Determination of coefficient of friction between the equine foot and different ground surfaces: an study

Foot Bionics Research Based on Reindeer Hoof Attachment Mechanism and Macro/Microstructures

The attachment performances of mechanical feet are significant in improving the trafficability and mobility of robots on the extreme ground. In the future, frozen-ground robots can be used to replace human soldiers in scouting and deep space exploration. In this study, the influence factors on the attachment function of the bionic feet were analyzed. Soft frozen soil and tight frozen soil close to natural frozen soil were prepared, and the friction between ungula and frozen soil ground was simulated together with the plantar pressures of reindeer under trotting. The major attachment parts were the ungula cusp, outer edges, and ungula capsules, and the stress on the ungula was mainly 4.56-24.72 MPa. According to the microstructures of plantar fur and ungula, the corresponding ratio of the rib width and length was 0.65:1, and the corresponding ratio of the rib width and distance was 3:1. In addition, the scales of the plantar fur were very tightly arranged and had large ripples. Based on typical curves, an ungula capsule-curved surface, and a nonsmooth plantar fur surface, four types of bionic feet and the corresponding ordinary multidamboard foot were designed. On the frozen soil, the bionic foot with ribs and an ungula capsule showed the best attachment performance. Compared with the multidamboard foot, the dynamic coefficient of friction of the bionic foot with ribs and ungula capsules increased by 11.43-31.75%. The attachment mechanism of the bionic feet is as follows: under the action of pressure, the fine patterns of the bionic convex-crown generate friction with the nonsmooth structure of the frozen soil surface, which improves the attachment performance.

Timing Differences in Stride Cycle Phases in Retired Racehorses Ridden in Rising and Two-Point Seat Positions at Trot on Turf, Artificial and Tarmac Surfaces

Injuries to racehorses and their jockeys are not limited to the racetrack and high-speed work. To optimise racehorse-jockey dyads' health, well-being, and safety, it is important to understand their kinematics under the various exercise conditions they are exposed to. This includes trot work on roads, turf and artificial surfaces when accessing gallop tracks and warming up. This study quantified the forelimb hoof kinematics of racehorses trotting over tarmac, turf and artificial surfaces as their jockey adopted rising and two-point seat positions. A convenience sample of six horses was recruited from the British Racing School, Newmarket, and the horses were all ridden by the same jockey. Inertial measurement units (HoofBeat) were secured to the forelimb hooves of the horses and enabled landing, mid-stance, breakover, swing and stride durations, plus stride length, to be quantified via an in-built algorithm. Data were collected at a frequency of 1140 Hz. Linear Mixed Models were used to test for significant differences in the timing of these stride phases and stride length amongst the different surface and jockey positions. Speed was included as a covariate. Significance was set at p < 0.05. Hoof landing and mid-stance durations were negatively correlated, with approximately a 0.5 ms decrease in mid-stance duration for every 1 ms increase in landing duration (r2 = 0.5, p < 0.001). Hoof landing duration was significantly affected by surface (p < 0.001) and an interaction between jockey position and surface (p = 0.035). Landing duration was approximately 4.4 times shorter on tarmac compared to grass and artificial surfaces. Mid-stance duration was significantly affected by jockey position (p < 0.001) and surface (p = 0.001), speed (p < 0.001) and jockey position*speed (p < 0.001). Mean values for mid-stance increased by 13 ms with the jockey in the two-point seat position, and mid-stance was 19 ms longer on the tarmac than on the artificial surface. There was no significant difference in the breakover duration amongst surfaces or jockey positions (p ≥ 0.076) for the ridden dataset. However, the mean breakover duration on tarmac in the presence of a rider decreased by 21 ms compared to the in-hand dataset. Swing was significantly affected by surface (p = 0.039) and speed (p = 0.001), with a mean swing phase 20 ms longer on turf than on the artificial surface. Total stride duration was affected by surface only (p = 0.011). Tarmac was associated with a mean stride time that was significantly reduced, by 49 ms, compared to the turf, and this effect may be related to the shorter landing times on turf. Mean stride length was 14 cm shorter on tarmac than on grass, and stride length showed a strong positive correlation with speed, with a 71 cm increase in stride length for every 1 m s-1 increase in speed (r2 = 0.8, p < 0.001). In summary, this study demonstrated that the durations of the different stride cycle phases and stride length can be sensitive to surface type and jockey riding position. Further work is required to establish links between altered stride time variables and the risk of musculoskeletal injury.

Assessment of the effect of horseshoes with and without traction adaptations on the gait kinetics of nonlame horses during a trot on a concrete runway

OBJECTIVE

To assess the effect of horseshoes with and without traction adaptations on the gait kinetics of nonlame horses during a trot on a concrete runway.

ANIMALS

5 nonlame adult light-breed horses.

PROCEDURES

Kinetic data were obtained for each horse when it was trotted across a force platform within a concrete runway unshod (control) and shod with standard horseshoes; standard horseshoes with high profile-low surface area calks, with low profile-high surface area calks, and coated with a thin layer of tungsten carbide (TLTC); and plastic-steel composite (PSC) horseshoes. Kinetic data were obtained for the control treatment first, then for each of the 5 shoe types, which were applied to each horse in a random order. Kinetic variables were compared among the 6 treatments.

RESULTS

Body weight distribution did not differ among the 6 treatments. Compared with the control, the greatest increase in forelimb peak vertical force was observed when horses were shod with PSC shoes. In the hind limbs, the greatest increase in peak braking force was observed when horses were shod with PSC shoes, followed by the TLTC and low profile-high surface area calked shoes. The PSC shoes yielded the greatest coefficient of friction in both the forelimbs and hind limbs. Stance time was longest when horses were shod with standard shoes.

CONCLUSIONS AND CLINICAL RELEVANCE

Results suggested that PSC and TLTC shoes provided the best hoof protection and traction and might be good options for horses that spend a large amount of time traversing paved surfaces.

The Effect of Tungsten Road Nails on Upper Body Movement Asymmetry in Horses Trotting on Tarmac

Tungsten road nails are commonly used by farriers to increase grip between the hoof and the ground surface. There is limited evidence relating the use of road nails to the fundamental mechanics of movement. Grip is important for efficient deceleration on landing and subsequent propulsion, but this must be balanced against an amount of slip to divide the landing force into horizontal as well as vertical subcomponents. Here, we conducted an intervention study to quantify the effect of lateral heel road nail placement on weight bearing and propulsion in 10 horses trotting on tarmac. Wireless inertial measurement units measured vertical movement asymmetry. Differences in head and pelvic movement asymmetry before/after subsequent application of laterally placed road nails to forelimb and hindlimb hooves in a randomized order were compared to zero value (no change) with a one-sample t-test, P < .05. Left-to-right tuber coxae movement amplitude difference was significantly more negative (-3.25 mm, P = .03), suggesting more right than left tuber coxae movement amplitude, after application of a road nail to the left hindlimb. No movement asymmetries at the poll, withers, or sacrum were detected after nail placement (all P > .055). Pelvic movement indicates a very small increase in weight bearing and propulsion provided by the hindlimb with a laterally placed road nail compared to the contralateral hindlimb. Further work is needed to investigate slip- and grip-related parameters at the level of the hoof and to investigate the long-term consequences of very small changes in movement asymmetry.

A universal approach to determine footfall timings from kinematics of a single foot marker in hoofed animals

The study of animal movement commonly requires the segmentation of continuous data streams into individual strides. The use of forceplates and foot-mounted accelerometers readily allows the detection of the foot-on and foot-off events that define a stride. However, when relying on optical methods such as motion capture, there is lack of validated robust, universally applicable stride event detection methods. To date, no method has been validated for movement on a circle, while algorithms are commonly specific to front/hind limbs or gait. In this study, we aimed to develop and validate kinematic stride segmentation methods applicable to movement on straight line and circle at walk and trot, which exclusively rely on a single, dorsal hoof marker. The advantage of such marker placement is the robustness to marker loss and occlusion. Eight horses walked and trotted on a straight line and in a circle over an array of multiple forceplates. Kinetic events were detected based on the vertical force profile and used as the reference values. Kinematic events were detected based on displacement, velocity or acceleration signals of the dorsal hoof marker depending on the algorithm using (i) defined thresholds associated with derived movement signals and (ii) specific events in the derived movement signals. Method comparison was performed by calculating limits of agreement, accuracy, between-horse precision and within-horse precision based on differences between kinetic and kinematic event. In addition, we examined the effect of force thresholds ranging from 50 to 150 N on the timings of kinetic events. The two approaches resulted in very good and comparable performance: of the 3,074 processed footfall events, 95% of individual foot on and foot off events differed by no more than 26 ms from the kinetic event, with average accuracy between −11 and 10 ms and average within- and between horse precision ≤8 ms. While the event-based method may be less likely to suffer from scaling effects, on soft ground the threshold-based method may prove more valuable. While we found that use of velocity thresholds for foot on detection results in biased event estimates for the foot on the inside of the circle at trot, adjusting thresholds for this condition negated the effect. For the final four algorithms, we found no noteworthy bias between conditions or between front- and hind-foot timings. Different force thresholds in the range of 50 to 150 N had the greatest systematic effect on foot-off estimates in the hind limbs (up to on average 16 ms per condition), being greater than the effect on foot-on estimates or foot-off estimates in the forelimbs (up to on average ±7 ms per condition).

The foot-surface interaction and its impact on musculoskeletal adaptation and injury risk in the horse

The equine limb has evolved for efficient locomotion and high-speed performance, with adaptations of bone, tendon and muscle. However, the system lacks the ability seen in some species to dynamically adapt to different circumstances. The mechanical interaction of the limb and the ground is influenced by internal and external factors including fore-hind mass distribution, lead limb, moving on a curve, shoeing and surface properties. It is unclear which of the components of limb loading have the largest effect on injury and performance but peak load, impact and vibration all play a role. Factors related to the foot-ground interface that limit performance are poorly understood. Peak performance varies vastly between disciplines but at high speeds such as racing and polo, force and grip are key limits to performance.

The anatomical arrangement of muscle and tendon enhances limb versatility and locomotor performance

The arrangement of muscles and tendons has been studied in detail by anatomists, surgeons and biomechanists for over a century, and the energetics and mechanics of muscle contraction for almost as long. Investigation of how muscles function during locomotion and the relative length change in muscle fibres and the associated elastic tendon has, however, been more challenging. In recent years, novel in vivo measurement methods such as ultrasound and sonomicrometry have contributed to our understanding of the dynamics of the muscle tendon unit during locomotion. Here, we examine both published and new data to explore how muscles are arranged to deliver the wide repertoire of locomotor function and the trade-offs between performance and economy that result.

The effect of hoof angle variations on dorsal lamellar load in the equine hoof

REASONS FOR PERFORMING STUDY

In the treatment of laminitis it is believed that reducing tension in the deep digital flexor tendon by raising the palmar angle of the hoof can reduce the load on the dorsal lamellae, allowing them to heal or prevent further damage.

OBJECTIVE

To determine the effect of alterations in hoof angle on the load in the dorsal laminar junction.

METHODS

Biomechanical finite element models of equine hooves were created with palmar angles of the distal phalanx varying from 0-15°. Tissue material relations accounting for anisotropy and the effect of moisture were used. Loading conditions simulating the stages in the stance where the vertical ground reaction force, midstance joint moment and breakover joint moment were maximal, were applied to the models. The loads were adjusted to account for the reduction in joint moment caused by increasing the palmar angle. Models were compared using the stored elastic energy, an indication of load, which was sampled in the dorsal laminar junction.

RESULTS

For all loading cases, increasing the palmar angle increased the stored elastic energy in the dorsal laminar junction. The stored elastic energy near the proximal laminar junction border for a palmar angle of 15° was between 1.3 and 3.8 times that for a palmar angle of 0°. Stored elastic energy at the distal laminar junction border was small in all cases. For the breakover case, stored elastic energy at the proximal border also increased with increasing palmar angle.

CONCLUSIONS AND POTENTIAL RELEVANCE

The models in this study predict that raising the palmar angle increases the load on the dorsal laminar junction. Therefore, hoof care interventions that raise the palmar angle in order to reduce the dorsal lamellae load may not achieve this outcome.

Grip and limb force limits to turning performance in competition horses

Manoeuverability is a key requirement for successful terrestrial locomotion, especially on variable terrain, and is a deciding factor in predator-prey interaction. Compared with straight-line running, bend running requires additional leg force to generate centripetal acceleration. In humans, this results in a reduction in maximum speed during bend running and a published model assuming maximum limb force as a constraint accurately predicts how much a sprinter must slow down on a bend given his maximum straight-line speed. In contrast, greyhounds do not slow down or change stride parameters during bend running, which suggests that their limbs can apply the additional force for this manoeuvre. We collected horizontal speed and angular velocity of heading of horses while they turned in different scenarios during competitive polo and horse racing. The data were used to evaluate the limits of turning performance. During high-speed turns of large radius horizontal speed was lower on the bend, as would be predicted from a model assuming a limb force limit to running speed. During small radius turns the angular velocity of heading decreased with increasing speed in a manner consistent with the coefficient of friction of the hoof-surface interaction setting the limit to centripetal force to avoid slipping.