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Almanzor E, Sugiyama T, Abdulali A, Hayashibe M, Iida F. Utilising redundancy in musculoskeletal systems for adaptive stiffness and muscle failure compensation: a model-free inverse statics approach. BIOINSPIRATION & BIOMIMETICS 2024; 19:046015. [PMID: 38806049 DOI: 10.1088/1748-3190/ad5129] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/22/2023] [Accepted: 05/28/2024] [Indexed: 05/30/2024]
Abstract
Vertebrates possess a biomechanical structure with redundant muscles, enabling adaptability in uncertain and complex environments. Harnessing this inspiration, musculoskeletal systems offer advantages like variable stiffness and resilience to actuator failure and fatigue. Despite their potential, the complex structure presents modelling challenges that are difficult to explicitly formulate and control. This difficulty arises from the need for comprehensive knowledge of the musculoskeletal system, including details such as muscle arrangement, and fully accessible muscle and joint states. Whilst existing model-free methods do not need explicit formulations, they also underutilise the benefits of muscle redundancy. Consequently, they necessitate retraining in the event of muscle failure and require manual tuning of parameters to control joint stiffness limiting their applications under unknown payloads. Presented here is a model-free local inverse statics controller for musculoskeletal systems, employing a feedforward neural network trained on motor babbling data. Experiments with a musculoskeletal leg model showcase the controller's adaptability to complex structures, including mono and bi-articulate muscles. The controller can compensate for changes such as weight variations, muscle failures, and environmental interactions, retaining reasonable accuracy without the need for any additional retraining.
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Affiliation(s)
- Elijah Almanzor
- Bio-Inspired Robotics Laboratory, Department of Engineering, University of Cambridge, Cambridge, United Kingdom
| | - Taku Sugiyama
- Neuro-Robotics Laboratory, Department of Robotics, Graduate School of Engineering, Tohoku University, Sendai 980-8579, Japan
| | - Arsen Abdulali
- Bio-Inspired Robotics Laboratory, Department of Engineering, University of Cambridge, Cambridge, United Kingdom
| | - Mitsuhiro Hayashibe
- Neuro-Robotics Laboratory, Department of Robotics, Graduate School of Engineering, Tohoku University, Sendai 980-8579, Japan
| | - Fumiya Iida
- Bio-Inspired Robotics Laboratory, Department of Engineering, University of Cambridge, Cambridge, United Kingdom
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Magalhães IEJ, Burgo VC, Neto RB, Mezzarane RA. Changes in the input-output relation of the Hoffmann reflex recruitment curve after submaximal fatiguing contraction of the antagonist muscles. Somatosens Mot Res 2020; 38:54-59. [PMID: 33169647 DOI: 10.1080/08990220.2020.1845135] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/23/2022]
Abstract
PURPOSE The central nervous system adapts strategies to compensate the decreased motor capacities of a fatigued muscle. However, data on neurophysiological adaptations of muscles other than those under fatigue are scarce. The present study was designed to evaluate the effects of submaximal fatiguing contraction (leading to a task failure) induced in ankle dorsiflexors muscles on the excitability of the Hoffmann reflex (H-reflex) of an ankle plantarflexor (soleus muscle). MATERIALS AND METHODS Twenty-three physically active males (75.5 ± 8.3 kg; 1.77 ± 0.08 m; 27.0 ± 8.0 years) were asked to maintain the contraction level of the right ankle dorsiflexors at 60% of the maximal isometric voluntary contraction (MIVC). Task failure was defined when the force level dropped below 40% MIVC for 5 consecutive seconds. The input-output relation of the ascending limb of the recruitment curve of the soleus H-reflex was examined at 0 min, 5 min, 10 min, 15 min and 20 min after the task failure. RESULTS The amplitude parameter representing the first recruited motoneurons (threshold H-reflex - H@th) was significantly higher at 5 min, 10 min, 15 min and 20 min after task failure as compared to control (Hth) (p < 0.05). On the other hand, the parameter that represents the activation of the relatively higher threshold motoneurons (H@100) was reduced (as compared to control - H100), but only at 20 min after the task failure (p < 0.05). CONCLUSIONS These results suggest differential reflex modulation of the soleus H-reflex after fatigue of the ankle dorsiflexors, that probably reflects neuronal adaptations underlying motor control around the ankle joint.
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Affiliation(s)
- Igor E J Magalhães
- Laboratory of Signal Processing and Motor Control, Universidade de Brasília-UnB, Brasília, Brazil
| | - Vinícius C Burgo
- Laboratory of Signal Processing and Motor Control, Universidade de Brasília-UnB, Brasília, Brazil
| | - Roque B Neto
- Laboratory of Signal Processing and Motor Control, Universidade de Brasília-UnB, Brasília, Brazil
| | - Rinaldo A Mezzarane
- Laboratory of Signal Processing and Motor Control, Universidade de Brasília-UnB, Brasília, Brazil
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YOSHITAKE YASUHIDE, KANEHISA HIROAKI, SHINOHARA MINORU. Correlated EMG Oscillations between Antagonists during Cocontraction in Men. Med Sci Sports Exerc 2017; 49:538-548. [DOI: 10.1249/mss.0000000000001117] [Citation(s) in RCA: 5] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/21/2022]
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Adaptations to neck/shoulder fatigue and injuries. ADVANCES IN EXPERIMENTAL MEDICINE AND BIOLOGY 2014; 826:205-28. [PMID: 25330893 DOI: 10.1007/978-1-4939-1338-1_13] [Citation(s) in RCA: 25] [Impact Index Per Article: 2.5] [Reference Citation Analysis] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 12/13/2022]
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Boyas S, Remaud A, Bisson EJ, Cadieux S, Morel B, Bilodeau M. Impairment in postural control is greater when ankle plantarflexors and dorsiflexors are fatigued simultaneously than when fatigued separately. Gait Posture 2011; 34:254-9. [PMID: 21646020 DOI: 10.1016/j.gaitpost.2011.05.009] [Citation(s) in RCA: 47] [Impact Index Per Article: 3.6] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Received: 10/18/2010] [Revised: 04/07/2011] [Accepted: 05/10/2011] [Indexed: 02/02/2023]
Abstract
The aim of the present study was to compare the effects of ankle muscle fatigue on postural control when plantarflexors (PFs) and dorsiflexors (DFs) are fatigued simultaneously compared with separately. This study also investigated the recovery of postural control after fatigue. Sixteen adults (eight women and eight men) performed postural trials before and after an isokinetic fatigue task involving either (i) only PFs (30°s(-1)), (ii) only DFs (120°s(-1)), or (iii) both PFs and DFs simultaneously. The fatigue task involved maximal contractions repeated until the torque produced decreased below 50% of the maximal torque. Postural trials lasted 30s and were performed on one leg with eyes open (EO) or eyes closed (EC). Sway area, medio-lateral (ML) and antero-posterior (AP) positions and velocities were calculated from the center of pressure displacements. With EO, no effect of fatigue was found on postural variables. With EC, sway area and AP velocity increased only when both PFs and DFs were fatigued simultaneously. An effect of fatigue present only when both muscle groups are fatigued simultaneously could be due to impairment in the compensatory activity between agonist and antagonist muscles and/or a greater decrease in proprioception due to a greater number of fatigued muscles. In addition, when PFs and DFs were fatigued simultaneously, sway area and AP velocity returned to pre-fatigue values within 2min, whereas a posterior shift in AP position persisted for 10min. This last result may suggest a longer-lasting change in postural strategy needed for optimal postural control.
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Roche N, Bussel B, Maier MA, Katz R, Lindberg P. Impact of precision grip tasks on cervical spinal network excitability in humans. J Physiol 2011; 589:3545-58. [PMID: 21606115 DOI: 10.1113/jphysiol.2011.206268] [Citation(s) in RCA: 12] [Impact Index Per Article: 0.9] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022] Open
Abstract
Motor skill acquisition in the lower limb may induce modifications of spinal network excitability. We hypothesized that short-term motor adaptation in precision grip tasks would also induce modifications of cervical spinal network excitability. In a first series of experiments, we studied the impact of two different precision grip force control tasks (a visuomotor force-tracking task and a control force task without visual feedback) on cervical spinal network excitability in healthy subjects. We separately tested the efficacy of two key components of the spinal circuitry: (i) presynaptic inhibition on flexor carpi radialis (FCR) Ia terminals, and (ii) disynaptic inhibition directed from extensor carpi radialis (ECR) to FCR. We found that disynaptic inhibition decreased temporarily after both force control tasks, independently of the presence of visual feedback. In contrast, the amount of presynaptic inhibition on FCR Ia terminals decreased only after the visuomotor force tracking task. This temporary decrease was correlated with improved tracking accuracy during the task (i.e. short-term motor adaptation). A second series of experiments confirmed these results and showed that the visuomotor force-tracking task resulted also in an increase of the Hmax/Mmax ratio and the slope of the ascending part of the H-reflex recruitment curve. In order to address the role of presynaptic inhibition in the motor adaptation process, we conducted a third series of experiments during which presynaptic inhibition was recorded before and after two consecutive sessions of visuomotor force tracking. The results showed that (i) improved tracking accuracy occurred during both sessions, and (ii) presynaptic inhibition decreased only after the first session of visuomotor force tracking. Taken together, these results suggest thus that the nature of the motor task performed has a specific impact on the excitability of these cervical spinal circuits. These findings also suggest that early motor adaptation is associated with a modulation of presynaptic Ia inhibition in the upper limb.
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Affiliation(s)
- N Roche
- ER-6 UPMC: Physiologie et physiopathologie de la motricité chez l'Homme-Médecine Physique et Réadaptation, Hôpital Pitié Salpêtrière, 75013 Paris, France.
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Fuller JR, Fung J, Côté JN. Time-dependent adaptations to posture and movement characteristics during the development of repetitive reaching induced fatigue. Exp Brain Res 2011; 211:133-43. [DOI: 10.1007/s00221-011-2661-8] [Citation(s) in RCA: 56] [Impact Index Per Article: 4.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/13/2010] [Accepted: 03/24/2011] [Indexed: 10/18/2022]
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A neurophysiological approach to the complex organisation of the spine: F-wave duration and the cutaneous silent period in restless legs syndrome. Clin Neurophysiol 2011; 122:383-90. [DOI: 10.1016/j.clinph.2010.07.005] [Citation(s) in RCA: 21] [Impact Index Per Article: 1.6] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/16/2009] [Revised: 07/03/2010] [Accepted: 07/06/2010] [Indexed: 11/20/2022]
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Lomond KV, Côté JN. Movement timing and reach to reach variability during a repetitive reaching task in persons with chronic neck/shoulder pain and healthy subjects. Exp Brain Res 2010; 206:271-82. [DOI: 10.1007/s00221-010-2405-1] [Citation(s) in RCA: 47] [Impact Index Per Article: 3.4] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/26/2010] [Accepted: 08/25/2010] [Indexed: 10/19/2022]
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Fuller JR, Lomond KV, Fung J, Côté JN. Posture-movement changes following repetitive motion-induced shoulder muscle fatigue. J Electromyogr Kinesiol 2009; 19:1043-52. [DOI: 10.1016/j.jelekin.2008.10.009] [Citation(s) in RCA: 78] [Impact Index Per Article: 5.2] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/11/2008] [Revised: 10/13/2008] [Accepted: 10/14/2008] [Indexed: 10/21/2022] Open
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Boyas S, Maïsetti O, Guével A. Changes in sEMG parameters among trunk and thigh muscles during a fatiguing bilateral isometric multi-joint task in trained and untrained subjects. J Electromyogr Kinesiol 2009; 19:259-68. [DOI: 10.1016/j.jelekin.2007.09.002] [Citation(s) in RCA: 13] [Impact Index Per Article: 0.9] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/12/2007] [Revised: 09/10/2007] [Accepted: 09/11/2007] [Indexed: 10/22/2022] Open
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Abstract
Whereas many definitions of fatigue include externally measurable decrements in force or performance, fatigue can be present with no change in the external output of the muscle. The maintenance of submaximal forces can be considered a compromise between neuromuscular force enhancement and competing inhibitory influences. An example of a muscle facilitatory process includes postactivation potentiation that results in an increased sensitivity to Ca++. The neuromuscular system copes with metabolic disruption and subsequent loss of force by recruiting additional motor units and increasing the firing frequency. If the contraction persists, firing frequency may decrease so as to optimize the stimulus rate with the prolonged duration of the muscle fibre action potential (muscle wisdom). The insertion of additional neural impulses into the train of stimuli can result in force potentiation (catch-like properties). Furthermore, there is evidence of neural potentiation and a dissociation of muscle activity with submaximal fatigue. Conversely, inhibition may be derived supraspinally or at the spinal level. While there may be some evidence of intrinsic motoneuronal fatigue, inhibitory afferent influences from chemical, tensile, pressure, and other factors play an important role in the competing influences on force output. Key words: postactivation potentiation, recruitment, rate coding, inhibition, catch-like properties
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Affiliation(s)
- David G Behm
- School of Human Kinetics and Recreation, Memorial University of Newfoundland, St. Johns, Newfoundland
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Jankowska E, Hammar I. Spinal interneurones; how can studies in animals contribute to the understanding of spinal interneuronal systems in man? BRAIN RESEARCH. BRAIN RESEARCH REVIEWS 2002; 40:19-28. [PMID: 12589903 DOI: 10.1016/s0165-0173(02)00185-6] [Citation(s) in RCA: 70] [Impact Index Per Article: 3.2] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/23/2022]
Abstract
The first part of this review deals with arguments that the essential properties and organization of spinal interneuronal systems in the cat and in man are similar. The second part is concerned with the possibility that some interneuronal systems may be responsible for motor disturbances caused by spinal cord injuries and that these interneurones may be defined. This possibility is discussed with respect to the hyperexcitability of alpha-motoneurones and the exaggeration of stretch reflexes in spastic patients. To this end, what is known about cat spinal interneurones and about the neuronal basis and pharmacological treatment of spasticity, is put together. Interneurones in di- and trisynaptic reflex pathways from group II muscle afferents are singled out, since they are depressed by the alpha(2) noradrenaline receptor agonists clonidine and tizanidine, which is a critical feature of interneurones expected to contribute to exaggerated stretch reflexes which are reduced by alpha(2) noradrenaline receptor agonists. Recent observations that reflex excitation of extensor motoneurones from group II afferents is enhanced in spastic patients and that the pathologically strong reflex actions of group II afferents are reduced by clonidine and tizanidine support this proposal. On the other hand, a lack of effect of clonidine and tizanidine upon other types of excitatory or inhibitory interneurones argues against any major contribution of such interneurones to the abnormally strong responses of alpha-motoneurones to muscle stretch.
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Affiliation(s)
- E Jankowska
- Department of Physiology, Göteborg University, Box 432, 405 30, Göteborg, Sweden.
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Kouzaki M, Shinohara M, Masani K, Kanehisa H, Fukunaga T. Alternate muscle activity observed between knee extensor synergists during low-level sustained contractions. J Appl Physiol (1985) 2002; 93:675-84. [PMID: 12133879 DOI: 10.1152/japplphysiol.00764.2001] [Citation(s) in RCA: 72] [Impact Index Per Article: 3.3] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/22/2022] Open
Abstract
To determine quantitatively the features of alternate muscle activity between knee extensor synergists during low-level prolonged contraction, a surface electromyogram (EMG) was recorded from the rectus femoris (RF), vastus lateralis (VL), and vastus medialis (VM) in 11 subjects during isometric knee extension exercise at 2.5% of maximal voluntary contraction (MVC) for 60 min (experiment 1). Furthermore, to examine the relation between alternate muscle activity and contraction levels, six of the subjects also performed sustained knee extension at 5.0, 7.5, and 10.0% of MVC (experiment 2). Alternate muscle activity among the three muscles was assessed by quantitative analysis on the basis of the rate of integrated EMG sequences. In experiment 1, the number of alternations was significantly higher between RF and either VL or VM than between VL and VM. Moreover, the frequency of alternate muscle activity increased with time. In experiment 2, alternating muscle activity was found during contractions at 2.5 and 5.0% of MVC, although not at 7.5 and 10.0% of MVC, and the number of alternations was higher at 2.5 than at 5.0% of MVC. Thus the findings of the present study demonstrated that alternate muscle activity in the quadriceps muscle 1) appears only between biarticular RF muscle and monoarticular vasti muscles (VL and VM), and its frequency of alternations progressively increases with time, and 2) emerges under sustained contraction with force production levels < or =5.0% of MVC.
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Affiliation(s)
- Motoki Kouzaki
- Laboratory of Sports Sciences, Department of Life Sciences, Graduate School of Arts and Sciences, The University of Tokyo, Tokyo, 153-8902, Japan.
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Danion F, Latash M, Li ZM, Zatsiorsky V. The effect of a fatiguing exercise by the index finger on single- and multi-finger force production tasks. Exp Brain Res 2001; 138:322-9. [PMID: 11460770 PMCID: PMC2830622 DOI: 10.1007/s002210100698] [Citation(s) in RCA: 38] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/27/2022]
Abstract
We studied the effects of fatigue, induced by a 60-s maximal isometric force production with the index finger, on multi-finger coordination and force production by the other fingers of the hand. Finger forces were measured during single- and multi-finger maximal voluntary force production (MVC) at two sites, the middle of the distal or the middle of the proximal phalanges. Two fatiguing exercises involving force production by the index finger were used, one at the distal phalanx and the other at the proximal phalanx. The MVC of the index finger dropped by about 33% when it was produced at the site involved in the fatiguing exercise. In addition, large transfer effects of fatigue were observed across sites of force application and across fingers. Force deficit increased under fatigue, especially due to a drop in the recruitment of the index finger. Under fatigue, the index finger was less enslaved during force production by other fingers. During multi-finger tasks, the percentage of total force produced by the index finger was significantly reduced after the fatiguing exercise. The principle of minimization of secondary moments was violated under fatigue. We suggest that the most impaired (fatigued) finger shows less interaction with other fingers or, in other words, is being progressively removed from the multi-finger synergy. Some of the observed changes in finger coordination suggest effects of fatigue at a central (neural) level.
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Affiliation(s)
- F. Danion
- Department of Kinesiology and Biomechanics Laboratory, The Pennsylvania State University, University Park, PA 16802, USA
| | - M.L. Latash
- Department of Kinesiology and Biomechanics Laboratory, The Pennsylvania State University, University Park, PA 16802, USA, , Fax: +1-814-8634424
| | - Z.-M. Li
- Department of Physical Therapy, Walsh University, OH 44720, USA
| | - V.M. Zatsiorsky
- Department of Kinesiology and Biomechanics Laboratory, The Pennsylvania State University, University Park, PA 16802, USA
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