joint contact forces. For the leg, muscle architecture data are derived from studies that measured pennation angle at the muscle surface, but not deep within it. Musculoskeletal models developed to estimate joint contact loads have usually been based on the mean values of pennation angle and physiological cross-sectional area. Therefore, the first aim of this study was to investigate differences between superficial and deep pennation angles within each muscle acting over the ankle and predict how differences may influence muscle forces calculated in musculoskeletal modelling. The second aim was to investigate how inter-subject variability in physiological cross-sectional area and pennation angle affects calculated ankle contact forces. Eight cadaveric legs were dissected to excise the muscles acting over the ankle. The mean surface and deep pennation angles, fibre length and physiological cross-sectional area were measured. Cluster analysis was applied to group the muscles according to their architectural characteristics. A previously validated OpenSim model was used to estimate ankle muscle forces and contact loads using architecture data from all eight limbs. The mean surface pennation angle for soleus was significantly greater (54%) than the mean deep pennation angle. Cluster analysis revealed three groups of muscles with similar architecture and function: deep plantarflexors and peroneals, superficial plantarflexors and dorsiflexors. Peak ankle contact force was predicted to occur before toe-off, with magnitude greater than five times bodyweight. Inter-specimen variability in contact force was smallest at peak force. These findings will help improve the development of experimental and computational musculoskeletal models by providing data to estimate force based on both surface and deep pennation angles. Inter-subject variability in muscle architecture affected ankle muscle and contact loads only slightly. The link between muscle architecture and function contributes to the understanding of the relationship between muscle structure and function.