Muscular activity patterns in 1-legged vs. 2-legged pedaling

A direct collocation framework for optimal control simulation of pedaling using OpenSim

The direct collocation (DC) method has shown low computational costs in solving optimization problems in human movements, but it has rarely been used for solving optimal control pedaling problems. Thus, the aim of this study was to develop a DC framework for optimal control simulation of human pedaling within the OpenSim modeling environment. A planar bicycle-rider model was developed in OpenSim. The DC method was formulated in MATLAB to solve an optimal control pedaling problem using a data tracking approach. Using the developed DC framework, the optimal control pedaling problem was successfully solved in 24 minutes to ten hours with different objective function weightings and number of nodes from two different initial conditions. The optimal solutions for equal objective function weightings were successful in terms of tracking, with the model simulated pedal angles and pedal forces within ±1 standard deviation of the experimental data. With these weightings, muscle tendon unit (MTU) excitation patterns generally matched with burst timings and shapes observed in the experimental EMG data. Tracking quality and MTU excitation patterns were changed little by selection of node density above 31, and the optimal solution quality was not affected by initial guess used. The proposed DC framework could easily be turned into a predictive simulation with other objective functions such as fastest pedaling rate. This flexible and computationally efficient framework should facilitate the use of optimal control methods to study the biomechanics, energetics, and control of human pedaling.

Changes in Muscle Control After Learning to Direct Pedal Forces in One-Legged Pedaling

The aim of this study was to describe how major leg muscle activities are altered after learning a novel one-legged pedaling task. Fifteen recreational cyclists practiced one-legged pedaling trials during which they were instructed to match their applied pedal force to a target direction perpendicular to the crank arm. Activity in 10 major leg muscles was measured with surface electromyography electrodes. Improved upstroke task performance was obtained by greater activity in the hip and ankle flexor muscles, counteracting the negative effects of gravity. Greater quadriceps activities explained improved targeting near top dead center. Reduced uniarticular knee and ankle extensor downstroke activities were necessary to prevent freewheeling. Greater hamstring and tibialis anterior activities improved targeting performance near the bottom of the pedal stroke. The activity patterns of the biarticular plantarflexors changed little, likely due to their contributions as knee flexors for smooth upstroke pedaling motion. These results add to our understanding of how the degrees of freedom at the muscle level are altered in a cooperative manner to overcome gravitational effects in order to achieve the learning goal of the motor task while satisfying multiple constraints—in this case, the production of smooth one-legged pedaling motion at the designated mechanical task demands.