From bipedalism to bicyclism: evolution in energetics and biomechanics of historic bicycles

Theory of Fast Walking With Human-Driven Load-Carrying Robot Exoskeletons

Reaching and maintaining high walking speeds is challenging for a human when carrying extra weight, such as walking with a heavy backpack. Robotic limbs can support a heavy backpack when standing still, but accelerating a backpack within a couple of steps to race-walking speeds requires limb force and energy beyond natural human ability. Here, we conceive a human-driven robot exoskeleton that could accelerate a heavy backpack faster and maintain top speeds higher than what the human alone can when not carrying a backpack. The key components of the exoskeleton are the mechanically adaptive but energetically passive spring limbs. We show that by optimally adapting the stiffness of the limbs, the robot can achieve near-horizontal center of mass motion to emulate the load-bearing mechanics of the bicycle. We find that such an exoskeleton could enable the human to accelerate one extra body weight up to top race-walking speeds in ten steps. Our finding predicts that human-driven mechanically adaptive robot exoskeletons could extend human weight-bearing and fast-walking ability without using external energy.

The influence of in vivo mechanical behaviour of the Achilles tendon on the mechanics, energetics and apparent efficiency of bouncing gaits

In this study, we used kinematic, kinetic, metabolic and ultrasound analysis to investigate the role of elastic energy utilization on the mechanical and physiological demands of a movement task (hopping) that primarily involves the plantar-flexor muscles to determine the contribution of tendon work to total mechanical work and its relationship with apparent efficiency (AE) in bouncing gaits. Metabolic power (PMET) and (positive) mechanical power at the whole-body level (PMEC) were measured during hopping at different frequencies (2, 2.5, 3 and 3.5 Hz). The (positive) mechanical power produced during the Achilles tendon recoil phase (PTEN) was obtained by integrating ultrasound data with an inverse dynamic approach. As a function of hopping frequency, PMEC decreased steadily and PMET exhibited a U-shape behaviour, with a minimum at about 3 Hz. AE (PMEC/PMET) showed an opposite trend and was maximal (about 0.50) at the same frequency when PTEN was also highest. Positive correlations were observed: (i) between PTEN and AE (AE=0.22+0.15PTEN, R2=0.67, P<0.001) and the intercept of this relationship indicates the value of AE that should be expected when tendon work is nil; (ii) between AE and tendon gearing (Gt=Δmuscle-tendon unit length/Δmuscle belly length; R2=0.50, P<0.001), where a high Gt indicates that the muscle is contracting more isometrically, thus allowing the movement to be more economical (and efficient); (iii) between Gt and PTEN (R2=0.73, P<0.001), which indicates that Gt could play an important role in the tendon's capability to store and release mechanical power.

Energetics in elite race walkers

Race walkers must conform to a unique gait pattern with no visible loss of contact with the ground. However, how the gait pattern affects the race walking economy is unclear. We investigated the energy cost (amount of energy spent per distance unit) at different race walking velocities and over a 25 km hybrid walk. Twenty-one international-level male race walkers (V˙O_2peak 63.8 ± 4.3 ml kg^-1 min^-1, age 31 ± 5 y, body mass 68.1 ± 7.0 kg) performed an incremental treadmill test consisting of 4 × 4 min submaximal stages with 1 km h^-1 increments, and a 25 km submaximal hybrid walk (treadmill-overground) on separate days. Energy cost was measured continuously during the submaximal test and at km 0-1, 6-7, 12-13, 18-19, 23-24 of the 25 km hybrid walk. The C_RW was similar across the four submaximal stages where half the athletes completed them at a higher (1 km h^-1) absolute velocity (-0.01-0.15 ± ∼0.65); range of standardised differences ±90% CL, with a tendency for higher performing athletes to have a lower C_RW when this was analysed during absolute race walking velocities of 12, 13 and 14 km^-1 for the entire cohort (0.46-0.49 ± ∼0.67). There was no substantial change in C_RW from the start to the end of the 25 km walk for the entire cohort (0.08 ± 2.2; standardised change ±90% CL). Elite race walkers are characterised by having a similar energy cost among athletes who perform at the same relative exercise intensity, and substantially higher energetics than counterpart elite endurance runners.

Aerodynamic effects and performance improvements of running in drafting formations

Drafting as a process to reduce drag and to benefit from the presence of other competitors is applied in various sports with several recent examples of competitive running in formations. In this study, the aerodynamics of a realistic model of a female runner is calculated by computational fluid dynamics (CFD) simulations at four running speeds of 15 km h^-1, 18 km h^-1, 21 km h^-1, and 36 km h^-1. Aerodynamic power fractions of the total energy expenditure are found to be in the range of 2.6%-8.5%. Additionally, four exemplary formations are analysed with respect to their drafting potential and resulting drag values are compared for the main runner and her pacers. The best of the formations achieves a total drag reduction on the main runner of 75.6%. Moreover, there are large variations in the drag reduction between the considered formations of up to 42% with respect to the baseline single-runner case. We conclude that major drag reduction of more than 70% can already be achieved with fairly simple formations, while certain factors, such as runners on the sides, can have a detrimental effect on drag reduction due to local acceleration of the passing flow. Using an empirical model for mechanical power output during running, gains of metabolic power and performance predictions are evaluated for all considered formations. Improvements in running economy are up to 3.5% for the best formation, leading to velocity gains of 2.3%. This translates to 154 s (≈2.6 min) saved over a marathon distance. Consequently, direct conclusions are drawn from the obtained data for ideal drafting of long-distance running in highly packed formations.

The influence of Achilles tendon mechanical behaviour on "apparent" efficiency during running at different speeds

Purpose

We investigated the role of elastic strain energy on the “apparent” efficiency of locomotion (AE), a parameter that is known to increase as a function of running speed (up to 0.5–0.7) well above the values of “pure” muscle efficiency (about 0.25–0.30).

Methods

In vivo ultrasound measurements of the gastrocnemius medialis (GM) muscle–tendon unit (MTU) were combined with kinematic, kinetic and metabolic measurements to investigate the possible influence of the Achilles tendon mechanical behaviour on the mechanics (total mechanical work, W_TOT) and energetics (net energy cost, C_net) of running at different speeds (10, 13 and 16 km h⁻¹); AE was calculated as W_TOT/C_net.

Results

GM fascicles shortened during the entire stance phase, the more so the higher the speed, but the majority of the MTU displacement was accommodated by the Achilles tendon. Tendon strain and recoil increased as a function of running speed (P < 0.01 and P < 0.001, respectively). The contribution of elastic energy to the positive work generated by the MTU also increased with speed (from 0.09 to 0.16 J kg⁻¹ m⁻¹). Significant negative correlations (P < 0.01) were observed between tendon work and metabolic energy at each running speed (the higher the tendon work the lower the metabolic demand) and significant positive correlations were observed between tendon work and AE (P < 0.001) at each running speed (the higher the tendon work the higher the efficiency).

Conclusion

These results support the notion that the dynamic function of tendons is integral in reducing energy expenditure and increasing the “apparent” efficiency of running.

Physiological and Biomechanical Differences Between Seated and Standing Uphill Cycling

Despite differences in economy, cyclists climb in seated and standing positions. Prompted by gaps in research, we compared VO2 and heart rate (HR) (Study 1), muscle activation (Study 2) and breathing and pedaling entrainment (Study 3).

METHODS

Subjects rode their bicycles on a treadmill in seated and standing positions. In Study 1, VO2 and HR of four male cyclists (21.3 ± 1.7 yrs; 69.1 ± 6 ml/kg/min) were collected, alternating positions every 5 minutes for 20 minutes (8 mph, 8% grade). In Study 2, muscle activations of eight male cyclists (24 ± 5 yrs, 67.6 ± 5.5 ml/kg/min) were collected on Rectus Femoris (RF), Biceps Femoris, Vastus Medialis (VM) and Gastrocnemius alternating positions every minute (8 mph, 8% grade). In Study 3, flow rate and entrainment of nine male cyclists (28 ± 7 yrs, 62.7 ± 7.7 ml/kg/min) were collected in 2-minute stages at 6, 8 and 10 mph, (8% grade) alternating positions every minute.

RESULTS

VO2 and HR increased standing (3.17± 0.43 L/min, 175 ± 4 bpm) compared to seated (3.06 ± 0.37 L/min, 166 ± 5 bpm) (p < 0.05). Normalized EMG for RF and VM increased standing (47 ± 5%, 57 ± 15%) compared to seated (34 ± 3%, 36 ± 8%) (p < 0.05). Peak Inspiratory and Expiratory Flow increased standing (3.44±0.07 and 2.45±0.05 L/sec) compared to seated (3.09 ±0.06 and 2.21±0.04 L/sec) (p < 0.05).

CONCLUSION

Uphill cycling while standing results in decreased cycling economy due to physiological and biomechanical variations compared to riding seated.

Frictional internal work of damped limbs oscillation in human locomotion

Joint friction has never previously been considered in the computation of mechanical and metabolic energy balance of human and animal (loco)motion, which heretofore included just muscle work to move the body centre of mass (external work) and body segments with respect to it. This happened mainly because, having been previously measured ex vivo, friction was considered to be almost negligible. Present evidences of in vivo damping of limb oscillations, motion captured and processed by a suited mathematical model, show that: (a) the time course is exponential, suggesting a viscous friction operated by the all biological tissues involved; (b) during the swing phase, upper limbs report a friction close to one-sixth of the lower limbs; (c) when lower limbs are loaded, in an upside-down body posture allowing to investigate the hip joint subjected to compressive forces as during the stance phase, friction is much higher and load dependent; and (d) the friction of the four limbs during locomotion leads to an additional internal work that is a remarkable fraction of the mechanical external work. These unprecedented results redefine the partitioning of the energy balance of locomotion, the internal work components, muscle and transmission efficiency, and potentially readjust the mechanical paradigm of the different gaits.

Estimation of an Elite Road Cyclist Performance in Different Positions Based on Numerical Simulations and Analytical Procedures

The aim of this study was to use numerical simulations and analytical procedures to compare a cyclist's performance in three different cycling positions. An elite level road cyclist competing at a national level was recruited for this research. The bicycle was 7 kg and the cyclist 55 kg. A 3D scan was taken of the subject on the competition bicycle, wearing race gear and helmet in the upright position, in the handlebar drops (dropped position) and leaning on the elbows (elbows position). Numerical simulations by computer fluid dynamics in Fluent CFD code assessed the coefficient of drag at 11.11 m/s. Following that, a set of assumptions were employed to assess cycling performance from 1 to 22 m/s. Drag values ranged between 0.16 and 99.51 N across the different speeds and positions. The cyclist mechanical power in the elbows position differed from the upright position between 0 and 23% and from the dropped position from 0 to 21%. The cyclist's energy cost in the upright position differed 2 to 16% in comparison to the elbows position and the elbows position had less 2 to 14% energy cost in comparison to the dropped position. The estimated time of arrival was computed for a 220,000 m distance and it varied between 7,715.03 s (2 h:8 min:24 s) and 220,000 s (61 h:6 min:40 s) across the different speeds and positions. In the elbows position, is expected that a cyclist may improve the winning time up to 23% in comparison to he upright and dropped position across the studied speeds.

How to run 50% faster without external energy

Technological innovations may enable next-generation running shoes to provide unprecedented mobility. But how could a running shoe increase the speed of motion without providing external energy? We found that the top speed of running may be increased more than 50% using a catapult-like exoskeleton device, which does not provide external energy. Our finding uncovers the hidden potential of human performance augmentation via unpowered robotic exoskeletons. Our result may lead to a new-generation of augmentation devices developed for sports, rescue operations, and law enforcement, where humans could benefit from increased speed of motion.

Bioenergetics and Biomechanics of Handcycling at Submaximal Speeds in Athletes with a Spinal Cord Injury

BACKGROUND

A study aimed at comparing bioenergetics and biomechanical parameters between athletes with tetraplegia and paraplegia riding race handbikes at submaximal speeds in ecological conditions.

METHODS

Five athletes with tetraplegia (C6-T1, 43 ± 6 yrs, 63 ± 14 kg) and 12 athletes with paraplegia (T4-S5, 44 ± 7 yrs, 72 ± 12 kg) rode their handbikes at submaximal speeds under metabolic measurements. A deceleration method (coasting down) was applied to calculate the rolling resistance and frontal picture of each participant was taken to calculate air resistance. The net overall Mechanical Efficiency (Eff) was calculated by dividing external mechanical work to the corresponding Metabolic Power.

RESULTS

Athletes with tetraplegia reached a lower aerobic speed (4.7 ± 0.6 m s^-1 vs. 7.1 ± 0.9 m s^-1, P = 0.001) and Mechanical Power (54 ± 15 W vs. 111 ± 25 W, P = 0.001) compared with athletes with paraplegia. The metabolic cost was around 1 J kg^-1 m^-1 for both groups. The Eff values (17 ± 2% vs. 19 ± 3%, P = 0.262) suggested that the handbike is an efficient assisted locomotion device.

CONCLUSION

Handbikers with tetraplegia showed lower aerobic performances but a similar metabolic cost compared with handbikers with paraplegia at submaximal speeds in ecological conditions.

The physiology of submaximal exercise: The steady state concept

The steady state concept implies that the oxygen flow is invariant and equal at each level along the respiratory system. The same is the case with the carbon dioxide flow. This condition has several physiological consequences, which are analysed. First, we briefly discuss the mechanical efficiency of exercise and the energy cost of human locomotion, as well as the roles played by aerodynamic work and frictional work. Then we analyse the equations describing the oxygen flow in lungs and in blood, the effects of ventilation and of the ventilation - perfusion inequality, and the interaction between diffusion and perfusion in the lungs. The cardiovascular responses sustaining gas flow increase in blood are finally presented. An equation linking ventilation, circulation and metabolism is developed, on the hypothesis of constant oxygen flow in mixed venous blood. This equation tells that, if the pulmonary respiratory quotient stays invariant, any increase in metabolic rate is matched by a proportional increase in ventilation, but by a less than proportional increase in cardiac output.

Changing relative crank angle increases the metabolic cost of leg cycling

PURPOSE

Historically, the efficiency of leg cycling has been difficult to change. However, arm cycling research indicates that relative crank angle changes can improve efficiency. Therefore, we investigated if leg cycling with different relative crank angles affects efficiency.

METHODS

Ten healthy, male, recreational bicycle riders (27.8 ± 8.2 years, mean ± SD, mass 69.8 ± 3.2 kg) pedaled a pan-loaded cycle ergometer at a fixed power output of 150 watts at a cadence of 90 RPM. Each subject completed six, 5-min trials in random order at relative crank angles of 180°, 135°, 90°, 45°, 0°, and 180°. We averaged rates of oxygen uptake ([Formula: see text]) and carbon dioxide production ([Formula: see text]), and respiratory exchange ratio (RER) for the last 2 min of each trial.

RESULTS

Crank angles other than 180° required a greater metabolic cost. As relative crank angle decreased from 180°, metabolic power monotonically increased by 1.6% at 135° to 8.2% greater when the relative crank angle was 0° (p < 0.001).

CONCLUSIONS

We find that, unlike arm cycling, radically changing the relative crank angle on a bicycle from an out-of-phase (180°) to in-phase (0°) position decreases leg cycling efficiency by ~8%. We attribute the increase to changes in cost of breathing, muscle co-activation, trunk stabilization, power fluctuations, and possibly lifting the legs during the upstroke. Our findings may have relevance in the rehabilitation of patients recovering from stroke or spinal cord injury.

Recumbent vs. upright bicycles: 3D trajectory of body centre of mass, limb mechanical work, and operative range of propulsive muscles

Recumbent bicycles (RB) are high performance, human-powered vehicles. In comparison to normal/upright bicycles (NB) the RB may allow individuals to reach higher speeds due to aerodynamic advantages. The purpose of this investigation was to compare the non-aerodynamic factors that may potentially influence the performance of the two bicycles. 3D body centre of mass (BCoM) trajectory, its symmetries, and the components of the total mechanical work necessary to sustain cycling were assessed through 3D kinematics and computer simulations. Data collected at 50, 70, 90 110 rpm during stationary cycling were used to drive musculoskeletal modelling simulation and estimate muscle-tendon length. Results demonstrated that BCoM trajectory, confined in a 15-mm side cube, changed its orientation, maintaining a similar pattern across all cadences in both bicycles. RB displayed a reduced additional mechanical external power (16.1 ± 9.7 W on RB vs. 20.3 ± 8.8 W on NB), a greater symmetry on the progression axis, and no differences in the internal mechanical power compared to NB. Simulated muscle activity revealed small significant differences for only selected muscles. On the RB, quadriceps and gluteus demonstrated greater shortening, while biceps femoris, iliacus, and psoas exhibited greater stretch; however, aerodynamics still remains the principal benefit.

Predicting the Sprint Performance of Adolescent Track Cyclists Using the 3-Minute All-out Test

Waldron, M, Gray, A, Furlan, N, and Murphy, A. Predicting the sprint performance of adolescent track cyclists using the 3-minute all-out test. J Strength Cond Res 30(8): 2299-2306, 2016-This study aimed to predict 500-m time trial (TT) and 2,000-m pursuit speed of adolescent cyclists (age range = 13-15 years) using mechanical parameters derived from a critical power (CP) test and anthropometric variables. Ten well-trained competitive cyclists were assessed for body composition, body mass, stature, and frontal surface area (FSA), as well as completing the CP test. The personal best speed (km·h) of each rider during competition in 500-m TT and 2,000-m pursuit races was predicted based on the CP test data and anthropometric profiles using multiple regression analysis. A combination of the CP·FSA and internal (predicted) to external work ratio performed by the cyclists (Wint:Wext) predicted 500-m TT speed (R = 0.97; standard error of the estimate (SEE) = 0.82, P ≤ 0.001), whereas a combination of mean power·FSA (mean power) and body fat percentage predicted 2,000-m pursuit speed (R = 0.90; SEE = 1.5, p < 0.001). Between 90 and 97% of the variance in the sprint performance of adolescent cyclists can be explained by mechanical and anthropometric parameters, derived from a single visit to the laboratory. The tests and equations provided can be adopted by coaches to predict performance and set appropriate training intensities.

Breaststroke swimmers moderate internal work increases toward the highest stroke frequencies

A model to predict the mechanical internal work of breaststroke swimming was designed. It allowed us to explore the frequency-internal work relationship in aquatic locomotion. Its accuracy was checked against internal work values calculated from kinematic sequences of eight participants swimming at three different self-chosen paces. Model predictions closely matched experimental data (0.58 ± 0.07 vs 0.59 ± 0.05 J kg(-1)m(-1); t(23)=-0.30, P=0.77), which was reflected in a slope of the major axis regression between measured and predicted total internal work whose 95% confidence intervals included the value of 1 (β=0.84, [0.61, 1.07], N=24). The model shed light on swimmers ability to moderate the increase in internal work at high stroke frequencies. This strategy of energy minimization has never been observed before in humans, but is present in quadrupedal and octopedal animal locomotion. This was achieved through a reduced angular excursion of the heaviest segments (7.2 ± 2.9° and 3.6 ± 1.5° for the thighs and trunk, respectively, P<0.05) in favor of the lightest ones (8.8 ± 2.3° and 7.4 ± 1.0° for the shanks and forearms, respectively, P<0.05). A deeper understanding of the energy flow between the body segments and the environment is required to ascertain the possible dependency between internal and external work. This will prove essential to better understand swimming mechanical cost determinants and power generation in aquatic movements.

Pedaling rate is an important determinant of human oxygen uptake during exercise on the cycle ergometer

Estimation of human oxygen uptake (V˙o2) during exercise is often used as an alternative when its direct measurement is not feasible. The American College of Sports Medicine (ACSM) suggests estimating human V˙o2 during exercise on a cycle ergometer through an equation that considers individual's body mass and external work rate, but not pedaling rate (PR). We hypothesized that including PR in the ACSM equation would improve its V˙o2 prediction accuracy. Ten healthy male participants' (age 19-48 years) were recruited and their steady-state V˙o2 was recorded on a cycle ergometer for 16 combinations of external work rates (0, 50, 100, and 150 W) and PR (50, 70, 90, and 110 revolutions per minute). V˙o2 was calculated by means of a new equation, and by the ACSM equation for comparison. Kinematic data were collected by means of an infrared 3-D motion analysis system in order to explore the mechanical determinants of V˙o2. Including PR in the ACSM equation improved the accuracy for prediction of sub-maximal V˙o2 during exercise (mean bias 1.9 vs. 3.3 mL O2 kg(-1) min(-1)) but it did not affect the accuracy for prediction of maximal V˙o2 (P > 0.05). Confirming the validity of this new equation, the results were replicated for data reported in the literature in 51 participants. We conclude that PR is an important determinant of human V˙o2 during cycling exercise, and it should be considered when predicting oxygen consumption.

Self-selected speeds and metabolic cost of longboard skateboarding

PURPOSE

The purpose of this study was to determine self-selected speeds, metabolic rate, and gross metabolic cost during longboard skateboarding.

METHODS

We measured overground speed and metabolic rate while 15 experienced longboarders traveled at their self-selected slow, typical and fast speeds.

RESULTS

Mean longboarding speeds were 3.7, 4.5 and 5.1 m s(-1), during slow, typical and fast trials, respectively. Mean rates of oxygen consumption were 24.1, 29.1 and 37.2 ml kg(-1) min(-1) and mean rates of energy expenditure were 33.5, 41.8 and 52.7 kJ min(-1) at the slow, typical and fast speeds, respectively. At typical speeds, average intensity was ~8.5 METs. There was a significant positive relationship between oxygen consumption and energy expenditure versus speed (R(2) = 0.69 (P < 0.001), and R(2) = 0.78 (P < 0.001), respectively). The gross metabolic cost was ~2.2 J kg(-1) m(-1) at the typical speed, greater than that reported for cycling and ~50% smaller than that of walking.

CONCLUSION

These results suggest that longboarding is a novel form of physical activity that elicits vigorous intensity, yet is economical compared to walking.

A review of the physics of ice surface friction and the development of ice skating

Our walking and running movement patterns require friction between shoes and ground. The surface of ice is characterised by low friction in several naturally occurring conditions, and compromises our typical locomotion pattern. Ice skates take advantage of this slippery nature of ice; the first ice skates were made more than 4000 years ago, and afforded the development of a very efficient form of human locomotion. This review presents an overview of the physics of ice surface friction, and discusses the most relevant factors that can influence ice skates' dynamic friction coefficient. It also presents the main stages in the development of ice skating, describes the associated implications for exercise physiology, and shows the extent to which ice skating performance improved through history. This article illustrates how technical and materials' development, together with empirical understanding of muscle biomechanics and energetics, led to one of the fastest forms of human powered locomotion.

Influence of road incline and body position on power-cadence relationship in endurance cycling

In race cycling, the external power-cadence relationship at the performance level, that is sustainable for the given race distance, plays a key role. The two variables of interest from this relationship are the maximal external power output (P (max)) and the corresponding optimal cadence (C (opt)). Experimental studies and field observations of cyclists have revealed that when cycling uphill is compared to cycling on level ground, the freely chosen cadence is lower and a more upright body position seems to be advantageous. To date, no study has addressed whether P (max) or C (opt) is influenced by road incline or body position. Thus, the main aim of this study was to examine the effect of road incline (0 vs. 7%) and racing position (upright posture vs. dropped posture) on P (max) and C (opt). Eighteen experienced cyclists participated in this study. Experiment I tested the hypothesis that road incline influenced P (max) and C (opt) at the second ventilatory threshold ([Formula: see text] and [Formula: see text]). Experiment II tested the hypothesis that the racing position influenced [Formula: see text], but not [Formula: see text]. The results of experiment I showed that [Formula: see text] and [Formula: see text] were significantly lower when cycling uphill compared to cycling on level ground (P < 0.01). Experiment II revealed that [Formula: see text] was significantly greater for the upright posture than for the dropped posture (P < 0.01) and that the racing position did not affect [Formula: see text]. The main conclusions of this study were that when cycling uphill, it is reasonable to choose (1) a lower cadence and (2) a more upright body position.

Power-cadence relationship in endurance cycling

In maximal sprint cycling, the power-cadence relationship to assess the maximal power output (P (max)) and the corresponding optimal cadence (C (opt)) has been widely investigated in experimental studies. These studies have generally reported a quadratic power-cadence relationship passing through the origin. The aim of the present study was to evaluate an equivalent method to assess P (max) and C (opt) for endurance cycling. The two main hypotheses were: (1) in the range of cadences normally used by cyclists, the power-cadence relationship can be well fitted with a quadratic regression constrained to pass through the origin; (2) P (max) and C (opt) can be well estimated using this quadratic fit. We tested our hypothesis using a theoretical and an experimental approach. The power-cadence relationship simulated with the theoretical model was well fitted with a quadratic regression and the bias of the estimated P (max) and C (opt) was negligible (1.0 W and 0.6 rpm). In the experimental part, eight cyclists performed an incremental cycling test at 70, 80, 90, 100, and 110 rpm to yield power-cadence relationships at fixed blood lactate concentrations of 3, 3.5, and 4 mmol L(-1). The determined power outputs were well fitted with quadratic regressions (R (2) = 0.94-0.96, residual standard deviation = 1.7%). The 95% confidence interval for assessing individual P (max) and C (opt) was ±4.4 W and ±2.9 rpm. These theoretical and experimental results suggest that P (max), C (opt), and the power-cadence relationship around C (opt) could be well estimated with the proposed method.

An analysis of performance in human locomotion

This paper reports an analysis of the principles underlying human performances on the basis of the work initiated by Pietro Enrico di Prampero. Starting from the concept that the maximal speed that can be attained over a given distance with a given locomotion mode is directly proportional to the maximal sustainable power and inversely proportional to the energy cost of locomotion, we discuss the maximal powers (and capacities) of anaerobic (lactic and alactic) and aerobic metabolisms and the factors that limit them, and the factors affecting the energy cost of various locomotion modes. Special attention is given to the role of air resistance and frictional forces. Finally, computation of performance speed is discussed along the approach originally developed by di Prampero.

Bioenergetics and biomechanics of cycling: the role of 'internal work'

The 'dissection' of energy expenditure of cycling into the metabolic equivalent of the different forms of mechanical work done, inaugurated 30 years ago by di Prampero and collaborators, has been much debated in the last few decades. The mechanical internal work, particularly, which is currently associated to the movement of the lower limbs, has been approached, estimated and discussed in several different ways and there is no agreed consensus on its role in cycling. This paper, through re-processing previously published data of oxygen consumption during pedalling at different frequency, external load and limb mass, proposes a model equation and a multiple non-linear regression as the method to assess the internal work of cycling. With that tool a very consistent metabolic equivalent of the internal work is obtained. However, a software simulation of pedalling limbs showed, as suggested in the literature, that the link with the chain ring allows the system to passively revolve forever, after an initial push. This result challenges the very existence of the 'kinematic internal work' of cycling. We conclude and suggest that the 'viscous internal work', an often neglected and almost unmeasurable portion of the internal work that could be proportional to the 'kinematic' form, is responsible for the extra metabolic expenditure as measured when the pedalling frequency of cycling increases.

Interaction between muscle temperature and contraction velocity affects mechanical efficiency during moderate-intensity cycling exercise in young and older women

The effect of elevated muscle temperature on mechanical efficiency was investigated during exercise at different pedal frequencies in young and older women. Eight young (24 +/- 3 yr) and eight older (70 +/- 4 yr) women performed 6-min periods of cycling at 75% ventilatory threshold at pedal frequencies of 45, 60, 75, and 90 rpm under control and passively elevated local muscle temperature conditions. Mechanical efficiency was calculated from the ratio of energy turnover (pulmonary O(2) uptake) and mechanical power output. Overall, elevating muscle temperature increased (P < 0.05) mechanical efficiency in young (32.0 +/- 3.1 to 34.0 +/- 5.5%) and decreased (P < 0.05) efficiency in older women (30.2 +/- 5.6 to 27.9 +/- 4.1%). The different effect of elevated muscle temperature in young and older women reflects a shift in the efficiency-velocity relationship of skeletal muscle. These effects may be due to differences in recruitment patterns, as well as sarcopenic and fiber-type changes with age.

Forearm and tibial bone measures of distance- and sprint-trained master cyclists

PURPOSE

Cycling is very popular; however, it is often believed to be associated with below average bone mass. This study compared bone measures of sprint- and distance-trained cyclists competing at World Master Track Championships, along with sedentary controls (30-82 yr), and examined the associations of bone measures with age.

METHODS

Radius and tibia epiphyseal and shaft bone mineral density (BMD), bone mineral content (BMC), and cross-sectional area along with shaft polar moment of resistance (RPol) and endocortical/periosteal circumferences were assessed by peripheral quantitative computed tomography. Intergroup differences were assessed by ANOVA and age relationships by correlation analyses.

RESULTS

Sprint cyclists had the largest bone shafts and bone strength surrogates; the difference in diaphyseal BMC, area, and RPol compared with controls being >or=10% in the tibia and >or=8% in the radius (P < 0.01). Distance cyclists versus control group differences were smaller (tibia: approximately 4-10%; radius: <2%), reaching statistical significance only for tibial BMC and area (P < 0.05). Generally, epiphyseal bone measures showed no group differences. In the radius, age correlations were negative for both the sprinters' and the controls' diaphyseal and the sprinters' epiphyseal BMD; they were positive for the controls' diaphyseal endocortical and periosteal circumferences (P < 0.05). In the cyclists' tibiae, neither epiphyseal nor diaphyseal bone measures were correlated with age.

CONCLUSIONS

Sprint cyclists and to a lesser extent distance cyclists had greater tibia and radius bone strength surrogates than the controls, with tibial bone measures being well preserved with age in all groups. This suggests that competition-based cycling and the associated training regime is beneficial in preserving average or above-average bone strength surrogates into old age in men.

Energy cost and mechanical efficiency of riding a human-powered recumbent bicycle

When dealing with human-powered vehicles, it is important to quantify the capability of converting metabolic energy in useful mechanical work by measuring mechanical efficiency. In this study, net mechanical efficiency (eta) of riding a recumbent bicycle on flat terrain and at constant speeds (v, 5.1-10.0 m/s) was calculated dividing mechanical work (w, J/m) by the corresponding energy cost (C(c), J/m). w and C(c) increased linearly with the speed squared: w = 9.41 + 0.156 . v(2); C(c) = 39.40 + 0.563 . v(2). eta was equal to 0.257 +/- 0.0245, i.e. identical to that of concentric muscular contraction. Hence, i) eta seems unaffected by the biomechanical arrangement of the human-vehicle system; ii) the efficiency of transmission seems to be close to 100%, suggesting that the particular biomechanical arrangement does not impair the transformation of metabolic energy in mechanical work. When dealing with human-powered vehicles, it is important to quantify mechanical efficiency (eta) of locomotion. eta of riding a recumbent bicycle was calculated dividing the mechanical work to the corresponding energy cost of locomotion; it was practically identical to that of concentric muscular contraction (0.257 +/- 0.0245), suggesting that the power transmission from muscles to pedals is unaffected by the biomechanical arrangement of the vehicle.

Estimation of oxygen cost of internal power during cycling exercise with changing pedal rate

It has been reported that oxygen uptake (VO2) increases exponentially with levels of the pedal rate during cycling. The purpose of this study was therefore to test the hypothesis that the O2 cost for internal power output (Pint) exerted in exercising muscle itself would be larger than for an external power output (Pext) calculated from external load and pedal rate during cycling exercise under various conditions of Pint and Pext in a large range of pedal rates. The O2 cost (DeltaVO2/ Deltapower output) was investigated in three experiments that featured different conditions on a cycle ergometer that were carried out at the same levels of total power output (Ptot; sum of Pint and Pext) (Exp. 1), Pext (Exp. 2) and load (Exp. 3). Each experiment consisted of three exercise tests with three levels of pedal rate (40 rpm for a lower pedal rate: LP; 70-80 rpm for a moderate pedal rate: MP; and 100-120 rpm for a higher pedal rate: HP) lasting for 2-3 min of unloaded cycling followed by 4-5 min of loaded cycling. Blood lactate accumulations (2.3-3.4 mmol l(-1)) at the HP were significantly higher compared with the LP (0.6-0.9 mmol l(-1)) and MP (0.9-1.0 mmol l(-1)) except for the LP in Exp. 1. The VO2 (360-432 ml min(-1) for LP, 479-644 ml min(-1) for MP, 960-1602 ml min(-1) for HP) during unloaded cycling in the three experiments increased exponentially with increasing pedal rates regardless of Pext=0. Moreover, the slope of the VO2-Pint (13.7 ml min(-1) W(-1)) relation revealed a steeper inclination than that of the VO2-Pext (10.2 ml min(-1) W(-1)) relation. We concluded that the O2 cost for Pint was larger than for Pext during the cycling exercises, indicating that the O2 cost for Ptot could be affected by the ratio of Pint to Ptot due to the levels of pedal rate.

Effect of internal power on muscular efficiency during cycling exercise

The purpose of this study was to investigate the muscular efficiency during cycling exercise under certain total power output (Ptot) or external power output (Pext) experimental conditions that required a large range of pedal rates from 40 to 120 rpm. Muscular efficiency estimated as a ratio of Ptot, which is sum of internal power output (Pint) and Pext, to rate of energy expenditure above a resting level was investigated in two experiments that featured different conditions on a cycle ergometer, which were carried out at the same levels of Ptot (Exp. 1) and Pext (Exp. 2). Each experiment consisted of three exercise tests with three levels of pedal rates (40, 80 and 120 rpm) lasting for 2-3 min of unloaded cycling followed by 4-5 min of loaded cycling. VO2 during unloaded cycling (approximately 430 ml min(-1) for 40 rpm, approximately 640 ml min(-1) for 80 rpm, approximately 1,600 ml min(-1) for 120 rpm) and the Pint (approximately 3 W for 40 rpm, approximately 25 W for 80 rpm, approximately 90 W for 120 rpm) in the two experiments were markedly increased with increasing pedal rates. The highest muscular efficiency was found at 80 rpm in the two experiments, whereas a remarkable reduction (19%) in muscular efficiency obtained at 120 rpm could be attributable to greater O2 cost due to higher levels of Pint accompanying the increased pedal rates. We concluded that muscular efficiency could be affected by the differences in O2 cost and Pint during cycling under the large range of pedal rates employed in this study.

Human locomotion on ice: the evolution of ice-skating energetics through history

More than 3000 years ago, peoples living in the cold North European regions started developing tools such as ice skates that allowed them to travel on frozen lakes. We show here which technical and technological changes determined the main steps in the evolution of ice-skating performance over its long history. An in-depth historical research helped identify the skates displaying significantly different features from previous models and that could consequently determine a better performance in terms of speed and energy demand. Five pairs of ice skates were tested, from the bone-skates, dated about 1800 BC, to modern ones.

This paper provides evidence for the fact that the metabolic cost of locomotion on ice decreased dramatically through history, the metabolic cost of modern ice-skating being only 25% of that associated with the use of bone-skates. Moreover, for the same metabolic power, nowadays skaters can achieve speeds four times higher than their ancestors could. In the range of speeds considered, the cost of travelling on ice was speed independent for each skate model, as for running. This latter finding, combined with the accepted relationship between time of exhaustion and the sustainable fraction of metabolic power, gives the opportunity to estimate the maximum skating speed according to the distance travelled.

Ice skates were probably the first human powered locomotion tools to take the maximum advantage from the biomechanical properties of the muscular system: even when travelling at relatively high speeds, the skating movement pattern required muscles to shorten slowly so that they could also develop a considerable amount of force.

Economy and efficiency of swimming at the surface with fins of different size and stiffness

The aim of this study was to investigate how fins with varying physical characteristics affect the energy cost and the efficiency of aquatic locomotion. Experiments were performed on ten college swimmers who were asked to swim the dolphin kick while using a monofin (MF) and to swim the front crawl kick with a small-flexible fin (SF), a large-stiff fin (LS) and without fins (BF, barefoot). The energy expended to cover one unit distance (C) was highest for BF (C=10.6+/-1.8 kJ m(-1) kg(-1) at 0.8 m s(-1)) and decreased by about 50% with LS, 55% with SF and 60% with MF, allowing for an increase in speed (for a given metabolic power) of about 0.4 m s(-1) for MF and of about 0.2 m s(-1) for SF and LS (compared with BF). At any given speed, the fins for which C was lower were those with the lowest kick frequency (KF): KF=1.6+/-0.22 Hz at 0.8 m s(-1) (for BF) and decreased by about 40% for SF, 50% for LS and 60% for MF. The decrease in KF from BF to SF-LS and MF was essentially due to the increasing surface area of the fin which, in turn, was associated with a higher Froude efficiency (eta(F)). eta(F) was calculated by computing the speed of the bending waves moving along the body in a caudal direction (as proposed for the undulating movements of slender fish): it increased from 0.62+/-0.01 in BF to 0.66+/-0.03 in SF and 0.67+/-0.04 in LS reaching the highest values (0.76+/-0.05) with MF. No single fin characteristic can predict a swimmer's performance, rather the better fin (i.e. MF) is the one that is able to reduce most KF at any given speed and hence to produce the greatest distance per kick (d=v/KF). The latter indeed increased from 0.50+/-0.01 m in BF to about 0.90+/-0.05 m in SF and LS and reached values of 1.22+/-0.01 m in MF.

Skeletal muscle ATP turnover and muscle fiber conduction velocity are elevated at higher muscle temperatures during maximal power output development in humans

The effect of temperature on skeletal muscle ATP turnover and muscle fiber conduction velocity (MFCV) was studied during maximal power output development in humans. Eight male subjects performed a 6-s maximal sprint on a mechanically braked cycle ergometer under conditions of normal (N) and elevated muscle temperature (ET). Muscle temperature was passively elevated through the combination of hot water immersion and electric blankets. Anaerobic ATP turnover was calculated from analysis of muscle biopsies obtained before and immediately after exercise. MFCV was measured during exercise using surface electromyography. Preexercise muscle temperature was 34.2 degrees C (SD 0.6) in N and 37.5 degrees C (SD 0.6) in ET. During ET, the rate of ATP turnover for phosphocreatine utilization [temperature coefficient (Q10) = 3.8], glycolysis (Q10 = 1.7), and total anaerobic ATP turnover [Q10 = 2.7; 10.8 (SD 1.9) vs. 14.6 mmol x kg(-1) (dry mass) x s(-1) (SD 2.3)] were greater than during N (P < 0.05). MFCV was also greater in ET than in N [3.79 (SD 0.47) to 5.55 m/s (SD 0.72)]. Maximal power output (Q10 = 2.2) and pedal rate (Q10 = 1.6) were greater in ET compared with N (P < 0.05). The Q10 of maximal and mean power were correlated (P < 0.05; R = 0.82 and 0.85, respectively) with the percentage of myosin heavy chain type IIA. The greater power output obtained with passive heating was achieved through an elevated rate of anaerobic ATP turnover and MFCV, possibly due to a greater effect of temperature on power production of fibers, with a predominance of myosin heavy chain IIA at the contraction frequencies reached.

Human locomotion on snow: determinants of economy and speed of skiing across the ages

We explore here the evolution of skiing locomotion in the last few thousand years by investigating how humans adapted to move effectively in lands where a cover of snow, for several months every year, prevented them from travelling as on dry ground. Following historical research, we identified the sets of skis corresponding to the 'milestones' of skiing evolution in terms of ingenuity and technology, built replicas of them and measured the metabolic energy associated to their use in a climate-controlled ski tunnel. Six sets of skis were tested, covering a span from 542 AD to date. Our results show that: (i) the history of skiing is associated with a progressive decrease in the metabolic cost of transport, (ii) it is possible today to travel at twice the speed of ancient times using the same amount of metabolic power and (iii) the cost of transport is speed-independent for each ski model, as during running. By combining this finding with the relationship between time of exhaustion and the sustainable fraction of metabolic power, a prediction of the maximum skiing speed according to the distance travelled is provided for all past epochs, including two legendary historical journeys (1206 and 1520 AD) on snow. Our research shows that the performances in races originating from them (Birkebeiner and Vasaloppet) and those of other modern competitions (skating versus classical techniques) are well predicted by the evolution of skiing economy. Mechanical determinants of the measured progression in economy are also discussed in the paper.

An energy balance of front crawl

With the aim of computing a complete energy balance of front crawl, the energy cost per unit distance (C = Ev(-1), where E is the metabolic power and v is the speed) and the overall efficiency (eta(o) = W(tot)/C, where W(tot) is the mechanical work per unit distance) were calculated for subjects swimming with and without fins. In aquatic locomotion W(tot) is given by the sum of: (1) W(int), the internal work, which was calculated from video analysis, (2) W(d), the work to overcome hydrodynamic resistance, which was calculated from measures of active drag, and (3) W(k), calculated from measures of Froude efficiency (eta(F)). In turn, eta(F) = W(d)/(W(d) + W(k)) and was calculated by modelling the arm movement as that of a paddle wheel. When swimming at speeds from 1.0 to 1.4 m s(-1), eta(F) is about 0.5, power to overcome water resistance (active body drag x v) and power to give water kinetic energy increase from 50 to 100 W, and internal mechanical power from 10 to 30 W. In the same range of speeds E increases from 600 to 1,200 W and C from 600 to 800 J m(-1). The use of fins decreases total mechanical power and C by the same amount (10-15%) so that eta(o) (overall efficiency) is the same when swimming with or without fins [0.20 (0.03)]. The values of eta(o) are higher than previously reported for the front crawl, essentially because of the larger values of W(tot) calculated in this study. This is so because the contribution of W(int) to W(tot )was taken into account, and because eta(F) was computed by also taking into account the contribution of the legs to forward propulsion.

Passive tools for enhancing muscle-driven motion and locomotion

Musculo–skeletal systems and body design in general have evolved to move effectively and travel in specific environments. Humans have always aspired to reach higher power movement and to locomote safely and fast, even through unfamiliar media (air, water, snow, ice). For the last few millennia,human ingenuity has led to the invention of a variety of passive tools that help to compensate for the limitations in their body design. This Commentary discusses many of those tools, ranging from halteres used by athletes in ancient Greece, to bows, skis, fins, skates and bicycles, which are characterised by not supplying any additional mechanical energy, thus retaining the use of muscular force alone. The energy cascade from metabolic fuel to final movement is described, with particular emphasis on the steps where some energy saving and/or power enhancement is viable. Swimming is used to illustrate the efficiency breakdown in complex locomotion, and the advantage of using fins. A novel graphical representation of world records in different types of terrestrial and aquatic locomotion is presented, which together with a suggested method for estimating their metabolic cost (energy per unit distance), will illustrate the success of the tools used.

A physiological counterpoint to mechanistic estimates of "internal power" during cycling at different pedal rates

Reported values of "internal power" (IP) during cycling, generated by the muscles to overcome energy changes of moving body segments, are considerably different for various biomechanical models, reflecting the different criteria for estimation of IP. The present aim was to calculate IP from metabolic variables and to perform a physiological evaluation of five different kinematic models for calculating IP in cycling. Results showed that IP was statistically different between the kinematic models applied. IP based on metabolic variables (IP(met)) was 15, 41, and 91 W at 61, 88, and 115 rpm, respectively, being remarkably close to the kinematic estimate of one model (IP(Willems-COM): 14, 43, and 95 W) and reasonably close to another kinematic estimate (IP(Winter): 8, 29, and 81 W). For all kinematic models there was no significant effect of performing 3-D versus 2-D analyses. IP increased significantly with pedal rate - leg movements accounting for the largest fraction. Further, external power (EP) affected IP significantly such that IP was larger at moderate than at low EP at the majority of the pedal rates applied but on average this difference was only 8%.

Energy balance of human locomotion in water

In this paper a complete energy balance for water locomotion is attempted with the aim of comparing different modes of transport in the aquatic environment (swimming underwater with SCUBA diving equipment, swimming at the surface: leg kicking and front crawl, kayaking and rowing). On the basis of the values of metabolic power (E), of the power needed to overcome water resistance (Wd) and of propelling efficiency (etaP=Wd/Wtot, where Wtot is the total mechanical power) as reported in the literature for each of these forms of locomotion, the energy cost per unit distance (C=E/v, where v is the velocity), the drag (performance) efficiency (etad=Wd/E) and the overall efficiency (etao=Wtot/E=etad/etaP) were calculated. As previously found for human locomotion on land, for a given metabolic power (e.g. 0.5 kW=1.43 l.min(-1) VO2) the decrease in C (from 0.88 kJ.m(-1) in SCUBA diving to 0.22 kJ.m(-1) in rowing) is associated with an increase in the speed of locomotion (from 0.6 m.s(-1) in SCUBA diving to 2.4 m.s(-1) in rowing). At variance with locomotion on land, however, the decrease in C is associated with an increase, rather than a decrease, of the total mechanical work per unit distance (Wtot, kJ.m(-1)). This is made possible by the increase of the overall efficiency of locomotion (etao=Wtot/E=Wtot/C) from the slow speeds (and loads) of swimming to the high speeds (and loads) attainable with hulls and boats (from 0.10 in SCUBA diving to 0.29 in rowing).

The optimal locomotion on gradients: walking, running or cycling?

On level ground, cycling is more economical than running, which in turn is more economical than walking in the high speed range. This paper investigates whether this ranking still holds when moving on a gradient, where the three modes are expected to be mainly facing the same burden, i.e. to counter gravity. By using data from the literature we have built a theoretical framework to predict the optimal mode as a function of the gradient. Cycling was found to be the mode of choice only below 10-15% gradient, while above it walking was the least expensive locomotion type. Seven amateur bikers were then asked to walk, run and ride on a treadmill at different gradients. The speed was set so as to maintain almost constant the metabolic demand across the different gradients. The results indicate that the "critical slope", i.e. the one above which walking is less expensive than cycling (and running), is about 13-15%. One subject was loaded during bipedal gaits with a bicycle-equivalent mass, to simulate to cross-country cycling situation. The critical slope was close to 20%, due to the higher metabolic cost of loaded walking and running. Part of the findings can be explained by the mechanically different paradigms of the three locomotion types.

Blood flow and oxygen uptake increase with total power during five different knee-extension contraction rates

Controversies exist regarding quantification of internal power (IP) generated by the muscles to overcome energy changes of moving body segments when external power (EP) is performed. The aim was to 1) use a kinematic model for estimation of IP during knee extension, 2) validate the model by independent calculation of IP from metabolic variables (IP(met)), and 3) analyze the relationship between total power (TP = EP + IP) and physiological responses. IP increased in a curvilinear manner (5, 7, 13, 21, and 34 W) with contraction rate (45, 60, 75, 90, and 105 contractions/min), but it was independent of EP. Correspondingly, IP(met) was 5, 7, 10, 19, and 28 W, supporting the kinematic model. Heart rate, pulmonary oxygen uptake, and leg blood flow plotted vs. TP fell on the same line independent of contraction rate, and muscular mechanical efficiency as well as delta efficiency remained remarkably constant across contraction rates. It is concluded that the novel metabolic validation of the kinematic model supports the model assumptions, and physiological responses proved to be closely related to TP, supporting the legitimacy of IP estimates.

Mechanical efficiency of cycling with a new developed pedal-crank

The mechanical efficiency of cycling with a new pedal-crank prototype (PP) was investigated during an incremental test on a stationary cycloergometer. The efficiency values were compared with those obtained, in the same experimental conditions and with the same subjects, by using a standard pedal-crank system (SP). The main feature of this prototype is that its pedal-crank length changes as a function of the crank angle being maximal during the pushing phase and minimal during the recovery one. This variability was expected to lead to a decrease in the energy requirement of cycling since, for any given thrust, the torque exerted by the pushing leg is increased while the counter-torque exerted by the contra-lateral one is decreased. Whereas no significant differences were found between the two pedal-cranks at low exercise intensities (w*=50-200 W), at 250-300 W the oxygen uptake (V*O2, W) was found to be significantly lower and the efficiency (eta=w*/V*O2) about 2% larger (p<0.05, Wilcoxon test) in the case of PP. Even if the measured difference in efficiency was rather small, it can be calculated that an athlete riding a bicycle equipped with the patented pedal-crank could improve his 1h record by about 1 km.

How fins affect the economy and efficiency of human swimming

The aim of the present study was to quantify the improvements in the economy and efficiency of surface swimming brought about by the use of fins over a range of speeds (v) that could be sustained aerobically. At comparable speeds, the energy cost (C) when swimming with fins was about 40 %lower than when swimming without them; when compared at the same metabolic power, the decrease in C allowed an increase in v of about 0.2 ms-1. Fins only slightly decrease the amplitude of the kick (by about 10 %) but cause a large reduction (about 40 %) in the kick frequency. The decrease in kick frequency leads to a parallel decrease of the internal work rate (Ẇint, about 75 %at comparable speeds) and of the power wasted to impart kinetic energy to the water (Ẇk, about 40 %). These two components of total power expenditure were calculated from video analysis (Ẇint) and from measurements of Froude efficiency(Ẇk). Froude efficiency(ηF) was calculated by computing the speed of the bending waves moving along the body in a caudal direction (as proposed for the undulating movements of slender fish); ηF was found to be 0.70 when swimming with fins and 0.61 when swimming without them. No difference in the power to overcome frictional forces(Ẇd) was observed between the two conditions at comparable speeds. Mechanical efficiency[Ẇtot/(Cv), where Ẇtot=Ẇk+Ẇint+Ẇd]was found to be about 10 % larger when swimming with fins, i.e. 0.13±0.02 with and 0.11±0.02 without fins (average for all subjects at comparable speeds).

Effect of muscle temperature on rate of oxygen uptake during exercise in humans at different contraction frequencies

The effect of elevated human muscle temperature on energy turnover was investigated during cycling exercise (at 85 % of V̇O2max) at a contraction frequency of 60 revs min-1. Muscle temperature was passively elevated prior to exercise by immersion of the legs in a hot water bath (42 °C). During exercise at this low pedalling rate, total energy turnover was higher (P&lt;0.05) when muscle temperature was elevated compared with normal temperature (70.4±3.7 versus 66.9±2.4 kJ min-1, respectively). Estimated net mechanical efficiency was found to be lower when muscle temperature was elevated. A second experiment was conducted in which the effect of elevated human muscle temperature on energy turnover was investigated during cycling exercise (at 85 % of V̇O2max) at a contraction frequency of 120 revs min-1. Under the conditions of a high pedalling frequency, an elevated muscle temperature resulted in a lower energy turnover (P&lt;0.05) compared with the normal muscle temperature (64.9±3.7 versus 69.0±4.7 kJ min-1, respectively). The estimated net mechanical efficiency was therefore higher when muscle temperature was elevated. We propose that, in these experiments, prior heating results in an inappropriately fast rate of cross-bridge cycling when exercising at 60 revs min-1, leading to an increased energy turnover and decreased efficiency. However, at the faster pedalling rate, the effect of heating the muscle shifts the efficiency/velocity relationship to the right so that cross-bridge detachment is more appropriately matched to the contraction velocity and, hence, energy turnover is reduced.