The dynamic effect of muscle activation on knee stiffness

Mechanisms contributing to reduced knee stiffness during movement

The ability to modulate the mechanical properties of our limbs contributes to our ability to interact with the physical world in a consistent and predictable manner. An individual joint's contributions to whole limb mechanics can be quantified by its joint impedance, which characterizes the torque generated about a joint in response to external perturbations of position. A number of studies have estimated joint impedance during movement and have shown that it can be much lower than it is during posture. However, the mechanisms contributing to these differences remain unknown partly because conditions known to affect impedance, including muscle activation and joint angles, have not been carefully controlled across studies. The goal of this study was to contrast knee impedance during continuous volitional movements with that during maintained postures spanning a similar range of joint angles and muscle activations and to explore physiological mechanisms likely to contribute to the observed differences. We found that knee impedance was substantially lower during movement than during matched postural tasks, even for matched muscle activations. At times, the impedance during movement was even lower than that measured during isometric tasks with no volitional muscle activity. These decreases in impedance could be attributed in part to reduced stretch reflexes during movement and to an effect of movement itself on reducing knee impedance.

Linear Parameter Varying Identification of Dynamic Joint Stiffness during Time-Varying Voluntary Contractions

Dynamic joint stiffness is a dynamic, nonlinear relationship between the position of a joint and the torque acting about it, which can be used to describe the biomechanics of the joint and associated limb(s). This paper models and quantifies changes in ankle dynamic stiffness and its individual elements, intrinsic and reflex stiffness, in healthy human subjects during isometric, time-varying (TV) contractions of the ankle plantarflexor muscles. A subspace, linear parameter varying, parallel-cascade (LPV-PC) algorithm was used to identify the model from measured input position perturbations and output torque data using voluntary torque as the LPV scheduling variable (SV). Monte-Carlo simulations demonstrated that the algorithm is accurate, precise, and robust to colored measurement noise. The algorithm was then used to examine stiffness changes associated with TV isometric contractions. The SV was estimated from the Soleus EMG using a Hammerstein model of EMG-torque dynamics identified from unperturbed trials. The LPV-PC algorithm identified (i) a non-parametric LPV impulse response function (LPV IRF) for intrinsic stiffness and (ii) a LPV-Hammerstein model for reflex stiffness consisting of a LPV static nonlinearity followed by a time-invariant state-space model of reflex dynamics. The results demonstrated that: (a) intrinsic stiffness, in particular ankle elasticity, increased significantly and monotonically with activation level; (b) the gain of the reflex pathway increased from rest to around 10-20% of subject's MVC and then declined; and (c) the reflex dynamics were second order. These findings suggest that in healthy human ankle, reflex stiffness contributes most at low muscle contraction levels, whereas, intrinsic contributions monotonically increase with activation level.