A Dynamic Optimization Solution for Vertical Jumping in Three Dimensions

Multibody dynamics-based musculoskeletal modeling for gait analysis: a systematic review

Beyond qualitative assessment, gait analysis involves the quantitative evaluation of various parameters such as joint kinematics, spatiotemporal metrics, external forces, and muscle activation patterns and forces. Utilizing multibody dynamics-based musculoskeletal (MSK) modeling provides a time and cost-effective non-invasive tool for the prediction of internal joint and muscle forces. Recent advancements in the development of biofidelic MSK models have facilitated their integration into clinical decision-making processes, including quantitative diagnostics, functional assessment of prosthesis and implants, and devising data-driven gait rehabilitation protocols. Through an extensive search and meta-analysis of over 116 studies, this PRISMA-based systematic review provides a comprehensive overview of different existing multibody MSK modeling platforms, including generic templates, methods for personalization to individual subjects, and the solutions used to address statically indeterminate problems. Additionally, it summarizes post-processing techniques and the practical applications of MSK modeling tools. In the field of biomechanics, MSK modeling provides an indispensable tool for simulating and understanding human movement dynamics. However, limitations which remain elusive include the absence of MSK modeling templates based on female anatomy underscores the need for further advancements in this area.

Biomechanical and morphological determinants of maximal jumping performance in callitrichine monkeys

Jumping is a crucial behavior in fitness-critical activities including locomotion, resource acquisition, courtship displays and predator avoidance. In primates, paleontological evidence suggests selection for enhanced jumping ability during their early evolution. However, our interpretation of the fossil record remains limited, as no studies have explicitly linked levels of jumping performance with interspecific skeletal variation. We used force platform analyses to generate biomechanical data on maximal jumping performance in three genera of callitrichine monkeys falling along a continuum of jumping propensity: Callimico (relatively high propensity jumper), Saguinus (intermediate jumping propensity) and Callithrix (relatively low propensity jumper). Individuals performed vertical jumps to perches of increasing height within a custom-built tower. We coupled performance data with high-resolution micro-CT data quantifying bony features thought to reflect jumping ability. Levels of maximal performance between species - e.g. maximal take-off velocity of the center of mass (CoM) - parallel established gradients of jumping propensity. Both biomechanical analysis of jumping performance determinants (e.g. CoM displacement, maximal force production and peak mechanical power during push-off) and multivariate analyses of bony hindlimb morphology highlight different mechanical strategies among taxa. For instance, Callimico, which has relatively long hindlimbs, followed a strategy of fully extending of the limbs to maximize CoM displacement - rather than force production - during push-off. In contrast, relatively shorter-limbed Callithrix depended mostly on relatively high push-off forces. Overall, these results suggest that leaping performance is at least partially associated with correlated anatomical and behavioral adaptations, suggesting the possibility of improving inferences about performance in the fossil record.

A scoping review and evaluation of open-source transtibial amputation musculoskeletal models for female populations

Musculoskeletal modeling is often used to study people with transtibial amputations. Females in this population are of particular interest as they are underrepresented in research, experience unique challenges, and demonstrate gait biomechanics distinct from males. Because generic models often neglect innate variations between populations, it is important to determine whether data used to develop a model are representative of the population studied. The objective of this study was to review and analyze existing transtibial amputation musculoskeletal models, establish a database from the information compiled, and use the database to select the model most relevant for studying female populations. A scoping search was performed and a database was created based on data detailing the eligible models. Models were evaluated through a weighted decision process based on criteria of their representation of females with transtibial amputations, prosthetic functionality, development transparency, overall functionality, and experimental validation methods. The scoping review identified 3 studies, Willson et al., LaPrè et al., and Miller and Esposito. A database detailing these models was established. The Willson model scored highest on all criteria except overall functionality, where the LaPrè model outscored it. Based on the established weightings, the Willson model was classed most appropriate for the stated goals. The created database can be used by other researchers to guide their own modeling studies, irrespective of the population of focus. Of the 3, the Willson model was found most relevant for studying females with transtibial amputations. This model will be used in future work investigating and addressing challenges of females with transtibial amputations.

EMG-Constrained and Ultrasound-Informed Muscle-Tendon Parameter Estimation in Post-Stroke Hemiparesis

Secondary morphological and mechanical property changes in the muscle-tendon unit at the ankle joint are often observed in post-stroke individuals. These changes may alter the force generation capacity and affect daily activities such as locomotion. This work aimed to estimate subject-specific muscle-tendon parameters in individuals after stroke by solving the muscle redundancy problem using direct collocation optimal control methods based on experimental electromyography (EMG) signals and measured muscle fiber length. Subject-specific muscle-tendon parameters of the gastrocnemius, soleus, and tibialis anterior were estimated in seven post-stroke individuals and seven healthy controls. We found that the maximum isometric force, tendon stiffness and optimal fiber length in the post-stroke group were considerably lower than in the control group. We also computed the root mean square error between estimated and experimental values of muscle excitation and fiber length. The musculoskeletal model with estimated subject-specific muscle tendon parameters (from the muscle redundancy solver), yielded better muscle excitation and fiber length estimations than did scaled generic parameters. Our findings also showed that the muscle redundancy solver can estimate muscle-tendon parameters that produce force behavior in better accordance with the experimentally-measured value. These muscle-tendon parameters in the post-stroke individuals were physiologically meaningful and may shed light on treatment and/or rehabilitation planning.

Reduced trunk movement control during motor dual-tasking in older adults

Older adults have a decreased trunk movement control which is linked to their higher fall risk. While motor/cognitive dual-tasking deteriorates balance and walking in older adults, there is limited understanding on how trunk kinematics and kinetics are affected by dual-tasking in scenarios where falls can occur. Therefore, the purpose of the study was to determine the impacts of a challenging motor dual-task, specifically obstacle avoidance during walking, on trunk and lower-body kinematics and kinetics of older adults compared to young adults. The study captured three-dimensional kinematic and kinetic data from 12 young adults and 10 older adults as they walked on a treadmill and stepped over an obstacle with both legs. The study analyzed trunk, hip, knee, and ankle angles and torques. Trunk torque was further broken down to trunk muscle torque, gravitational torque, and inertia torque. A linear mixed effects model was used to investigate the difference in each variable between the two groups. Older adults exhibited significantly increased trunk flexion angle and trunk extension muscle torque compared to young adults, with the trunk being the only segment/joint showing differences in both kinematics and kinetics. Trunk torque breakdown analysis revealed that larger trunk flexion led to a larger gravitational torque, which contributed to an increased compensatory trunk muscle torque. Moreover, older adults' less controlled trunk flexion during weight shifting from trail leg to the lead leg, necessitated a compensatory trunk deceleration during trail leg obstacle avoidance which was achieved by generating additional increase in trunk muscle torque. The study demonstrated that motor dual-tasking has the most negative effects on trunk control in older adults compared to young adults. This exposes older adults to a higher fall risk. Therefore, future work should focus on supporting trunk control during daily multi-tasking conditions where falls can occur.

A dynamic foot model for predictive simulations of human gait reveals causal relations between foot structure and whole-body mechanics

The unique structure of the human foot is seen as a crucial adaptation for bipedalism. The foot's arched shape enables stiffening the foot to withstand high loads when pushing off, without compromising foot flexibility. Experimental studies demonstrated that manipulating foot stiffness has considerable effects on gait. In clinical practice, altered foot structure is associated with pathological gait. Yet, experimentally manipulating individual foot properties (e.g. arch height or tendon and ligament stiffness) is hard and therefore our understanding of how foot structure influences gait mechanics is still limited. Predictive simulations are a powerful tool to explore causal relationships between musculoskeletal properties and whole-body gait. However, musculoskeletal models used in three-dimensional predictive simulations assume a rigid foot arch, limiting their use for studying how foot structure influences three-dimensional gait mechanics. Here, we developed a four-segment foot model with a longitudinal arch for use in predictive simulations. We identified three properties of the ankle-foot complex that are important to capture ankle and knee kinematics, soleus activation, and ankle power of healthy adults: (1) compliant Achilles tendon, (2) stiff heel pad, (3) the ability to stiffen the foot. The latter requires sufficient arch height and contributions of plantar fascia, and intrinsic and extrinsic foot muscles. A reduced ability to stiffen the foot results in walking patterns with reduced push-off power. Simulations based on our model also captured the effects of walking with anaesthetised intrinsic foot muscles or an insole limiting arch compression. The ability to reproduce these different experiments indicates that our foot model captures the main mechanical properties of the foot. The presented four-segment foot model is a potentially powerful tool to study the relationship between foot properties and gait mechanics and energetics in health and disease.

Cost function criteria using muscle synergies: Exploring the potential of muscle synergy hypothesis

BACKGROUND AND OBJECTIVE

Solving the redundant optimization problem for human muscles depends on the cost function. Choosing the appropriate cost function helps to address a specific problem. Muscle synergies are currently limited to those obtained by electromyography. Furthermore, debate continues regarding whether muscle synergy is derived or real. This study proposes new cost functions based on the muscle synergy hypothesis for solving the optimal muscle force output problem through musculoskeletal modeling.

METHODS

We propose two new computational cost functions involving muscle synergies, which are extracted from muscle activations predicted by musculoskeletal modelling rather than electromyography. In this study, we constructed a musculoskeletal model for simulation using the "Grand Challenge Competition to Predict In Vivo Knee Loads" dataset. Muscle synergies were obtained using non-negative matrix factorization. Two cost functions with muscle synergies were constructed by integrating the polynomial and min/max criterion. Two new functions were verified and validated in normal, smooth, and bouncy gaits.

RESULTS

The muscle synergies based on normal gaits were classified into four modules. The cosine similarities of the first three modules were all >0.9. In the normal and smooth gaits, the forces in most muscles predicted using the two new functions were within three standard deviations of the root mean square error for electromyographic comparisons. Predicted muscle force curves using the four methods as well as characteristic points (i.e., time points in the gait cycle when the significant difference was observed between normal and bouncy gaits) were obtained to validate their predictive capabilities.

CONCLUSIONS

This study constructed two new cost functions involving muscle synergies, verified and validated the ability, and explored the potential of muscle synergy hypothesis.

AST: An OpenSim-based tool for the automatic scaling of generic musculoskeletal models

BACKGROUND AND OBJECTIVES

The paper introduces a tool called Automatic Scaling Tool (AST) designed for improving and expediting musculoskeletal (MSK) simulations based on generic models in OpenSim. Scaling is a crucial initial step in MSK analyses, involving the correction of virtual marker locations on a model to align with actual experimental markers.

METHODS

The AST automates this process by iteratively adjusting virtual markers using scaling and inverse kinematics on a static trial. It evaluates the root mean square error (RMSE) and maximum marker error, implementing corrective actions until achieving the desired accuracy level. The tool determines whether to scale a segment with a marker-based or constant scaling factor based on checks on RMSE and segment scaling factors.

RESULTS

Testing on three generic MSK models demonstrated that the AST significantly outperformed manual scaling by an expert operator. The RMSE for static trials was one order of magnitude lower, and for gait tasks, it was five times lower (8.5 ± 0.76 mm vs. 44.5 ± 7.5 mm). The AST consistently achieved the desired level of accuracy in less than 100 iterations, providing reliable scaled MSK models within a relatively brief timeframe, ranging from minutes to hours depending on model complexity.

CONCLUSIONS

The paper concludes that AST can greatly benefit the biomechanical community by quickly and accurately scaling generic models, a critical first step in MSK analyses. Further validation through additional experimental datasets and generic models is proposed for future tests.

Impact of model geometry and joint center locations on inverse kinematic/dynamic predictions: A comparative study of sexually dimorphic models

This work illustrates the sensitivity of demographically characteristic body segment inertial properties and subject-specific customization on model performance. One characteristic demographic, gender, and one subject-specific characteristic, hip joint center location, were represented with musculoskeletal modeling to evaluate how design decisions may alter model outputs. Generic sexually dimorphic musculoskeletal models were developed from the commonly used Rajagopal model using male and female data adapted by Dumas et al. Hip joint centers of these models were adjusted based on functional joint center testing. The kinematics and dynamics of 40 gait cycles from four subjects are predicted using these models. Two-way analysis of variance (ANOVA) was performed on the continuous time series data using statistical parametric mapping (SPM) to assess changes in kinematics/dynamics due to either choice in model (Rajagopal vs Dumas) or whether joint center adjustment was performed. The SPM based two-way ANOVA of the inverse dynamics found that differences in the Rajagopal and Dumas models resulted in significant differences in sagittal plane moments during swing (0.115 ± 0.032 Nm/kg difference in mean hip flexion moment during initial swing and a 0.077 ± 0.041 Nm/kg difference in mean hip extension moment during terminal swing), and differences between the models with and without hip joint center adjustment resulted in significant differences in hip flexion and abduction moments during stance (0.217 ± 0.055 Nm/kg increased mean hip abductive moment). By comparing the outputs of these differently constructed models with each other, the study finds that dynamic predictions of stance are sensitive to positioning of joint centers, and dynamic predictions of swing are more sensitive to segment mass/inertial properties.

Multibody Model with Foot-Deformation Approach for Estimating Ground Reaction Forces and Moments and Joint Torques during Level Walking through Optical Motion Capture without Optimization Techniques

The biomechanical-model-based approach with a contact model offers advantages in estimating ground reaction forces (GRFs) and ground reaction moments (GRMs), as it does not rely on the need for training data and gait assumptions. However, this approach faces the challenge of long computational times due to the inclusion of optimization processes. To address this challenge, the present study developed a new optical motion capture (OMC)-based method to estimate GRFs, GRMs, and joint torques without prolonged computational times. The proposed approach performs the estimation process by distributing external forces, as determined by a multibody model, between the left and right feet based on foot deformations, thereby predicting the GRFs and GRMs without relying on optimization techniques. In this study, prediction accuracies during level walking were confirmed by comparing a general analysis using a force plate with the estimation results. The comparison revealed excellent or strong correlations between the prediction and the measurements for all GRFs, GRMs, and lower-limb-joint torques. The proposed method, which provides practical estimation with low computational cost, facilitates efficient biomechanical analysis and rapid feedback of analysis results, contributing to its increased applicability in clinical settings.

Effect of the ischial support on muscle force estimation during transfemoral walking

BACKGROUND

Transmission of loads between the prosthetic socket and the residual limb is critical for the comfort and walking ability of people with transfemoral amputation. This transmission is mainly determined by the socket tightening, muscle forces, and socket ischial support. However, numerical investigations of the amputated gait, using modeling approaches such as MusculoSkeletal (MSK) modeling, ignore the weight-bearing role of the ischial support. This simplification may lead to errors in the muscle force estimation.

OBJECTIVE

This study aims to propose a MSK model of the amputated gait that accounts for the interaction between the body and the ischial support for the estimation of the muscle forces of 13 subjects with unilateral transfemoral amputation.

METHODS

Contrary to previous studies on the amputated gait which ignored the interaction with the ischial support, here, the contact on the ischial support was included in the external loads acting on the pelvis in a MSK model of the amputated gait.

RESULTS

Including the ischial support induced an increase in the activity of the main abductor muscles, while adductor muscles' activity was reduced. These results suggest that neglecting the interaction with the ischial support leads to erroneous muscle force distribution considering the gait of people with transfemoral amputation. Although subjects with various bone geometries, particularly femur lengths, were included in the study, similar results were obtained for all subjects.

CONCLUSIONS

Eventually, the estimation of muscle forces from MSK models could be used in combination with finite element models to provide quantitative data for the design of prosthetic sockets.

Automated personalization of biomechanical knee model

PURPOSE

Patient-specific biomechanical models of the knee joint can effectively aid in understanding the reasons for pathologies and improve diagnostic methods and treatment procedures. For deeper research of knee diseases, the development of biomechanical models with appropriate configurations is essential. In this study, we mainly focus on the development of a personalized biomechanical model for the investigation of knee joint pathologies related to patellar motion using automated methods.

METHODS

This study presents a biomechanical model created for patellar motion pathologies research and some techniques for automating the generation of the biomechanical model. To generate geometric models of bones, the U-Net neural network was adapted for 3D input datasets. The method uses the same neural network for segmentation of femur, tibia, patella and fibula. The total size of the train/validation (75/25%) dataset is 18,183 3D volumes of size [Formula: see text] voxels. The configuration of the biomechanical knee model proposed in the paper includes six degrees of freedom for the tibiofemoral and patellofemoral joints, lateral and medial contact surfaces for femur and tibia, and ligaments, representing, among other things, the medial and lateral stabilizers of the knee cap. The development of the personalized biomechanical model was carried out using the OpenSim software system. The automated model generation was implemented using OpenSim Python scripting commands.

RESULTS

The neural network for bones segmentation achieves mean DICE 0.9838. A biomechanical model for realistic simulation of patellar movement within the trochlear groove was proposed. Generation of personalized biomechanical models was automated.

CONCLUSIONS

In this paper, we have implemented a neural network for the segmentation of 3D CT scans of the knee joint to produce a biomechanical model for the study of knee cap motion pathologies. Most stages of the generation process have been automated and can be used to generate patient-specific models.

Mechanics of the foot and ankle joints during running using a multi-segment foot model compared with a single-segment model

The primary purpose of this study was to compare the ankle joint mechanics, during the stance phase of running, computed with a multi-segment foot model (MULTI; three segments) with a traditional single segment foot model (SINGLE). Traditional ankle joint models define all bones between the ankle and metatarsophalangeal joints as a single rigid segment (SINGLE). However, this contrasts with the more complex structure and mobility of the human foot, recent studies of walking using more multiple-segment models of the human foot have highlighted the errors arising in ankle kinematics and kinetics by using an oversimplified model of the foot. This study sought to compare whether ankle joint kinematics and kinetics during running are similar when using a single segment foot model (SINGLE) and a multi-segment foot model (MULTI). Seven participants ran at 3.1 m/s while the positions of markers on the shank and foot were tracked and ground reaction forces were measured. Ankle joint kinematics, resultant joint moments, joint work, and instantaneous joint power were determined using both the SINGLE and MULTI models. Differences between the two models across the entire stance phase were tested using statistical parametric mapping. During the stance phase, MULTI produced ankle joint angles that were typically closer to neutral and angular velocities that were reduced compared with SINGLE. Instantaneous joint power (p<0.001) and joint work (p<0.001) during late stance were also reduced in MULTI compared with SINGLE demonstrating the importance of foot model topology in analyses of the ankle joint during running. This study has highlighted that considering the foot as a rigid segment from ankle to MTP joint produces poor estimates of the ankle joint kinematics and kinetics, which has important implications for understanding the role of the ankle joint in running.

A simulation framework to determine optimal strength training and musculoskeletal geometry for sprinting and distance running

Musculoskeletal geometry and muscle volumes vary widely in the population and are intricately linked to the performance of tasks ranging from walking and running to jumping and sprinting. As an alternative to experimental approaches, where it is difficult to isolate factors and establish causal relationships, simulations can be used to independently vary musculoskeletal geometry and muscle volumes, and develop a fundamental understanding. However, our ability to understand how these parameters affect task performance has been limited due to the high computational cost of modelling the necessary complexity of the musculoskeletal system and solving the requisite multi-dimensional optimization problem. For example, sprinting and running are fundamental to many forms of sport, but past research on the relationships between musculoskeletal geometry, muscle volumes, and running performance has been limited to observational studies, which have not established cause-effect relationships, and simulation studies with simplified representations of musculoskeletal geometry. In this study, we developed a novel musculoskeletal simulator that is differentiable with respect to musculoskeletal geometry and muscle volumes. This simulator enabled us to find the optimal body segment dimensions and optimal distribution of added muscle volume for sprinting and marathon running. Our simulation results replicate experimental observations, such as increased muscle mass in sprinters, as well as a mass in the lower end of the healthy BMI range and a higher leg-length-to-height ratio in marathon runners. The simulations also reveal new relationships, for example showing that hip musculature is vital to both sprinting and marathon running. We found hip flexor and extensor moment arms were maximized to optimize sprint and marathon running performance, and hip muscles the main target when we simulated strength training for sprinters. Our simulation results provide insight to inspire future studies to examine optimal strength training. Our simulator can be extended to other athletic tasks, such as jumping, or to non-athletic applications, such as designing interventions to improve mobility in older adults or individuals with movement disorders.

Transfemoral limb loss modestly increases the metabolic cost of optimal control simulations of walking

Background

In transtibial limb loss, computer simulations suggest that the maintenance of muscle strength between pre- and post-limb loss can maintain the pre-limb loss metabolic cost. These results are consistent with comparable costs found experimentally in select cases of high functioning military service members with transtibial limb loss. It is unlikely that similar results would be found with transfemoral limb loss, although the theoretical limits are not known. Here we performed optimal control simulations of walking with and without an above-knee prosthesis to determine if transfemoral limb loss per se increases the metabolic cost of walking.

Methods

OpenSim Moco was used to generate optimal control simulations of walking in 15 virtual "subjects" that minimized the weighted sum of (i) deviations from average able-bodied gait mechanics and (ii) the gross metabolic cost of walking, pre-limb loss in models with two intact biological limbs, and post-limb loss with one of the limbs replaced by a prosthetic knee and foot. No other changes were made to the model. Metabolic cost was compared between pre- and post-limb loss simulations in paired t-tests.

Results

Metabolic cost post-limb loss increased by 0.7-9.3% (p < 0.01) depending on whether cost was scaled by total body mass or biological body mass and on whether the prosthetic knee was passive or non-passive.

Conclusions

Given that the post-limb loss model had numerous features that predisposed it to low metabolic cost, these results suggest transfemoral limb loss per se increases the metabolic cost of walking. However, the large differences above able-bodied peers of ∼20-45% in most gait analysis experiments may be avoidable, even when minimizing deviations from able-bodied gait mechanics. Portions of this text were previously published as part of a preprint (https://www.biorxiv.org/content/10.1101/2023.06.26.546515v2.full.pdf).

Muscle redundancy is greatly reduced by the spatiotemporal nature of neuromuscular control

Animals must control numerous muscles to produce forces and movements with their limbs. Current theories of motor optimization and synergistic control are predicated on the assumption that there are multiple highly diverse feasible activations for any motor task ("muscle redundancy"). Here, we demonstrate that the dimensionality of the neuromuscular control problem is greatly reduced when adding the temporal constraints inherent to any sequence of motor commands: the physiological time constants for muscle activation-contraction dynamics. We used a seven-muscle model of a human finger to fully characterize the seven-dimensional polytope of all possible motor commands that can produce fingertip force vector in any direction in 3D, in alignment with the core models of Feasibility Theory. For a given sequence of seven force vectors lasting 300 ms, a novel single-step extended linear program finds the 49-dimensional polytope of all possible motor commands that can produce the sequence of forces. We find that muscle redundancy is severely reduced when the temporal limits on muscle activation-contraction dynamics are added. For example, allowing a generous ± 12% change in muscle activation within 50 ms allows visiting only ∼ 7% of the feasible activation space in the next time step. By considering that every motor command conditions future commands, we find that the motor-control landscape is much more highly structured and spatially constrained than previously recognized. We discuss how this challenges traditional computational and conceptual theories of motor control and neurorehabilitation for which muscle redundancy is a foundational assumption.

Effects of Iliosacral Joint Immobilization on Walking after Iliosacral Screw Fixation in Humans

BACKGROUND

Pelvis fractures are commonly stabilized by surgical implants to facilitate their healing. However, such implants immobilize the iliosacral joint for up to a year until removal. We report how iliosacral joint immobilization affects the walking of patients.

METHODS

The gaits of patients with immobilized sacroiliac joints after unstable pelvic fracture (n = 8; mean age: 45.63 ± 23.19; five females and three males) and sex- and age-matched healthy control individuals (n = 8; mean age: 46.50 ± 22.91; five females and three males) were recorded and analyzed using a motion capture system. The forces between the tread and feet were also recorded. Standard gait parameters as well as dynamic patterns of joint angles and moments of the lower extremities were analyzed using the simulation software OpenSim.

RESULTS

With the exception of hip extensor strength, the monitored joint parameters of the patients showed task-dependent deviations during walking, i.e., plantarflexor force was increased when stepping on an elevated surface, as were hip flexion and extensor moments, knee flexion and extensor moments, as well as ankle dorsiflexion and the associated negative plantarflexor force during stance on the elevated surface.

CONCLUSIONS

Iliosacral joint fixation causes reduced forward and upward propulsion and requires an extended range of hip motion in the sagittal plane. Patients show significant mobility limitation after iliosacral screw fixation.

Comparison of biomechanical analysis results using different musculoskeletal models for children with cerebral palsy

Introduction: Musculoskeletal model-based simulations have gained popularity as a tool for analyzing human movement biomechanics. However, when examining the same gait, different models with varying anatomical data and assumptions may produce inconsistent biomechanical results. This inconsistency is particularly relevant for children with cerebral palsy, who often exhibit multiple pathological gait patterns that can impact model outputs. Methods: The aim of this study was to investigate the effect of selecting musculoskeletal models on the biomechanical analysis results in children with cerebral palsy. Gait data were collected from multiple participants at slow, medium, and fast velocities. Joint kinematics, joint dynamics, and muscle activation were calculated using six popular musculoskeletal models within a biomechanical simulation environment. Results: The degree of inconsistency, measured as the root-mean-square deviation, in kinematic and kinetic results produced by the different models ranged from 4% to 40% joint motion range and 0%-28% joint moment range, respectively. The correlation between the results of the different models (both kinematic and kinetic) was good (R> 0.85, P < 0.01), with a stronger correlation observed in the kinetic results. Four of the six models showed a positive correlation between the simulated muscle activation of rectus femoris and the surface EMG, while all models exhibited a positive correlation between the activation of medial gastrocnemius and the surface EMG (P < 0.01). Discussion: These results provide insights into the consistency of model results, factors influencing consistency, characteristics of each model's outputs, mechanisms underlying these characteristics, and feasible applications for each model. By elucidating the impact of model selection on biomechanical analysis outcomes, this study advances the field's understanding of musculoskeletal modeling and its implications for clinical gait analysis model decision-making in children with cerebral palsy.

Individual Muscle Force Differences During Loaded Hexbar Jumps: A Statistical Parametric Mapping Analysis

Knowledge of individual muscle force during strength and conditioning exercises provides deeper understanding of how specific training decisions relate to desired training outcomes. The purpose of this study was to estimate individual muscle forces during hexbar jumps with 0%, 20%, 40%, and 60% of the hexbar deadlift 1-repetition maximum utilizing in vivo motion capture and computational modeling techniques of male participants. Muscle forces for the gluteus maximus, biceps femoris, rectus femoris, vastus intermedius, gastrocnemius, and soleus were estimated via static optimization. Changes in muscle forces over the concentric phase were analyzed across loading conditions using statistical parametric mapping, impulse, and peak values. Conclusions about the effects of load differ between the three analysis methods; therefore, careful selection of analysis method is essential. Peaks may be inadequate in assessing differences in muscle force during dynamic movements. If SPM, assessing point-by-point differences, is combined with impulse, where time of force application is considered, both timepoint and overall loading can be analyzed. The response of individual muscle forces to increases in external load, as assessed by impulse and SPM, includes increased total muscle output, proportionally highest at 20%1RM, and increased absolute force for the vasti and plantarflexors during the concentric phase of hexbar jumps.

Simulating the effect of ankle plantarflexion and inversion-eversion exoskeleton torques on center of mass kinematics during walking

Walking balance is central to independent mobility, and falls due to loss of balance are a leading cause of death for people 65 years of age and older. Bipedal gait is typically unstable, but healthy humans use corrective torques to counteract perturbations and stabilize gait. Exoskeleton assistance could benefit people with neuromuscular deficits by providing stabilizing torques at lower-limb joints to replace lost muscle strength and sensorimotor control. However, it is unclear how applied exoskeleton torques translate to changes in walking kinematics. This study used musculoskeletal simulation to investigate how exoskeleton torques applied to the ankle and subtalar joints alter center of mass kinematics during walking. We first created muscle-driven walking simulations using OpenSim Moco by tracking experimental kinematics and ground reaction forces recorded from five healthy adults. We then used forward integration to simulate the effect of exoskeleton torques applied to the ankle and subtalar joints while keeping muscle excitations fixed based on our previous tracking simulation results. Exoskeleton torque lasted for 15% of the gait cycle and was applied between foot-flat and toe-off during the stance phase, and changes in center of mass kinematics were recorded when the torque application ended. We found that changes in center of mass kinematics were dependent on both the type and timing of exoskeleton torques. Plantarflexion torques produced upward and backward changes in velocity of the center of mass in mid-stance and upward and smaller forward velocity changes near toe-off. Eversion and inversion torques primarily produced lateral and medial changes in velocity in mid-stance, respectively. Intrinsic muscle properties reduced kinematic changes from exoskeleton torques. Our results provide mappings between ankle plantarflexion and inversion-eversion torques and changes in center of mass kinematics which can inform designers building exoskeletons aimed at stabilizing balance during walking. Our simulations and software are freely available and allow researchers to explore the effects of applied torques on balance and gait.

Analysis of Ankle Muscle Dynamics during the STS Process Based on Wearable Sensors

Ankle joint moment is an important indicator for evaluating the stability of the human body during the sit-to-stand (STS) movement, so a method to analyze ankle joint moment is needed. In this study, a wearable sensor system that could derive surface-electromyography (sEMG) signals and kinematic signals on the lower limbs was developed for non-invasive estimation of ankle muscle dynamics during the STS movement. Based on the established ankle joint musculoskeletal information and sEMG signals, ankle joint moment during the STS movement was calculated. In addition, based on a four-segment STS dynamic model and kinematic signals, ankle joint moment during the STS movement was calculated using the inverse dynamics method. Ten healthy young people participated in the experiment, who wore a self-developed wearable sensor system and performed STS movements as an experimental task. The results showed that there was a high correlation (all R ≥ 0.88) between the results of the two methods for estimating ankle joint moment. The research in this paper can provide theoretical support for the development of an intelligent bionic joint actuator and clinical rehabilitation evaluation.

Ten steps to becoming a musculoskeletal simulation expert: A half-century of progress and outlook for the future

Over the past half-century, musculoskeletal simulations have deepened our knowledge of human and animal movement. This article outlines ten steps to becoming a musculoskeletal simulation expert so you can contribute to the next half-century of technical innovation and scientific discovery. We advocate looking to the past, present, and future to harness the power of simulations that seek to understand and improve mobility. Instead of presenting a comprehensive literature review, we articulate a set of ideas intended to help researchers use simulations effectively and responsibly by understanding the work on which today's musculoskeletal simulations are built, following established modeling and simulation principles, and branching out in new directions.

A review of the efforts to develop muscle and musculoskeletal models for biomechanics in the last 50 years

Both the Hill and the Huxley muscle models had already been described by the time the International Society of Biomechanics was founded 50 years ago, but had seen little use before the 1970s due to the lack of computing. As computers and computational methods became available in the 1970s, the field of musculoskeletal modeling developed and Hill type muscle models were adopted by biomechanists due to their relative computational simplicity as compared to Huxley type muscle models. Muscle forces computed by Hill type muscle models provide good agreement in conditions similar to the initial studies, i.e. for small muscles contracting under steady and controlled conditions. However, more recent validation studies have identified that Hill type muscle models are least accurate for natural in vivo locomotor behaviours at submaximal activations, fast speeds and for larger muscles, and thus need to be improved for their use in understanding human movements. Developments in muscle modelling have tackled these shortcomings. However, over the last 50 years musculoskeletal simulations have been largely based on traditional Hill type muscle models or even simplifications of this model that neglected the interaction of the muscle with a compliant tendon. The introduction of direct collocation in musculoskeletal simulations about 15 years ago along with further improvements in computational power and numerical methods enabled the use of more complex muscle models in simulations of whole-body movement. Whereas Hill type models are still the norm, we may finally be ready to adopt more complex muscle models into musculoskeletal simulations of human movement.

Humans need only 200 ms to generate posture-specific muscle activation patterns for successful vertical jumps in reaction to an auditory trigger

Introduction

It is currently unknown how the central nervous system controls ballistic whole-body movements like vertical jumps. Here we set out to study the time frame of generating muscle activation patterns for maximum-effort jumps from different initial postures.

Methods

We had ten healthy male participants make a slow countermovement from an upright position and initiate a maximal vertical jump as soon as possible following an auditory trigger. The trigger was produced when hip height dropped below one of three preselected values, unknown in advance to the participant, so that the participant was uncertain about the posture from which to initiate the jump. Furthermore, we determined the ensuing bottom postures reached during jumps, and from these postures had the participants perform maximum-effort squat jumps in two conditions: whenever they felt ready, or as soon as possible following an auditory trigger. Kinematics and ground reaction forces were measured, and electromyograms were collected from gluteus maximus, biceps femoris, rectus femoris, vastus lateralis, gastrocnemius and soleus. For each muscle, we detected activation onsets, as well as reaction times defined as the delay between trigger onset and activation onset.

Results

In the jumps preceded by a slow countermovement, the posture from which to initiate the jump was unknown before trigger onset. Nevertheless, in these jumps, posture-specific muscle activation patterns were already released within 200 ms after trigger onset and reaction times were not longer and jump heights not less than in squat jumps from corresponding bottom postures.

Discussion

Our findings suggest that the generation of muscle activation patterns for jumping does not start before trigger onset and requires only about 200 ms.

Computation of physiological loading induced interstitial fluid motion in muscle standardized femur: Healthy vs. osteoporotic bone

BACKGROUND AND OBJECTIVES

Physiological loading-induced mechanical environments regulate bone modeling and remodeling. Thus, loading-induced normal strain is typically considered a stimulus to osteogenesis. However, several studies noticed new bone formation near the sites of minimal normal strain, e.g., the neutral axis of bending in long bones, which raises a question on how bone mass is maintained near these sites. Secondary mechanical components such as shear strain and interstitial fluid flow also stimulate bone cells and regulate bone mass. However, the osteogenic potential of these components is not well established. Accordingly, the present study estimates the distribution of physiological muscle loading-induced mechanical environments such as normal strain, shear strain, pore pressure, and interstitial fluid flow in long bones.

METHODS

A poroelastic finite element muscle standardized femur (MuscleSF) model is developed to compute the distribution of the mechanical environment as a function of bone porosities associated with osteoporotic and disuse bone loss.

RESULTS

The results indicate the presence of higher shear strain and interstitial fluid motion near the minimal strain sites, i.e., the neutral axis of bending of femoral cross-sections. This suggests that secondary stimuli may maintain the bone mass at these locations. Pore pressure and interstitial fluid motion reduce with the increased porosity associated with bone disorders, possibly resulting in diminished skeletal mechano-sensitivity to exogenous loading.

CONCLUSIONS

These outcomes present a better understanding of mechanical environment-mediated regulation of site-specific bone mass, which can be beneficial in developing prophylactic exercise to prevent bone loss in osteoporosis and muscle disuse.

Predictive simulation of single-leg landing scenarios for ACL injury risk factors evaluation

The Anterior Cruciate Ligament (ACL) rupture is a very common knee injury during sport activities. Landing after jump is one of the most prominent human body movements that can lead to such an injury. The landing-related ACL injury risk factors have been in the spotlight of research interest. Over the years, researchers and clinicians acquire knowledge about human movement during daily-life activities by organizing complex in vivo studies that feature high complexity, costs and technical and most importantly physical challenges. In an attempt to overcome these limitations, this paper introduces a computational modeling and simulation pipeline that aims to predict and identify key parameters of interest that are related to ACL injury during single-leg landings. We examined the following conditions: a) landing height, b) hip internal and external rotation, c) lumbar forward and backward leaning, d) lumbar medial and lateral bending, e) muscle forces permutations and f) effort goal weight. Identified on related research studies, we evaluated the following risk factors: vertical Ground Reaction Force (vGRF), knee joint Anterior force (AF), Medial force (MF), Compressive force (CF), Abduction moment (AbdM), Internal rotation moment (IRM), quadricep and hamstring muscle forces and Quadriceps/Hamstrings force ratio (Q/H force ratio). Our study clearly demonstrated that ACL injury is a rather complicated mechanism with many associated risk factors which are evidently correlated. Nevertheless, the results were mostly in agreement with other research studies regarding the ACL risk factors. The presented pipeline showcased promising potential of predictive simulations to evaluate different aspects of complicated phenomena, such as the ACL injury.

The Effect of a Knee Brace on Muscle Forces during Single-Leg Landings at Two Heights

Single-leg landing is one of the maneuvers that has been linked to non-contact anterior cruciate ligament (ACL) injuries, and wearing knee braces has been shown to reduce ACL injury incidence. The purpose of this study was to determine whether wearing a knee brace has an effect on muscle force during single-leg landings at two heights through musculoskeletal simulation. Eleven healthy male participants, some braced and some non-braced were recruited to perform single-leg landings at 30 cm and 45 cm. We recorded the trajectories and ground reaction forces (GRF) using an eight-camera motion capture system and a force platform. The captured data were imported into the generic musculoskeletal model (Gait2392) in OpenSim. Static optimization was used to calculate the muscle forces. The gluteus minimus, rectus femoris, vastus medialis, vastus lateralis, vastus medialis medial gastrocnemius, lateral gartrocnemius, and soleus muscle forces were all statistically significant different between the braced and non-braced participants. Simultaneously, increasing the landing height significantly affected the gluteus maximums, vastus medialis, and vastus intermedia muscle forces. Our findings imply that wearing a knee brace may alter muscle forces during single-leg landings, preventing ACL injuries. Additionally, research demonstrates that people should avoid landing from heights due to the increased risk of knee injuries.

Effect of sprinting velocity on anterior cruciate ligament and knee load during sidestep cutting

The purpose of the study was to investigate the effect of an increase in sprinting velocity on the anterior cruciate ligament (ACL) load, knee joint load, and activation of femoral muscles using the musculoskeletal modeling approach. Fourteen high school male athletes were recruited (age: 17.4 ± 0.7 years, height: 1.75 ± 0.04 m, weight: 73.3 ± 8.94 kg), with the right foot dominant and physical activity level of about 3-4 h per day. The kinematics, kinetics, and co-contraction index (CCI) of the extensors and flexors of the right leg's femoral muscles were calculated. The anterior cruciate ligament load was estimated using the musculoskeletal modeling method. In the results, it was observed that the anterior cruciate ligament load (p < 0.017) increased as sidestep cutting velocity increased, resulting in increased adduction (p < 0.017) and the internal rotation moment of the knee joint. This was significantly higher than when sprinting at a similar velocity. The co-contraction index result, which represents the balanced activation of the femoral extensor and flexor muscles, showed a tendency of decrement with increasing sprinting velocity during sidestep cutting (p < 0.017), whereas no significant differences were observed when running at different sprinting conditions. Therefore, we postulate that factors such as knee joint shear force, extended landing posture with increasing sprinting velocity, internal rotation moment, and femoral muscle activity imbalance influence the increase of anterior cruciate ligament load during a sidestep cutting maneuver.

Multibody Models of the Thoracolumbar Spine: A Review on Applications, Limitations, and Challenges

Numerical models of the musculoskeletal system as investigative tools are an integral part of biomechanical and clinical research. While finite element modeling is primarily suitable for the examination of deformation states and internal stresses in flexible bodies, multibody modeling is based on the assumption of rigid bodies, that are connected via joints and flexible elements. This simplification allows the consideration of biomechanical systems from a holistic perspective and thus takes into account multiple influencing factors of mechanical loads. Being the source of major health issues worldwide, the human spine is subject to a variety of studies using these models to investigate and understand healthy and pathological biomechanics of the upper body. In this review, we summarize the current state-of-the-art literature on multibody models of the thoracolumbar spine and identify limitations and challenges related to current modeling approaches.

Multi-tasking deteriorates trunk movement control during and after obstacle avoidance

Dynamic and cognitive multi-tasking might affect balance and walking negatively and increase risk of falling. Trunk movement control is critical for balance maintenance and fall-prevention. The impact of multi-tasking on trunk movement control has not been thoroughly studied. In a challenging dynamic multi-tasking condition such as walking and obstacle avoidance, presence of a cognitive task not only increases risk of tripping but also may increase risk of falling by deteriorating trunk control. Our objective was to investigate the impacts of a challenging dynamic and cognitive multi-tasking condition (walking + obstacle avoidance + cognitive task) on trunk kinematics and kinetics and compare those with other joints/segments. Trunk, pelvis, hip, knee, and ankle kinematics and kinetics of 12 young adults were compared between joints/segments and conditions. During walking and obstacle avoidance (dynamic multi-tasking), the trunk had the largest normalized increase in peak flexion angle and extension torque compared to walking, among the other joints/segments. The presence of a cognitive task during walking and obstacle avoidance (dynamic and cognitive multi-tasking) did not impact any of the joints/segments biomechanics except the trunk peak extension torque that was increased. Furthermore, trunk kinematics showed the largest residual differences (post-effects) in 3 cycles after obstacle avoidance compared to walking. The presence of a cognitive task (dynamic and cognitive multi-tasking) did not impact the post-effects of obstacle avoidance on any joints/segments except the trunk with its residual difference from normal walking further increased. These results suggest that a cognitive task deteriorates trunk control and interferes with the ability to regain normal trunk biomechanics after obstacle avoidance. In summary, the trunk requires the largest biomechanical adjustments in a challenging dynamic and cognitive multi-tasking condition where there is a risk of falling. Our study provides baseline results suggesting that trunk control demands more attention and is more negatively affected by dynamic and cognitive multi-tasking. Our results raise a concern for elderly population as their trunk control is already impaired and common daily multi-tasking could further deteriorate their trunk control and increase fall risk.

A hybrid framework to predict ski jumping forces by combining data-driven pose estimation and model-based force calculation

The aim of this paper is to propose a hybrid framework that combines a data-driven pose estimation with model-based force calculation in order to predict the ski jumping force from a recorded motion video. A skeletal model consisting of five joints (ear, hip, knee, ankle, and toe) and four rigid segments (head/arm/trunk or HAT, thigh, shank, and foot) connecting each joint is developed. The joint forces are calculated from the dynamic equilibrium equations, which requires the time history of joint coordinates. They are estimated from a recorded motion video using a deep neural network for pose estimation trained with human motion data. Joint coordinates can be obtained by the proposed deep neural network directly from images of jumping motion without using any markers. The validity and usefulness of the proposed method are confirmed in lab experiments. Further, our method is practically applicable to the study in a real competition environment because it is not required to attach any sensor or marker to athletes.Highlights A method to predict the ski jumping force from a recorded motion video is proposed.It combines a data-driven pose estimation with a model-based force calculation.The proposed method does not require any markers and sensors to be attached to athletes.In a laboratory environment, the relative error in the maximum jumping force is less than 7%.The method can be easily applied to a field study in a real competition environment.

Tolerable degree of muscle sacrifice when harvesting a vastus lateralis or myocutaneous anterolateral thigh flap

The myocutaneous anterolateral thigh (ALT) and vastus lateralis (VL) flaps include a large muscle mass and a sufficient vascular pedicle, and they have been used for decades to reconstruct traumatic and acquired defects of the head and neck and extremities. In spite of these benefits, musculoskeletal dysfunction was reported in nearly 1 out of 20 patients at follow-up. It is unclear whether the recently proposed muscle-sparing flap-raising approach could preserve VL muscle function and whether patients at increased risk could benefit from such an approach. Therefore, we performed a predictive dynamic gait simulation based on a biological motion model with gradual weakening of the VL during a self-selected and fast walking speed to determine the compensable degree of VL muscle reduction. Muscle force, joint angle, and joint moment were measured. Our study showed that VL muscle reduction could be compensated up to a certain degree, which could explain the observed incidence of musculoskeletal dysfunction. In elderly or fragile patients, the VL muscle should not be reduced by 50% or more, which could be achieved by muscle-sparing flap-raising of the superficial partition only. In young or athletic patients, a VL muscle reduction of 10%, which corresponds to a muscle cuff, has no relevant effect. Yet, a reduction of more than 30% leads to relevant weakening of the quadriceps. Therefore, in this patient population with the need for a large portion of muscle, alternative flaps should be considered. This study can serve as the first basis for further investigations of human locomotion after flap-raising.

Effects of powered ankle-foot orthoses mass distribution on lower limb muscle forces-a simulation study

This simulation study aimed to explore the effects of mass and mass distribution of powered ankle-foot orthoses, on net joint moments and individual muscle forces throughout the lower limb. Using OpenSim inverse kinematics, dynamics, and static optimization tools, the gait cycles of ten subjects were analyzed. The biomechanical models of these subjects were appended with ideal powered ankle-foot orthoses of different masses and actuator positions, as to determine the effect that these design factors had on the subject's kinetics during normal walking. It was found that when the mass of the device was distributed more distally and posteriorly on the leg, both the net joint moments and overall lower limb muscle forces were more negatively impacted. However, individual muscle forces were found to have varying results which were attributed to the flow-on effect of the orthosis, the antagonistic pairing of muscles, and how the activity of individual muscles affect each other. It was found that mass and mass distribution of powered ankle-foot orthoses could be optimized as to more accurately mimic natural kinetics, reducing net joint moments and overall muscle forces of the lower limb, and must consider individual muscles as to reduce potentially detrimental muscle fatigue or muscular disuse. OpenSim modelling method to explore the effect of mass and mass distribution on muscle forces and joint moments, showing potential mass positioning and the effects of these positions, mass, and actuation on the muscle force integral.

Musculoskeletal simulations to examine the effects of accentuated eccentric loading (AEL) on jump height

Background

During counter movement jumps, adding weight in the eccentric phase and then suddenly releasing this weight during the concentric phase, known as accentuated eccentric loading (AEL), has been suggested to immediately improve jumping performance. The level of evidence for the positive effects of AEL remains weak, with conflicting evidence over the effectiveness in enhancing performance. Therefore, we proposed to theoretically explore the influence of implementing AEL during constrained vertical jumping using computer modelling and simulation and examined whether the proposed mechanism of enhanced power, increased elastic energy storage and return, could enhance work and power.

Methods

We used a simplified model, consisting of a ball-shaped body (head, arm, and trunk), two lower limb segments (thigh and shank), and four muscles, to simulate the mechanisms of AEL. We adjusted the key activation parameters of the muscles to influence the performance outcome of the model. Numerical optimization was applied to search the optimal solution for the model. We implemented AEL and non-AEL conditions in the model to compare the simulated data between conditions.

Results

Our model predicted that the optimal jumping performance was achieved when the model utilized the whole joint range. However, there was no difference in jumping performance in AEL and non-AEL conditions because the model began its push-off at the similar state (posture, fiber length, fiber velocity, fiber force, tendon length, and the same activation level). Therefore, the optimal solution predicted by the model was primarily driven by intrinsic muscle dynamics (force-length-velocity relationship), and this coupled with the similar model state at the start of the push-off, resulting in similar push-off performance across all conditions. There was also no evidence of additional tendon-loading effect in AEL conditions compared to non-AEL condition.

Discussion

Our simplified simulations did not show improved jump performance with AEL, contrasting with experimental studies. The reduced model demonstrates that increased energy storage from the additional mass alone is not sufficient to induce increased performance and that other factors like differences in activation strategies or movement paths are more likely to contribute to enhanced performance.

Open-source software library for real-time inertial measurement unit data-based inverse kinematics using OpenSim

Background

Inertial measurements (IMUs) facilitate the measurement of human motion outside the motion laboratory. A commonly used open-source software for musculoskeletal simulation and analysis of human motion, OpenSim, includes a tool to enable kinematics analysis of IMU data. However, it only enables offline analysis, i.e., analysis after the data has been collected. Extending OpenSim's functionality to allow real-time kinematics analysis would allow real-time feedback for the subject during the measurement session and has uses in e.g., rehabilitation, robotics, and ergonomics.

Methods

We developed an open-source software library for real-time inverse kinematics (IK) analysis of IMU data using OpenSim. The software library reads data from IMUs and uses multithreading for concurrent calculation of IK. Its operation delays and throughputs were measured with a varying number of IMUs and parallel computing IK threads using two different musculoskeletal models, one a lower-body and torso model and the other a full-body model. We published the code under an open-source license on GitHub.

Results

A standard desktop computer calculated full-body inverse kinematics from treadmill walking at 1.5 m/s with data from 12 IMUs in real-time with a mean delay below 55 ms and reached a throughput of more than 90 samples per second. A laptop computer had similar delays and reached a throughput above 60 samples per second with treadmill walking. Minimal walking kinematics, motion of lower extremities and torso, were calculated from treadmill walking data in real-time with a throughput of 130 samples per second on the laptop and 180 samples per second on the desktop computer, with approximately half the delay of full-body kinematics.

Conclusions

The software library enabled real-time inverse kinematical analysis with different numbers of IMUs and customizable musculoskeletal models. The performance results show that subject-specific full-body motion analysis is feasible in real-time, while a laptop computer and IMUs allowed the use of the method outside the motion laboratory.

Towards Single Camera Human 3D-Kinematics

Markerless estimation of 3D Kinematics has the great potential to clinically diagnose and monitor movement disorders without referrals to expensive motion capture labs; however, current approaches are limited by performing multiple de-coupled steps to estimate the kinematics of a person from videos. Most current techniques work in a multi-step approach by first detecting the pose of the body and then fitting a musculoskeletal model to the data for accurate kinematic estimation. Errors in training data of the pose detection algorithms, model scaling, as well the requirement of multiple cameras limit the use of these techniques in a clinical setting. Our goal is to pave the way toward fast, easily applicable and accurate 3D kinematic estimation. To this end, we propose a novel approach for direct 3D human kinematic estimation D3KE from videos using deep neural networks. Our experiments demonstrate that the proposed end-to-end training is robust and outperforms 2D and 3D markerless motion capture based kinematic estimation pipelines in terms of joint angles error by a large margin (35% from 5.44 to 3.54 degrees). We show that D3KE is superior to the multi-step approach and can run at video framerate speeds. This technology shows the potential for clinical analysis from mobile devices in the future.

Contributions of individual muscle forces to hip, knee, and ankle contact forces during the stance phase of running: a model-based study

Knowledge of muscle forces' contributions to the joint contact forces can assist in the evaluation of muscle function, joint injury prevention, treatment of gait disorders, and arthroplasty planning. This study's objective was to evaluate the contributions of human lower limb muscles to the hip, knee, and ankle joint contact forces during the stance phase of running. A total of 25 muscles (or groups) were investigated based on the OpenSim framework along the anterior-posterior, superoinferior, and mediolateral components of each joint coordinate system. It was revealed that, during the running stance phase, the gluteus medius, gluteus maximus, and iliopsoas mainly contributed to the hip contact force. The soleus, vastus group, and rectus femoris primarily contributed to the knee contact force, while the peroneus, soleus, gluteus medius, and gastrocnemius mainly contributed to the ankle joint force; some muscles simultaneously offloaded the joints during the stance phase. The distributive pattern of the individual muscle functions contributing to the joint load may substantially differ during the running and walking stance phases. This study's findings may further provide suggestive information for the design of lower limb joint prosthesis, the study of the biomechanics of pathologic walking and running, and the progression of joint osteoarthritis.

Ankle Proprioception in Male and Female Surfers and the Implications of Motor Experience and Lower-Body Strength

ABSTRACT

Dowse, RA, Secomb, JL, Bruton, M, Parsonage, J, Ferrier, B, Waddington, G, and Nimphius, S. Ankle proprioception in male and female surfers and the implications of motor experience and lower-body strength. J Strength Cond Res 36(12): 3497-3504, 2022-The primary objectives were to evaluate if the active movement extent discrimination apparatus (AMEDA) condition (i.e., front foot and back foot plantarflexion, dorsiflexion, inversion, and eversion) and the level of competition explained ankle movement discrimination scores and, thereafter, examined the contribution of surf experience, physical capacity, and ability to proprioception. It was also considered important to re-evaluate the surf experience, anthropometric characteristics, physical capacities, and abilities of male and female surfers. Twenty-six male ( n = 12, surf experience = 18 ± 8 years) and female surfers ( n = 14, surf experience = 9 ± 6 years) completed a pre-exercise medical questionnaire, anthropometric assessment, 8 AMEDA assessments, countermovement jump, squat jump, and isometric midthigh pull assessment. The AMEDA condition and level of competition did not have a statistically significant main effect on ankle movement discrimination scores; however, the effect of the gender/sex was significant ( p = 0.044). Surf experience ( p = 0.029) and lower-body isometric strength ( p = 0.029) had a statistically significant but small main effect on ankle movement discrimination scores. The results also confirmed that there were significant differences in surf experience, anthropometric characteristics, physical capacity, and jumping ability between male and female surfers. As surf experience and physical capacity were only able to explain a small magnitude of ankle movement discrimination scores, it is suggested that ankle proprioception in surfers may be related to both the volume and quality of the motor experience attained, which may be augmented by environmental and sociocultural factors.

A novel implantable mechanism-based tendon transfer surgery for adult acquired flatfoot deformity: Evaluating feasibility in biomechanical simulation

Adult acquired flatfoot deformity becomes permanent with stage III posterior tibialis tendon dysfunction and results in foot pain and difficulty walking and balancing. To prevent progression to stage III posterior tibialis tendon dysfunction when conservative treatment fails, a flexor digitorum longus to posterior tibialis tendon transfer is often conducted. However, since the flexor digitorum longus only has one-third the force-capability of the posterior tibialis, an osteotomy is typically also required. We propose the use of a novel implantable mechanism to replace the direct attachment of the tendon transfer with a sliding pulley to amplify the force transferred from the donor flexor digitorum longus to the foot arch. In this work, we created four OpenSim models of an arched foot, a flatfoot, a flatfoot with traditional tendon transfer, and a flatfoot with implant-modified tendon transfer. Paired with these models, we developed a forward dynamic simulation of the stance phase of gait that reproduces the medial/lateral distribution of vertical ground reaction forces. The simulation couples the use of a fixed tibia, moving ground plane methodology with simultaneous activation of nine extrinsic lower limb muscles. The arched foot and flatfoot models produced vertical ground reaction forces with the characteristic double-peak profile of gait, and the medial/lateral distribution of these forces compared well with the literature. The flatfoot model with implant-modified tendon transfer produced a 94.2% restoration of the medial/lateral distribution of vertical ground reaction forces generated by our arched foot model, which also represents a 2.1X improvement upon our tendon transfer model. This result demonstrates the feasibility of a pulley-like implant to improve functional outcomes for surgical treatment of adult acquired flatfoot deformity with ideal biomechanics in simulation. The real-world efficacy and feasibility of such a device will require further exploration of factors such as surgical variability, soft tissue interactions and healing response.

The impact of stance during heel raises on the hybrid ultimate lifting kit (HULK) device: A future microgravity exercise machine

Extended missions in microgravity, such as those on the International Space Station (ISS) or future missions to Mars, can result in the physiological deconditioning of astronauts. Current mitigation strategies include a regimented diet in addition to resistance training paired with aerobic exercise. With the increased effort toward long duration space missions, there is room to optimize the cost, required time of use, and mass of exercise equipment. This research effort focuses on understanding the biomechanics of Heel Raise (HR) exercises while using the Hybrid Ultimate Lifting Kit (HULK) device, an exercise device designed to optimize volume and functionality. Using the biomechanics tool OpenSim, the effect of HR foot stance (15° inward, 15° outward, and straight) was assessed by analyzing kinematic and kinetic data. In particular, we analyzed peak joint angles, range of motion, joint moments, and angular impulses of a single subject. Preliminary results indicated no significant differences in terms of ankle/metatarsophalangeal/subtalar joint angles, range of motion, joint moments, and angular impulses between foot stances. In addition, loaded HR exercises were compared to body weight HR exercises without the HULK device. Finally, recommendations are made towards an optimal HR routine for long-duration space missions. The impact to health and rehabilitation on Earth is also discussed.

Evaluating Muscle Synergies With EMG Data and Physics Simulation in the Neurorobotics Platform

Although we can measure muscle activity and analyze their activation patterns, we understand little about how individual muscles affect the joint torque generated. It is known that they are controlled by circuits in the spinal cord, a system much less well-understood than the cortex. Knowing the contribution of the muscles toward a joint torque would improve our understanding of human limb control. We present a novel framework to examine the control of biomechanics using physics simulations informed by electromyography (EMG) data. These signals drive a virtual musculoskeletal model in the Neurorobotics Platform (NRP), which we then use to evaluate resulting joint torques. We use our framework to analyze raw EMG data collected during an isometric knee extension study to identify synergies that drive a musculoskeletal lower limb model. The resulting knee torques are used as a reference for genetic algorithms (GA) to generate new simulated activation patterns. On the platform the GA finds solutions that generate torques matching those observed. Possible solutions include synergies that are similar to those extracted from the human study. In addition, the GA finds activation patterns that are different from the biological ones while still producing the same knee torque. The NRP forms a highly modular integrated simulation platform allowing these in silico experiments. We argue that our framework allows for research of the neurobiomechanical control of muscles during tasks, which would otherwise not be possible.

Skin marker-based subject-specific spinal alignment modeling: A feasibility study

Musculoskeletal models have the potential to improve diagnosis and optimize clinical treatment by predicting accurate outcomes on an individual basis. However, the subject-specific modeling of spinal alignment is often strongly simplified or is based on radiographic assessments, exposing subjects to unnecessary radiation. We therefore developed and introduced a novel skin marker-based approach for modeling subject-specific spinal alignment and evaluated its feasibility by comparing the predicted L1/L2 spinal loads during various functional activities with the loads predicted by the generically scaled models as well as with in vivo measured data obtained from the OrthoLoad database. Spinal loading simulations resulted in considerably higher compressive forces for both scaling approaches over all simulated activities, and AP shear forces that were closer or similar to the in vivo data for the subject-specific approach during upright standing activities and for the generic approach during activities that involved large flexions. These results underline the feasibility of the proposed method and associated workflow for inter- and intra-subject investigations using musculoskeletal simulations. When implemented into standard model scaling workflows, it is expected to improve the accuracy of muscle activity and joint loading simulations, which is crucial for investigations of treatment effects or pathology-dependent deviations.

Improved heat coefficients for joint-space metabolic energy expenditure model during level, uphill, and downhill walking

A previously developed joint-space metabolic energy expenditure (MEE) model includes subject-specific parameters and was validated using level walking gait data. In this work, we determine how well this joint-space model performs during various walking grades (-8%, 0%, and 8%) at 0.8 m·s ⁻¹ and 1.3 m·s ⁻¹ using published gait data in the literature. In response to those results, we formulate an optimization problem and solve it through the particle swam method plus fmincon function in MATLAB to identify a new optimal weighting parameter set for each grade that produces more accurate predicted MEE and we compare our new findings with seven other MEE models in the literature. The current study matched the measured MEE the best with the lowest RMSE values for level (0.45 J·kg ⁻¹·m ⁻¹) and downhill (0.82 J·kg ⁻¹·m ⁻¹) walking and the third lowest RMSE value for uphill (1.56 J·kg ⁻¹·m ⁻¹) walking, where another MEE model, Looney et al., had the lowest RMSE for uphill (1.27 J·kg ⁻¹·m ⁻¹) walking. Bland-Altman plots and three independent-samples t-tests show that there was no statistical significant difference between experimentally measured MEE and estimated MEE during the three walking conditions, meaning that the three new optimal weighting parameter sets can be used with 6 degree of freedom (DOF) lower extremity motion data to better estimate whole body MEE in those scenarios. We believe that this work is a step towards identifying a single robust parameter set that allows for accurate estimation of MEE during any task, with the potential to mitigate a limitation of indirect calorimetry requiring lengthy steady state motion.

Effect of Assistance Using a Bilateral Robotic Knee Exoskeleton on Tibiofemoral Force Using a Neuromuscular Model

Tibiofemoral compression forces present during locomotion can result in high stress and risk damage to the knee. Powered assistance using a knee exoskeleton may reduce the knee load by reducing the work required by the muscles. However, the exact effect of assistance on the tibiofemoral force is unknown. The goal of this study was to investigate the effect of knee extension assistance during the early stance phase on the tibiofemoral force. Nine able-bodied adults walked on an inclined treadmill with a bilateral knee exoskeleton with assistance and with no assistance. Using an EMG-informed neuromusculoskeletal model, muscle forces were estimated, then utilized to estimate the tibiofemoral contact force. Results showed a 28% reduction in the knee moment, which resulted in approximately a 15% decrease in knee extensor muscle activation and a 20% reduction in subsequent muscle force, leading to a significant 10% reduction in peak and 9% reduction in average tibiofemoral contact force during the early stance phase (p < 0.05). The results indicate the tibiofemoral force is highly dependent on the knee kinetics and quadricep muscle activation due to their influence on knee extensor muscle forces, the primary contributor to the knee load.

Body-Worn IMU-Based Human Hip and Knee Kinematics Estimation during Treadmill Walking

Traditionally, inertial measurement unit (IMU)-based human joint angle estimation techniques are evaluated for general human motion where human joints explore all of their degrees of freedom. Pure human walking, in contrast, limits the motion of human joints and may lead to unobservability conditions that confound magnetometer-free IMU-based methods. This work explores the unobservability conditions emergent during human walking and expands upon a previous IMU-based method for the human knee to also estimate human hip angles relative to an assumed vertical datum. The proposed method is evaluated (N=12) in a human subject study and compared against an optical motion capture system. Accuracy of human knee flexion/extension angle (7.87∘ absolute root mean square error (RMSE)), hip flexion/extension angle (3.70∘ relative RMSE), and hip abduction/adduction angle (4.56∘ relative RMSE) during walking are similar to current state-of-the-art self-calibrating IMU methods that use magnetometers. Larger errors of hip internal/external rotation angle (6.27∘ relative RMSE) are driven by IMU heading drift characteristic of magnetometer-free approaches and non-hinge kinematics of the hip during gait, amongst other error sources. One of these sources of error, soft tissue perturbations during gait, is explored further in the context of knee angle estimation and it was observed that the IMU method may overestimate the angle during stance and underestimate the angle during swing. The presented method and results provide a novel combination of observability considerations, heuristic correction methods, and validation techniques to magnetic-blind, kinematic-only IMU-based skeletal pose estimation during human tasks with degenerate kinematics (e.g., straight line walking).

Mechanical Design and Performance Analysis of a Weevil-Inspired Jumping Mechanism

Jumping mechanisms constitute an important means of resolution in applications such as crossing uneven terrain and space exploration. However, the traditional design mainly uses engineering design thinking, but seldom studies the structural characteristics of organisms themselves and lacks biomimetic research basis, which leads to the difference between jumping mechanism and biological structure and its jumping ability. On the other hand, it lacks in-depth study on biological jumping mechanism from the view of engineering. Weevil has excellent jumping performance, and its key jumper structure is specially designed by biologist. To investigate the motion mechanism and working mechanism of the jumping mechanisms, this paper takes the weevil as the bionic object, and designs a weevil-inspired jumping mechanism. A miniature prototype is designed to reproduce weevil’s jumping mechanism with its working principle and anatomical structure to verify how weevil’s jumping mechanisms work, and turns out to perform well at jumping height. This paper is presented the anatomical structure and working principle of the weevil jumping mechanism, followed by explanation and analysis of its kinematics and dynamics, then performing virtual prototype simulations to compare different design schemes, with results guiding the parameter optimization and subjecting a prototype machine into a height test. In comparisons among existing jumping mechanisms whose jumping method is bio-inspired, the present design, which weighs 44.7 g and can jump to a maximum height of 2 m. The present research establishes a biologically inspired working principle and provides a new practical archetype in biologically inspired studies.

A Musculoskeletal Multibody Algorithm Based On a Novel Rheonomic Constraints Definition Applied to the Lower Limb

In this paper a multibody model was developed in the framework of biotribology of lower limb artificial joints. The presented algorithm performs the inverse dynamics of musculoskeletal systems with the aim to achieve a tool for the calculation of the joint reaction forces. The revolute joint, the cam joint, the spherical joint and the free joint were considered in the analysed lower limb system by introducing a novel analytical formulation of the rheonomic constraint equations based on the quaternions theory. Within the kinematical analysis the curved muscle paths were modelled by simulating their geodesic wrapping over bony surfaces and the muscle actuation states were formulated through the Hill muscle model. The developed analytical model written in Matlab environment allowed to follow the classical musculoskeletal analysis pipeline (kinematical analysis, inverse dynamics and static optimization) applied to the lower limb during the gait kinematics. The objective was to compare the calculated hip joint reactions with the ones obtained in vivo by Bergmann which are established as a reference input for total hip replacements lubrication models, in order to assume the developed algorithm as a fully open and controllable synovial joint tribological configuration generator tool, useful to be coupled with numerical lubrication/contact models in the framework of the artificial joints in silico wear analysis and prediction.

Learning to walk with a wearable robot in 880 simple steps: a pilot study on motor adaptation

BACKGROUND

Wearable robots have been shown to improve the efficiency of walking in diverse scenarios. However, it is unclear how much practice is needed to fully adapt to robotic assistance, and which neuromotor processes underly this adaptation. Familiarization strategies for novice users, robotic optimization techniques (e.g. human-in-the-loop), and meaningful comparative assessments depend on this understanding.

METHODS

To better understand the process of motor adaptation to robotic assistance, we analyzed the energy expenditure, gait kinematics, stride times, and muscle activities of eight naïve unimpaired participants across three 20-min sessions of robot-assisted walking. Experimental outcomes were analyzed with linear mixed effect models and statistical parametric mapping techniques.

RESULTS

Most of the participants' kinematic and muscular adaptation occurred within the first minute of assisted walking. After ten minutes, or 880 steps, the energetic benefits of assistance were realized (an average of 5.1% (SD 2.4%) reduction in energy expenditure compared to unassisted walking). Motor adaptation was likely driven by the formation of an internal model for feedforward motor control as evidenced by the reduction of burst-like muscle activity at the cyclic end of robotic assistance and an increase in arm-swing asymmetry previously associated with increased cognitive load.

CONCLUSION

Humans appear to adapt to walking assistance from a wearable robot over 880 steps by forming an internal model for feedforward control. The observed adaptation to the wearable robot is well-described by existing three-stage models that start from a cognitive stage, continue with an associative stage, and end in autonomous task execution. Trial registration Not applicable.

Segmental contribution to whole-body angular momentum during stepping in healthy young and old adults

Recent evidence suggests that during volitional stepping older adults control whole-body angular momentum (H) less effectively than younger adults, which may impose a greater challenge for balance control during this task in the elderly. This study investigated the influence of aging on the segment angular momenta and their contributions to H during stepping. Eighteen old and 15 young healthy adults were instructed to perform a series of stepping at two speed conditions: preferred and as fast as possible. Full-body kinematics were recorded to compute angular momenta of the trunk, arms and legs and their contributions to total absolute H on the entire stepping movement. Results indicated that older adults exhibited larger angular momenta of the trunk and legs in the sagittal plane, which contributed to a higher sagittal plane H range during stepping compared to young adults. Results also revealed that older adults had a greater trunk contribution and lower leg contribution to total absolute H in the sagittal plane compared to young adults, even though there was no difference in the other two planes. These results stress that age-related changes in H control during stepping arise as a result of changes in trunk and leg rotational dynamics.