Is my model good enough? Best practices for verification and validation of musculoskeletal models and simulations of movement

Effects of spinal stimulation and short-burst treadmill training on gait biomechanics in children with cerebral palsy

BACKGROUND

Children with cerebral palsy (CP) have an injury to the central nervous system around the time of birth that affects the development of the brain and spinal cord. This injury leads to changes in gait neuromechanics, including muscle activity and joint kinematics. Transcutaneous spinal cord stimulation (tSCS) is a novel neuromodulation technique that may improve movement and coordination in children with CP when paired with targeted physical therapy.

RESEARCH QUESTION

How does the combination of tSCS and short-burst interval locomotor treadmill training (SBLTT) affect individual gait neuromechanics in children with CP?

METHODS

Four children with CP (4-13 years old), received 24 sessions each of SBLTT only and SBLTT with tSCS (tSCS+SBLTT). Clinical assessments of spasticity and passive range of motion (PROM), as well as biomechanical assessments of joint kinematics, musculotendon lengths, and muscle activity were recorded during overground, barefoot walking. Assessments were taken before and after each intervention, and 8-weeks later.

RESULTS

The combination of tSCS+SBLTT led to greater increases in hip and knee extension than SBLTT only for three participants. Three children also became more plantarflexed at the ankle during stance after tSCS+SBLTT compared to SBLTT only. While tSCS+SBLTT reduced spasticity, these changes were only weakly correlated with changes in musculotendon lengths during gait or PROM, with the largest correlation between change in gastrocnemius operating musculotendon length during fast walking and gastrocnemius spasticity (R2 = 0.26) and change in plantarflexor PROM and gastrocnemius spasticity (R2 = 0.23).

SIGNIFICANCE

Children with CP used a more upright, less crouched posture during gait after tSCS+SBLTT. Large reductions in spasticity after tSCS+SBLTT were only weakly correlated with changes in kinematics and PROM. Understanding the mechanisms by which tSCS may affect gait for children with CP is critical to optimize and inform the use of tSCS for clinical care.

Estimating temporal bone-implant stresses in patients with bone-anchored lower limbs

Bone-anchored limbs (BALs) are a transformative alternative for patients with lower-limb amputation who suffer from debilitating socket problems by eliminating the need for skin-to-prosthetic contact. Despite its successes, some individuals continue to face challenges with BALs, experiencing a loss of implant integration resulting in prosthetic loosening. A thorough understanding of biomechanical behavior at the residual limb and bone-implant interface is necessary to fully understand mechanical failure mechanisms. In addition, a deeper understanding of BAL biomechanical behavior would allow clinicians and researchers to predict and test different implant geometries, inform patient eligibility, rehabilitation strategies, and implantation methods in a safe and low-cost way. Thus, this study designed an innovative simulation method to quantify the temporal mechanical behavior of the residual limb in transfemoral and transtibial BALs by using subject-specific kinematics, musculoskeletal loads, and bone geometry and health. Our novel method was applied to two patients (one transtibial, one transfemoral) with similar BMI and age during level ground walking. Our results demonstrated a pattern of higher residual limb stresses in the transtibial model (26.80 MPa vs. 23.69 MPa). This study not only furthers our understanding of BAL biomechanics but introduces a versatile subject-specific methodology with direct applications in clinical practice. As we navigate the complexities of BAL implantation, this modeling platform lays the groundwork for more informed decision-making.

Biomechanical mechanisms for modulating stride frequency in walking

Humans typically choose to walk at a self-selected stride frequency that minimizes their metabolic cost. However, when environmental constraints are present (e.g., icy sidewalk), they will change their stride frequency to accommodate. This study provides a comprehensive understanding of the muscle-tendon dynamics when humans walk with different stride frequencies, offering valuable insights into the biomechanics of walking. The study aimed to quantify the effect of stride frequency on the muscle-tendon forces, powers, and induced accelerations on the center of mass. Data was collected with eight subjects walking at 1.3 m/s at their self-selected stride frequency and + 20 and -20 % of their self-selected stride frequency. We used musculoskeletal modeling to compute the muscle-tendon forces and powers, and the vertical and anterior-posterior induced accelerations for nine muscle groups. When comparing stride frequency conditions using statistical parametric mapping, we found that gluteus medius, gastrocnemius, and tibialis anterior had greater forces, powers, or induced accelerations in the -20 % condition. The hamstrings, rectus femoris, and iliopsoas muscle groups had greater forces, powers, or induced accelerations in the + 20 % condition compared to self-selected frequency. The gastrocnemius played a crucial role in modulating forward acceleration across different stride frequencies, driven by changes in segment kinematics rather than changes in muscle forces. Increases in muscle force production as participants deviated from self-selected stride frequency may indicate that the preferred stride frequency of an individual minimizes the overall demand on lower limb muscles during walking. These results advance our understanding of why humans self-select certain movement patterns during gait.

Computed gastrocnemius muscle moment arm based on wrapping objects derived from 3D ultrasound: Exploring the impact of ankle position and predictability of anthropometrics

The objective of this study was to evaluate the effectiveness of subject-specific wrapping objects (SS.WOs) derived from 3D ultrasound measurements in calculating the musculotendon moment arm, particularly the lateral gastrocnemius muscle moment arm at the knee (Gas.lat KMA). Computed musculoskeletal modeling, essential for understanding human locomotion, often shows discrepancies compared to in vivo measurements. This research investigated whether SS.WOs, tailored to individual muscle paths across different joint configurations, could mitigate these discrepancies. Ten healthy participants were subjected to 3D ultrasound to record the Gas.lat path at various knee and ankle angles. This data was utilized to develop SS.WOs in a scaled Rajagopal Full-body model (SS-Rajagopal). We assessed the impact of the modeling approach and ankle position on the computed Gas.lat KMA by comparing it with results from two scaled generic models (SC-Rajagopal and SC-Gait2392). There was no significant effect of ankle position on Gas.lat KMA across all knee angles; however, the choice of modeling approach markedly influenced the outcomes. The computed Gas.lat KMA from SS-Rajagopal more closely matched in vivo measurements at higher knee angles compared to SC-Rajagopal. Significant correlations were observed between the computed Gas.lat KMA from both SS-Rajagopal and SC-Rajagopal with anthropometric measurements. However, no correlation was found between the properties of SS.WOs and individual anthropometrics. In conclusion, while optimization techniques such as muscle path computation with WOs improve musculoskeletal modeling efficiency, they may not fully address inter-subject variability.

Conceptual modeling of structural malalignments and ankle joint contact forces during walking

BACKGROUND

Structural malalignments, such as talar malalignments and hindfoot varus, are hypothesized to contribute to early ankle joint degeneration by altering joint contact force (JCF). These malalignments, common in individuals with chronic ankle instability (CAI), can modify the articular geometry of the ankle joint, potentially leading to abnormal joint loading patterns. This study leverages musculoskeletal modeling and simulation to conceptualize the effects of increasing severity of these malalignments on ankle JCF during walking.

RESEARCH QUESTION

Using a theoretical framework based on biomechanical principles, how do increasing talar malalignments and rearfoot varus, as seen in CAI patients, influence ankle JCF during walking?

METHODS

A conceptual musculoskeletal modeling approach was employed to simulate the effects of structural alterations on ankle JCF in uninjured individuals. Using an instrumented treadmill, musculoskeletal modeling was used to estimate the effects of increasing talar positional malalignments and/or rearfoot varus, both in isolation and in combination, on ankle JCF during the stance phase of walking. Variables included peak, impulse, and loading rates for compressive, posterior shear, and lateral shear JCF.

RESULTS

Anterior translation and internal rotation of the talus significantly increased lateral shear JCF, while an increase in rearfoot varus decreased lateral shear JCF (p < 0.01). However, combining modifications of the talus and rearfoot varus had no significant effects on ankle JCF.

SIGNIFICANCE

This conceptual analysis highlights the effectiveness of musculoskeletal modeling in providing theoretical insights into how CAI-related structural malalignments affect ankle joint loading during walking. Talar positional malalignments increase lateral shear loading, whereas rearfoot varus reduces lateral shear loading. The effects of these structural alterations on lateral shear JCF counterbalance each other, highlighting the need to consider other factors of CAI to more accurately reflect the ankle JCF in those with CAI.

Muscle contributions to propelling the body upward differ between skipping and running

Skipping represents a training alternative to running due to its lower knee contact forces and higher whole-body metabolic cost. The increased metabolic cost of skipping is associated with a higher vertical center-of-mass (COM) displacement during the support and flight phases of the skipping hop compared to running. However, skipping has lower muscle force impulses than running. Therefore, the study purpose was to compare the flow of mechanical power between body segments during skipping and running to determine the mechanisms enabling higher vertical displacement in skipping despite the lower vertical impulse. Running and skipping cycles were simulated in OpenSim for 5 adults (22.4 ± 2.2 y) using motion capture data collected at 2.5 m/s on an instrumented dual-belt treadmill. A segmental power analysis quantified muscle contributions to vertical body segment mechanical power, which were integrated over the stance phase of running (Run) and the hop (Skip 1) and step (Skip 2) of skipping to calculate mechanical work. Higher vertical work was done by the gluteus maximus, vasti, and soleus in Skip 1, primarily through power generation to the trunk, compared to power absorption in Run and Skip 2. Thus, despite lower muscle force impulses in Skip 1, muscles generate power through concentric contractions, leading to greater metabolic cost than in running. These muscle force impulses contribute to propelling the COM upward in Skip 1 (rather than decelerating downward COM motion in Run and Skip 2), which raises the COM and contributes to the greater COM displacement in skipping compared to running.

Patients with Achilles tendinopathy use compensation strategies to reduce tendon load during rehabilitation exercises

BACKGROUND

This study aimed to determine differences in the Achilles tendon loading during rehabilitation exercises for Achilles tendinopathy and the ranking of these exercises, based on load, in patients with tendinopathy and controls.

METHODS

Sixteen patients with Achilles Tendinopathy (5F & 11 M, 44.1 ± 12.9 yr) and sixteen controls (4F & 12 M, 39.4 ± 15.6 yr) performed rehabilitation exercises while 3D motion and ground reaction forces were measured. Musculoskeletal modeling was used to compute joint kinematics and estimate Achilles tendon load by summing the forces of individual triceps surae muscles. Subsequently, peak Achilles tendon loading, loading impulse, loading rate, loading indexes (a combination of the previous parameters), and joint angles at the time of peak loading were determined and compared between patients and controls.

FINDINGS

Patients with tendinopathy exhibited significantly reduced peak Achilles tendon loading compared to controls during the exercises with the highest peak loading: unilateral heel drop with flexed knee (3.66 ± 0.90BW [AT] vs. 4.65 ± 1.10BW [Control], p = 0.003, d = 0.979) and walking (3.37 ± 0.49BW [AT] vs. 3.68 ± 0.33BW [Control], p = 0.044, d = 0.742). Additionally, during the heel drop exercise, patients with tendinopathy showed reduced ankle dorsiflexion and knee flexion. The ranking of exercises by peak loading or loading index was similar for both groups but varied depending on which loading parameter was used to define Achilles tendon loading.

INTERPRETATION

During the highest load-imposing exercises, patients with tendinopathy employ compensatory strategies to reduce the load on their Achilles tendon. Clear instructions and feedback on the patient's performance are crucial as altered exercise execution influences Achilles tendon loading.

An in-silico investigation of the effect of changing cycling crank power and cadence on muscle energetics and active muscle volume

This study used musculoskeletal modelling to explore the relationship between cycling conditions (power output and cadence) and muscle activation and metabolic power. We hypothesized that the cadence that minimized the simulated average active muscle volume would be higher than the cadence that minimized the simulated metabolic power. We validated the simulation by comparing the predicted muscle activation and fascicle velocities with experimental electromyography and ultrasound images. We found strong correlations for averaged muscle activations and moderate to good correlations for fascicle dynamics. These correlations tended to weaken when analyzed at the individual participant level. Our study revealed a curvilinear relationship between the average active muscle volume and cadence, with the minimum active volume being aligned to the self-selected cadence. The simulated metabolic power was consistent with previous results and was minimized at lower cadences than that which minimized active muscle volume across power outputs. Although there are some limitations to the musculoskeletal modelling approach, the findings suggest that minimizing active muscle volume may be a more important factor than minimizing metabolic power for self-selected cycling cadence preferences. Further research is warranted to explore the potential of an active muscle volume-based objective function for control schemes across a wider range of cycling conditions.

Muscle mechanics and energetics in chronic ankle instability and copers during landing: Strategies for adaptive adjustments in locomotion pattern

Individuals with chronic ankle instability (CAI) and copers typically exhibited aberrant landing kinematics. Altered kinematics might lead to changes in muscle loading, potentially affecting the energy demand of locomotion. Understanding alterations in muscle mechanics and energetics during landing could enhance the rehabilitation program design. Therefore, the objective of this study was to explore the muscle mechanics and energetics of individuals with CAI, copers, and healthy controls during single leg jump landing. Three groups, CAI, copers, and healthy individuals (total n = 66), performed the landing task, and data on 3D motion capture, ground reaction force (GRF), and muscle activation were simultaneously collected. A musculoskeletal model was applied to estimate muscle force and mechanical power. Compared to healthy groups, individuals with CAI showed increased peak muscle forces in the gluteus maximus (p < 0.001), gluteus medius (p < 0.001), vastus lateralis (p < 0.001), and peroneus longus (p < 0.001) during landing. Whereas copers exhibited higher peak muscle forces in the vastus lateralis (p < 0.05), medial gastrocnemius (p < 0.05), soleus (p < 0.05), and peroneus longus (p < 0.001). Additionally, negative mechanical power redistribution in CAI shifted from the ankle to the hip (p < 0.001), while copers exhibited a similar redistribution from the ankle to the knee (p < 0.05). This study suggested that both CAI and copers exhibit biomechanical modifications in proximal joints. Copers showed a novel landing strategy aimed for enhancing landing stability, but with the risk of ACL injury. The identified energy redistribution observed in both CAI and copers could potentially contribute to the recurrent ankle sprains. This research facilitates a better understanding of how muscle mechanics and energy demands influence the landing pattern in individuals with CAI and copers.

Human-Aware Control for Physically Interacting Robots

This paper presents a novel model for predicting human movements and introduces a new control method for human-robot interaction based on this model. The developed predictive model of human movement is a holistic model that is based on well-supported neuroscientific and biomechanical theories of human motor control; it includes multiple levels of the human sensorimotor system hierarchy, including high-level decision-making based on internal models, muscle synergies, and physiological muscle mechanics. Therefore, this holistic model can predict arm kinematics and neuromuscular activities in a computationally efficient way. The computational efficiency of the model also makes it suitable for repetitive predictive simulations within a robot's control algorithm to predict the user's behavior in human-robot interactions. Therefore, based on this model and the nonlinear model predictive control framework, a human-aware control algorithm is implemented, which internally runs simulations to predict the user's interactive movement patterns in the future. Consequently, it can optimize the robot's motor torques to minimize an index, such as the user's neuromuscular effort. Simulation results of the holistic model and its utilization in the human-aware control of a two-link robot arm are presented. The holistic model is shown to replicate salient features of human movements. The human-aware controller's ability to predict and minimize the user's neuromuscular effort in a collaborative task is also demonstrated in simulations.

Modeling implications of the relationship between active and passive skeletal muscle mechanical properties

It is challenging to obtain in vivo or in situ experimental data from human muscles due to the invasive nature of such measurements. As a result, many investigations of human performance, surgery, or skeletal adaptation are necessarily based on musculoskeletal models. The utility of such models will depend on the question being asked and the extent to which the model is sufficiently accurate to address that question. In this perspective article, we take advantage of unique intraoperative access to the human gracilis muscle and make direct comparisons between commonly modeled parameters and those measured from the human gracilis. We directly compare muscle-tendon unit (MTU) length, optimal fiber length, and tendon slack length. Our results demonstrate that measured and modeled length parameters differ greatly. This is primarily due to the fact that slack muscle length and optimal muscle length differ greatly for the human gracilis and that models assume they are the same length.

Role and modulation of various spinal pathways for human upper limb control in different gravity conditions

Humans can perform movements in various physical environments and positions (corresponding to different experienced gravity), requiring the interaction of the musculoskeletal system, the neural system and the external environment. The neural system is itself comprised of several interactive components, from the brain mainly conducting motor planning, to the spinal cord (SC) implementing its own motor control centres through sensory reflexes. Nevertheless, it remains unclear whether similar movements in various environmental dynamics necessitate adapting modulation at the brain level, correcting modulation at the spinal level, or both. Here, we addressed this question by focusing on upper limb motor control in various gravity conditions (magnitudes and directions) and using neuromusculoskeletal simulation tools. We integrated supraspinal sinusoidal commands with a modular SC model controlling a musculoskeletal model to reproduce various recorded arm trajectories (kinematics and EMGs) in different contexts. We first studied the role of various spinal pathways (such as stretch reflexes) in movement smoothness and robustness against perturbation. Then, we optimised the supraspinal sinusoidal commands without and with a fixed SC model including stretch reflexes to reproduce a target trajectory in various gravity conditions. Inversely, we fixed the supraspinal commands and optimised the spinal synaptic strengths in the different environments. In the first optimisation context, the presence of SC resulted in easier optimisation of the supraspinal commands (faster convergence, better performance). The main supraspinal commands modulation was found in the flexor sinusoid's amplitude, resp. frequency, to adapt to different gravity magnitudes, resp. directions. In the second optimisation context, the modulation of the spinal synaptic strengths also remarkably reproduced the target trajectory for the mild gravity changes. We highlighted that both strategies of modulation of the supraspinal commands or spinal stretch pathways can be used to control movements in different gravity environments. Our results thus support that the SC can assist gravity compensation.

Phenomenological Muscle Constitutive Model With Actin-Titin Binding for Simulating Active Stretching

The force produced by a muscle depends on its contractile history, yet human movement simulations typically employ muscle models that define the force-length relationship from measurements of fiber force during isometric contractions. In these muscle models, the total force-length curve can have a negative slope at fiber lengths greater than the fiber length at which peak isometric force is produced. This region of negative stiffness can cause numerical instability in simulations. Experiments have found that the steady-state force in a muscle fiber following active stretching is greater than the force produced during a purely isometric contraction. This behavior is called residual force enhancement. We present a constitutive model that exhibits force enhancement, implemented as a hyperelastic material in the febio finite element software. There is no consensus on the mechanisms responsible for force enhancement; we adopt the assumption that the passive fiber force depends on the sarcomere length at the instant that the muscle is activated above a threshold. We demonstrate the numerical stability of our model using an eigenvalue analysis and by simulating a muscle whose fibers are of different lengths. We then use a three-dimensional muscle geometry to verify the effect of force enhancement on the development of stress and the distribution of fiber lengths. Our proposed muscle material model is one of the few models available that exhibits force enhancement and is suitable for simulations of active lengthening. We provide our implementation in febio so that others can reproduce and extend our results.

Walking Slope and Heavy Backpacks Affect Peak and Impulsive Lumbar Joint Contact Forces

Heavy load carriage is associated with musculoskeletal overuse injury, particularly in the lumbar spine. In addition, steep walking slopes and heavy backpacks separately require adaptation of torso kinematics, but the combined effect of sloped walking and heavy backpack loads on lumbar joint contact forces is unclear. Backpacks with hip belt attachments can reduce pressure under the shoulder straps; however, it is unknown if wearing a hip belt reduces lumbar spine forces. We used a musculoskeletal modeling and simulation approach to quantify peak and impulsive L1L2 and L4L5 lumbar joint contact forces in the anterior/posterior shear and compressive directions during walking on 0 deg and ±10 deg slopes, with no backpack and with 40% body weight backpack load using two different backpack configurations (hip belt assisted and shoulder-borne). Both walking slope and backpack load significantly affected shear and compressive peak and impulsive forces. The largest peak shear and compressive forces of 1.57 and 5.23 body weights, respectively, exceed recommended limits and were observed during uphill walking with shoulder-borne loads. However, only impulsive force results revealed differences due to the backpack configuration, and this effect depended on walking slope. During downhill walking only, the hip belt-assisted configuration resulted compressive impulses lower than during shoulder borne by 0.25 body weight seconds for both L1L2 and L4L5. These results indicate that walking uphill with heavy loads causes high shear and compressive lumbar forces that may increase overuse injury risk. In addition, our results suggest it is especially important to wear a hip belt when walking downhill.

Hindlimb kinematics, kinetics and muscle dynamics during sit-to-stand and sit-to-walk transitions in emus (Dromaius novaehollandiae)

Terrestrial animals not only need to walk and run but also lie prone to rest and then stand up. Sit-to-stand (STS) and sit-to-walk (STW) transitions are vital behaviours little studied in species other than humans so far, but likely impose biomechanical constraints on limb design because they involve near-maximal excursions of limb joints that should require large length changes and force production from muscles. By integrating data from experiments into musculoskeletal simulations, we analysed joint motions, ground reaction forces, and muscle dynamics during STS and STW in a large terrestrial, bipedal and cursorial bird: the emu (Dromaius novaehollandiae; body mass ∼30 kg). Simulation results suggest that in both STS and STW, emus operate near the functional limits (∼50% of shortening/lengthening) of some of their hindlimb muscles, particularly in distal muscles with limited capacity for length change and leverage. Both movements involved high muscle activations (>50%) and force generation of the major joint extensor muscles early in the transition. STW required larger net joint moments and non-sagittal motions than STS, entailing greater demands for muscle capacity. Whilst our study involves multiple assumptions, our findings lay the groundwork for future studies to understand, for example, how tendon contributions may reduce excessive muscle demands, especially in the distal hindlimb. As the first investigation into how an avian species stands up, this study provides a foundational framework for future comparative studies investigating organismal morphofunctional specialisations and evolution, offering potential robotics and animal welfare applications.

An open-source framework for the generation of OpenSim models with personalised knee joint geometries for the estimation of articular contact mechanics

Musculoskeletal modelling pipelines typically use generic models scaled to individual's anthropometry. The ability to represent variations in bone or joint geometry and alignment is highly limited. This may have a large effect, particularly when modelling contact between articular surfaces such as for the knee where articular contact mechanics are used to determine joint kinematics and the resulting cartilage contact pressures and locations. Here we describe a developed open-source framework for the personalisation of such models and compare dynamic simulation outputs. The framework involves three main steps: (1) positions personalised geometries from magnetic resonance imaging and replaces generic bone and contact geometries. (2) Repositions muscle and ligament attachments and via points and optimisation of wrapping surfaces to ensure physiological lengthening behaviour. Finally, (3) muscle and ligament properties are calibrated to ensure physiological behaviour. Following model creation, dynamic simulations from a single participant and gait trial were compared. Small changes in knee adduction/abduction and rotation angles were observed between models. Joint moment differences however were present in not only the knee but also hip and ankle joints. These differences resulted in changes in both the magnitude and location of knee joint contact pressure. The framework developed is automated and requires only minimal user interaction and is built using open-source software packages which can be freely downloaded and installed. The adoption of such personalised modelling approaches facilitates patient specific modelling and may provide more detailed information regarding disease progression, patient stratification and facilitate personalised rehabilitation and treatment planning.

Generative adversarial networks to create synthetic motion capture datasets including subject and gait characteristics

Resource-intensive motion capture (mocap) systems challenge predictive deep learning applications, requiring large and diverse datasets. We tackled this by modifying generative adversarial networks (GANs) into conditional GANs (cGANs) that can generate diverse mocap data, including 15 marker trajectories, lower limb joint angles, and 3D ground reaction forces (GRFs), based on specified subject and gait characteristics. The cGAN comprised 1) an encoder compressing mocap data to a latent vector, 2) a decoder reconstructing the mocap data from the latent vector with specific conditions and 3) a discriminator distinguishing random vectors with conditions from encoded latent vectors with conditions. Single-conditional models were trained separately for age, sex, leg length, mass, and walking speed, while an additional model (Multi-cGAN) combined all conditions simultaneously to generate synthetic data. All models closely replicated the training dataset (<8.1 % of the gait cycle different between experimental and synthetic kinematics and GRFs), while a subset with narrow condition ranges was best replicated by the Multi-cGAN, producing similar kinematics (<1°) and GRFs (<0.02 body-weight) averaged by walking speeds. Multi-cGAN also generated synthetic datasets and results for three previous studies using reported mean and standard deviation of subject and gait characteristics. Additionally, unseen test data was best predicted by the walking speed-conditional, showcasing synthetic data diversity. The same model also matched the dynamical consistency of the experimental data (32 % average difference throughout the gait cycle), meaning that transforming the gait cycle data to the original time domain yielded accurate derivative calculations. Importantly, synthetic data poses no privacy concerns, potentially facilitating data sharing.

Paediatric Prosthetic Knee Design: The Technical Requirements of a Swing Phase Control Mechanism Are Correlated With Parameters of Childhood Growth

OBJECTIVE

There is a lack of innovation in affordable prosthetic knee joints for children. One significant reason is the absence of technical requirements which consider the foundation of childhood: growth. This study aims to develop and use a modelling tool to determine the technical requirements throughout childhood growth for one prosthetic knee design feature, a swing phase control mechanism (SPCM).

METHODS

3D gait data of 31 non-disabled children across a range of physical maturities were analyzed. For each participant 2 models were created from a validated paediatric non-disabled musculoskeletal model. The model was first linearly scaled, then a corresponding unilateral right knee-disarticulation amputation model produced by removing segments below the knee and replacing with prosthetic componentry. Long established low-cost prosthetic componentry and a novel polycentric knee were implemented. For each participant, inverse dynamics were conducted and the SPCM torque requirements defined.

RESULTS

Prosthetic knee SPCM torque requirements were significantly less than the non-disabled knee to emulate non-disabled gait at free speed: 17.9% (± 10.2) and 66.3% (± 17.0) reduction in maximum extension and flexion torque, respectively. Maximum knee extension torque showed the strongest negative correlation with intact body mass (ρ = -0.6251) whereas flexion torque showed the strongest correlation with height (ρ = 0.6611). Corresponding linear regression fits produced RMSE of 1.91and 1.73 Nm, respectively. Results were also determined for slow and fast speeds.

CONCLUSION

The torque requirements of an affordable paediatric prosthetic knee SPCM are defined and found to strongly correlate with parameters of childhood growth (body mass, height, and age).

SIGNIFICANCE

Current results recommend low-cost paediatric prosthetic SPCM designs can be tailored to accommodate growth. The creation of musculoskeletal models facilitate multiple future studies.

Medial and lateral knee contact forces and muscle forces during sit-to-stand in patients one year after unilateral total knee arthroplasty

Understanding how forces are transmitted through the knee after TKA is essential, as it may explain why many patients experience pain or functional limitations during various activities. This study compared knee muscle forces and knee contact forces (KCF) during sit-to-stand in patients one year after unilateral total knee arthroplasty (TKA) with either a medial ball-and-socket (MBS) or posterior stabilized (PS) implant and compared them to a group of similarly healthy aged controls (CTRL). A musculoskeletal model and static optimization estimated lower limb kinematics, knee kinetics, muscle forces, and KCFs. The normalized sit-to-stand cycle was compared among the groups using statistical nonparametric mapping, and peak between-limb differences were compared using discrete statistics. The PS group required greater forward lean during the sit-to-stand task, causing greater spine flexion, posterior pelvic tilt, and decreased hip flexion on the operated limb. PS and MBS groups favoured their non-operated limb, resulting in less range of motion throughout the lower limb, lower knee kinetics, muscle forces, and KCFs on the operated limb. Compared to the controls, the MBS and PS groups had reduced medial compartment KCF. The control group did favour their dominant limb over their non-dominant limb. Post-operative rehabilitation should continue to promote greater use of the operated knee to have more symmetrical loading between operated and non-operated limbs and improve strength and mobility at the hip and ankle joints. One year after surgery, TKA patients remain with reduced muscle forces and KCF on their operated limb during a sit-to-stand task, regardless whether they received an MBS or PS implant.

The influence of load carriage and prosthetic foot type on individual muscle and prosthetic foot contributions to body support and propulsion

Individuals with transtibial amputation (TTA) experience altered gait mechanics, which are primarily attributed to the functional loss of the ankle plantarflexors. The plantarflexors contribute to body support and propulsion and play an important role in adapting to different load carriage conditions. However, how muscle function is altered across different prosthetic foot types and load carriage scenarios for individuals with TTA remains unclear. This study used musculoskeletal modeling and simulation of human movement in OpenSim to investigate the effects of a range of prosthetic feet and load conditions on individual muscle and prosthetic foot contributions to body support and propulsion. Twenty walking trials were collected from five individuals with TTA, consisting of five loading conditions (no-load; 30 lbs (13.6 kg) carried as a front-load, back-load, intact-side-load and residual-side-load) while wearing four prosthetic feet (their passive standard of care (SOC) foot, their SOC foot one category stiffer, their SOC foot with a heel stiffening wedge, and a dual-keel foot). Two participants also wore a powered ankle-foot prosthesis, thus completing an additional five trials each. The results indicated that the front-load condition may be more challenging because it required overall increased muscle contributions to body support and propulsion. However, the front- and residual-side-loads required reduced intact-side plantarflexor contributions to support and propulsion, and thus may be advantageous for individuals with plantarflexor weakness. Further, the large variability across contributions suggests that individuals with TTA may rely on a variety of compensatory mechanisms depending on the load condition and prosthetic foot used.

Joint reaction and simulated muscle forces during squatting and walking in persons with hemophilia

BACKGROUND

Persons with hemophilia experience joint bleeding that can lead to debilitating arthropathy, most commonly seen in ankles, knees, and elbows. Arthropathy can hinder participation in daily and athletic activities. We explored how hemophilic arthropathy impacts movement patterns in walking and bilateral squatting tasks in persons with hemophilia compared to healthy controls.

METHODS

Persons with hemophilia and healthy controls completed walking and squatting tasks while kinematic and kinetic motion capture data were collected. The Hemophilia Joint Health Score exam was performed to measure hemophiliac arthropathy. OpenSim was used to model muscle and joint reaction forces and calculate moments and angles. Peak values were compared using Cohen's d to estimate effect sizes of hemophilia on movement parameters.

FINDINGS

Nine persons with hemophilia and eight age-matched controls were analyzed. Temporal-spatial metrics were similar between hemophilia and control groups in both tasks. In walking, persons with hemophilia had higher peak ankle dorsiflexion angles, vertical ground reaction force weight acceptance peaks, and hip extension and flexion moments compared to controls. In squatting, persons with hemophilia had lower knee extension moments, ankle joint reaction force, and knee extensor forces, but had higher hip extension moments.

INTERPRETATION

Temporal-spatial metric similarity between hemophilia and controls suggests that kinetic and kinematic analyses are needed to identify movement pattern differences. These data identify potential compensatory strategies at the hip that may be used by persons with hemophilia to mitigate impact on the knee and ankle. Future work will confirm these data in a larger sample size and be used to develop physical therapy strategies.

How Gait Nonlinearities in Individuals Without Known Pathology Describe Metabolic Cost During Walking Using Artificial Neural Network and Multiple Linear Regression

This study uses Artificial Neural Networks (ANNs) and multiple linear regression (MLR) models to explore the relationship between gait dynamics and the metabolic cost. Six nonlinear metrics—Lyapunov Exponents based on Rosenstein’s algorithm (LyER), Detrended Fluctuation Analysis (DFA), the Approximate Entropy (ApEn), the correlation dimension (CD), the Sample Entropy (SpEn), and Lyapunov Exponents based on Wolf’s algorithm (LyEW)—were utilized to predict the metabolic cost during walking. Time series data from 10 subjects walking under 13 conditions, with and without hip exoskeletons, were analyzed. Six ANN models, each corresponding to a nonlinear metric, were trained using the Levenberg–Marquardt backpropagation algorithm and compared with MLR models. Performance was assessed based on the mean squared error (MSE) and correlation coefficients. ANN models outperformed MLR, with DFA and Lyapunov Exponent models showing higher R2 values, indicating stronger predictive accuracy. The results suggest that gait’s nonlinear characteristics significantly impact the metabolic cost, and ANNs are more effective for analyzing these dynamics than MLR models. The study emphasizes the potential of focusing on specific nonlinear gait variables to enhance assistive device optimization, particularly for hip exoskeletons. These findings support the development of personalized interventions that improve walking efficiency and reduce metabolic demands, offering insights into the design of advanced assistive technologies.

Patient-specific gait pattern in individuals with patellofemoral instability reduces knee joint loads

Patellofemoral instability is influenced by morphological factors and associated with compensational alterations in gait pattern. Recent simulation studies investigated the impact of knee morphology on the stability and loading of the patellofemoral joint but neglected the patient-specific gait pattern. The aim of this study was to investigate the impact of patient-specific gait pattern on muscle forces and joint loading in individuals with patellofemoral instability. Musculoskeletal simulations with a model including a twelve degrees of freedom knee joint were performed based on three-dimensional motion capture data of 21 individuals with chronic patellofemoral instability and 17 healthy control participants. The patellofemoral instability group walked with a less flexed knee joint and reduced knee flexion and abduction moments compared to the control group, which required less quadriceps muscle forces. Lower quadriceps muscle forces resulted in a reduction of tibiofemoral and patellofemoral joint contact forces despite similar walking velocities between both groups. Furthermore, we observed decreased lateralizing patella forces in subjects with patella instability, which could potentially reduce the risk of patella dislocation. Our findings highlight the importance of accounting for the patient-specific gait pattern when analysing knee loads in individuals with patellofemoral instability.

Using muscle-tendon load limits to assess unphysiological musculoskeletal model deformation and Hill-type muscle parameter choice

Musculoskeletal simulations are a useful tool for improving our understanding of the human body. However, the physiological validity of predicted kinematics and forces is highly dependent upon the correct calibration of muscle parameters and the structural integrity of a model's internal skeletal structure. In this study, we show how ill-tuned muscle parameters and unphysiological deformations of a model's skeletal structure can be detected by using muscle elements as sensors with which modelling and parameterization inconsistencies can be identified through muscle and tendon strain injury assessment. To illustrate our approach, two modelling issues were recreated. First, a model repositioning simulation using the THUMS AM50 occupant model version 5.03 was performed to show how internal model deformations can occur during a change of model posture. Second, the muscle material parameters of the OpenSim gait2354 model were varied to illustrate how unphysiological muscle forces can arise if material parameters are inadequately calibrated. The simulations were assessed for muscle and tendon strain injuries using previously published injury criteria and a newly developed method to determine tendon strain injury threshold values. Muscle strain injuries in the left and right musculus pronator teres were detected during the model repositioning. This straining was caused by an unphysiologically large gap (12.92 mm) that had formed in the elbow joint. Similarly, muscle and tendon strain injuries were detected in the modified right-hand musculus gastrocnemius medialis of the gait2354 model where an unphysiological reduction of the tendon slack length introduced large pre-strain of the muscle-tendon unit. The results of this work show that the proposed method can quantify the internal distortion behaviour of musculoskeletal human body models and the plausibility of Hill-type muscle parameter choice via strain injury assessment. Furthermore, we highlight possible actions to avoid the presented issues and inconsistencies in literature data concerning the material characteristics of human tendons.

Effects of a soft back exoskeleton on lower lumbar spine loads during manual materials handling: a musculoskeletal modelling study

The aim of this study was to append a passive soft back exoskeleton to a validated musculoskeletal model and assess its effectiveness in reducing lumbar loads. Fifteen participants lifted a box, with and without wearing a CORFOR® exoskeleton. A full body OpenSim model was used to estimate lumbar joint moments and reaction forces, as well as low back muscles forces. Wearing the exoskeleton reduced the peak flexion moment, muscles forces, as well as peak compressive and shear forces. This musculoskeletal modelling study shows that wearing the exoskeleton may reduce lumbar spine loads and may contribute to prevent low back disorders.

Musculoskeletal models determine the effect of a soft active exosuit on muscle activations and forces during lifting and lowering tasks

Exosuits have the potential to mitigate musculoskeletal stress and prevent back injuries during industrial tasks. This study aimed to 1) validate the implementation of a soft active exosuit into a musculoskeletal model of the spine by comparing model predicted muscle activations versus corresponding surface EMG measurements, and 2) evaluate the effect of the exosuit on peak back and hip muscle forces. Fourteen healthy participants performed squat and stoop lift and lower tasks with boxes of 6 and 10 kg, with and without wearing a 2.7 kg soft active exosuit. Participant-specific musculoskeletal models, which included the exosuit, were created in OpenSim. Model validation focused on the back and hip extensors, where temporal agreement between EMG and model estimated muscle activity was generally strong to excellent (average cross-correlation coefficients ranging from 0.84 to 0.98). Root mean square errors of muscle activity (0.05-0.10) were similar with and without the exosuit, and compared well to prior model validation studies without the exosuit (average root mean square errors ranging from 0.05 to 0.19). In terms of performance, the exosuit reduced the estimated peak erector spinae forces during lifting and lowering phases across all lifting tasks but reduced peak hip extensor muscles forces only in a squat lift task of 10 kg. These reductions in total peak muscle forces were approximately 1.7-4.2 times greater than the corresponding exosuit assistance force, which were 146 ± 19 N and 102 ± 14 N at the times of peak erector spinae forces in lifting and lowering, respectively. Overall, the results support the hypothesis that exosuits reduce soft tissue loading, and thereby potentially reduce fatigue and injury risk during manual materials handling tasks. Incorporating exosuits into musculoskeletal models is a valid approach to understand the impact of exosuit assistance on muscle activity and forces.

Personalizing the shoulder rhythm in a computational upper body model improves kinematic tracking in high range-of-motion arm movements

Musculoskeletal models of the shoulder are needed to understand the mechanics of overhead motions. Existing models implementing the shoulder rhythm are generic and might not accurately represent an individual's scapular kinematics. We introduce a method to personalize the shoulder rhythm of a computational model of the upper body that defines the orientations of the clavicle and scapula based on glenohumeral joint angles. During five static calibration poses, we palpate and measure the orientation of the scapula. We explore the importance of representing shoulder elevation by introducing clavicle elevation as a degree of freedom that is independent of the glenohumeral angles. For ten subjects, we record the five calibration poses, ten additional static poses, and dynamic arm raises covering the participants' full range of motion in each body plane using optical motion capture. We examine the data using a dynamically-constrained inverse kinematics analysis. Shoulder rhythm personalization, independent clavicle elevation, and both in combination reduce the average upper body marker tracking error compared to the generic model in the static poses (26 mm to 17-20 mm) and in the dynamic trials (22 mm to 14-17 mm). Only personalization reduces the average scapula marker error (51 mm to 36-38 mm) and scapula axis-angle error (15° to 10°) compared with the palpated ground truth measurements in the static poses, and in the dynamic trials at instances that best match the static poses (53 mm to 37-40 mm, 15° to 9°). Our results show that personalizing upper body models improves kinematic tracking. We provide our experimental data, model, and methods to allow researchers to reproduce and build upon our results.

On the estimation of hip joint centre location with incomplete bone ossification for foetus-specific neuromusculoskeletal modeling

Childbirth is a complex physiological process in which a foetal neuromusculoskeletal model is of great importance to develop realistic delivery simulations and associated complication analyses. However, the estimation of hip joint centre (HJC) in foetuses remains a challenging issue. Thus, this paper aims to propose and evaluate a new approach to locate the HJC in foetuses. Hip CT-scans from 25 children (F = 11, age = 5.5 ± 2.6 years, height = 117 ± 21 cm, mass = 26 kg ± 9.5 kg) were used to propose and evaluate the novel acetabulum sphere fitting process to locate the HJC. This new approach using the acetabulum surface was applied to a population of 57 post-mortem foetal CT scans to locate the HJC as well as to determine associated regression equations using multiple linear regression. As results, the average distance between the HJC located using acetabulum sphere fitting and femoral head sphere fitting in children was 1.5 ± 0.7 mm. The average prediction error using our developed foetal HJC regression equations was 3.0 ± 1.5 mm, even though the equation for the x coordinate had a poor value of R2 (R2 for the x coordinate = 0.488). The present study suggests that the use of the acetabulum sphere fitting approach is a valid and accurate method to locate the HJC in children, and then can be extrapolated to get an estimation of the HJC in foetuses with incomplete bone ossification. Therefore, the present paper can be used as a guideline for foetus specific neuromusculoskeletal modelling.

Feasibility of predicting changes in gait biomechanics following muscle strength perturbations using optimal control in patients with transfemoral amputation

Bone-anchored limbs (BALs) are socket prosthesis alternatives, directly fixing to residual bone via osseointegrated implant. There is a need to quantify multi-level effects of rehabilitation for transfemoral BAL users (i.e. changes in joint loading and movement patterns). Our primary objective was determining feasibility of using optimal control to predict gait biomechanics compared to ground-truth experimental data from transfemoral BAL users. A secondary objective was examining biomechanical effects from estimated changes in hip abductor muscle strength. We developed and validated a workflow for predicting gait biomechanics in four transfemoral BAL users and investigated the biomechanical effects of altered hip abductor strengths.

Managing lower extremity loading in distance running by altering sagittal plane trunk leaning

BACKGROUND

Trunk lean angle is an underrepresented biomechanical variable for modulating and redistributing lower extremity joint loading and potentially reducing the risk of running-related overuse injuries. The purpose of this study was to systematically alter the trunk lean angle in distance running using an auditory real-time feedback approach and to derive dose-response relationships between sagittal plane trunk lean angle and lower extremity (cumulative) joint loading to guide overuse load management in clinical practice.

METHODS

Thirty recreational runners (15 males and 15 females) ran at a constant speed of 2.5 m/s at 5 systematically varied trunk lean conditions on a force-instrumented treadmill while kinematic and kinetic data were captured.

RESULTS

A change in trunk lean angle from -2° (extension) to 28° (flexion) resulted in a systematic increase in stance phase angular impulse, cumulative impulse, and peak moment at the hip joint in the sagittal and transversal plane. In contrast, a systematic decrease in these parameters at the knee joint in the sagittal plane and the hip joint in the frontal plane was found (p < 0.001). Linear fitting revealed that with every degree of anterior trunk leaning, the cumulative hip joint extension loading increases by 3.26 Nm·s/kg/1000 m, while simultaneously decreasing knee joint extension loading by 1.08 Nm·s/kg/1000 m.

CONCLUSION

Trunk leaning can reduce knee joint loading and hip joint abduction loading, at the cost of hip joint loading in the sagittal and transversal planes during distance running. Modulating lower extremity joint loading by altering trunk lean angle is an effective strategy to redistribute joint load between/within the knee and hip joints. When implementing anterior trunk leaning in clinical practice, the increased demands on the hip musculature, dynamic stability, and the potential trade-off with running economy should be considered.

Children and adolescents with all forms of shoulder instability demonstrate differences in their movement and muscle activity patterns when compared to age- and sex-matched controls

HYPOTHESIS AND BACKGROUND

Shoulder instability (SI) is a complex impairment, and identifying biomarkers that differentiate subgroups is challenging. Children and adolescents with SI (irrespective of etiology) have differences in their movement and muscle activity profiles compared to age- and sex-matched controls (2-tailed). There are limited fundamental movement and muscle activity data for identifying different mechanisms for SI in children and adolescents that can inform subgrouping and treatment allocation.

METHODS

Young people between 8 and 18 years were recruited into 2 groups of SI and age- and sex-matched controls (CG). All forms of SI were included, and young people with coexisting neurologic pathologies or deficits were excluded. Participants attended a single session and carried out 4 unweighted and 3 weighted tasks in which their movements and muscle activity was measured using 3-dimensional (3D) movement analysis and surface electromyography (sEMG). Statistical parametric mapping was used to identify between-group differences.

RESULTS

Data were collected for 30 young people (15 SI [6 male, 9 female] and 15 CG [8 male, 7 female]). The mean (standard deviation) age of the participants was 13.6 years (3.0). The SI group demonstrated consistently more protracted and elevated sternoclavicular joint positions during all movements. Normalized muscle activity in latissimus dorsi was lower in the SI group and had the most statistically significant differences across all movements. Where differences were identified, the SI group also had increased normalized activity of their middle trapezius, posterior deltoid, and biceps muscles but decreased activity of their latissimus dorsi, triceps and anterior deltoid muscles compared with the CG group. No statistically significant differences were found for the pectoralis major across any movements. Weighted tasks produced fewer differences in muscle activity patterns compared with unweighted tasks.

DISCUSSION AND CONCLUSION

Young people with SI may adapt their movements to minimize glenohumeral joint instability. This was demonstrated by reduced variability in acromioclavicular and sternoclavicular joint angles, adoption of different movement strategies across the same joints, and increased activity of the scapular stabilizing muscles, despite achieving similar arm positions to the CG. Young people with SI demonstrated consistent differences in their muscle activity and movement patterns. Consistently observed differences at the shoulder girdle included increased sternoclavicular protraction and elevation accompanied by increased normalized activity of the posterior scapula-stabilizing muscles. Existing methods of measurement may be used to inform clinical decision making; however, further work is needed to evaluate the prognostic and clinical utility of derived 3D and sEMG data for informing decision making within SI.

The Effect of Different Degrees of Ankle Dorsiflexion Restriction on the Biomechanics of the Lower Extremity in Stop-Jumping

Purpose

The functional status of the ankle joint is critical during dynamic movements in high-intensity sports like basketball and volleyball, particularly when performing actions such as stopping jumps. Limited ankle dorsiflexion is associated with increased injury risk and biomechanical changes during stop-jump tasks. Therefore, this study aims to investigate how restricting ankle dorsiflexion affects lower extremity biomechanics during the stop-jump phase, with a focus on the adaptive changes that occur in response to this restriction. Initially, 18 participants during stop-jumping with no wedge plate (NW), 10° wedge plate (10 W), and 20° wedge plate (20 W) using dominant leg data were collected to explore the relationship between limiting ankle mobility and lower extremity biomechanics. Following this, a musculoskeletal model was developed to simulate and calculate biomechanical data. Finally, one-dimensional parametric statistical mapping (SPM1D) was utilized to evaluate between-group variation in outcome variables using a one-way repeated measures analysis of variance (ANOVA).

Results

As the ankle restriction angle increased, knee external rotation angles, knee extension angular velocities, hip extension angle, and angular velocity increased and were significantly different at different ankle restriction angles (p  < 0.001 and p=0.001), coactivation of the peripatellar muscles (BF/RF and BF/VM) increased progressively, and patellofemoral joint contact force (PTF) increased progressively during the 3%-8% phase (p=0.015). These results highlight the influence of ankle joint restriction on lower limb kinematics and patellofemoral joint loading during the stop-jump maneuver.

Conclusion

As the angle of ankle restriction increased, there was an increase in coactivation of the peripatellar muscles and an increase in PTF, possibly because a person is unable to adequately adjust their body for balance when the ankle valgus angle is restricted. The increased coactivation of the peripatellar muscles and increased patellofemoral contact force may be a compensatory response to the body's adaptation to balance adjustments.

Musculoskeletal modeling and movement simulation for structural hip disorder research: A scoping review of methods, validation, and applications

Musculoskeletal modeling is a powerful tool to quantify biomechanical factors typically not feasible to measure in vivo, such as hip contact forces and deep muscle activations. While technological advancements in musculoskeletal modeling have increased accessibility, selecting the appropriate modeling approach for a specific research question, particularly when investigating pathological populations, has become more challenging. The purposes of this review were to summarize current modeling and simulation methods in structural hip disorder research, as well as evaluate model validation and study reproducibility. MEDLINE and Web of Science were searched to identify literature relating to the use of musculoskeletal models to investigate structural hip disorders (i.e., involving a bony abnormality of the pelvis, femur, or both). Forty-seven articles were included for analysis, which either compared multiple modeling methods or applied a single modeling workflow to answer a research question. Findings from studies comparing methods were summarized, such as the effect of generic versus patient-specific modeling techniques on model-estimated hip contact forces or muscle forces. The review also discussed limitations in validation practices, as only 11 of the included studies conducted a validation and used qualitative approaches only. Given the lack of information related to model validation, additional details regarding the development and validation of generic models were retrieved from references and modeling software documentation. To address the wide variability and under-reporting of data collection, data processing, and modeling methods highlighted in this review, we developed a template that researchers can complete and include as a table within the methodology section of their manuscripts. The use of this table will help increase transparency and reporting of essential details related to reproducibility and methods without being limited by word count restrictions. Overall, this review provides a comprehensive synthesis of modeling approaches that can help researchers make modeling decisions and evaluate existing literature.

How boots affect the kinematics and kinetics of lower limb joints during walking compared to casual footwear

Boots are widely used by many people for various purposes, but their impact on gait biomechanics and injury risk is not well understood. This study investigated the effects of boots on walking biomechanics, compared to casual footwear. The lower limb joint kinematics and kinetics of 20 healthy male participants aged 20 to 30 years old were compared during self-paced walking with boots and shoes. The results showed that walking with boots is associated with greater hip extensor (P = 0.009) and ankle dorsiflexor (P < 0.001) moments in early stance, hip power generation (P < 0.001) and knee power absorption (P < 0.001) in early swing phase, hip abductor (P < 0.001) and knee adduction (P < 0.001) moments in the entire stance, net concentric work for the hip joint in sagittal (13.9%, P = 0.001) and frontal (21.7%, P = 0.002) planes. In contrast, the subtalar supinator moment in the entire stance (P < 0.001), ankle angular velocity in late stance (P < 0.001), and net concentric (- 42.7%, P < 0.001) and eccentric (- 44.6%, P = 0.004) works of subtalar joint were significantly lower in the boot condition. The compensatory adjustments in the hip and knee joints may result from ankle restrictions. While boots may aid those with ankle disorders, lower limb loading and the risk of musculoskeletal injuries and osteoarthritis could be increased. This study offers new perspectives on the biomechanical impact of boots on gait, potential prevention and treatment strategies of related injuries, and advancing footwear design.

Estimation of the forces exerted on the limb long bones of a white rhinoceros (Ceratotherium simum) using musculoskeletal modelling and simulation

Heavy animals incur large forces on their limb bones, due to the transmission of body weight and ground reaction forces, and the contractions of the various muscles of the limbs. This is particularly true for rhinoceroses, the heaviest extant animals capable of galloping. Several studies have examined their musculoskeletal system and the forces their bones incur, but no detailed quantification has ever been attempted. Such quantification could help understand better the link between form and function in giant land animals. Here we constructed three-dimensional musculoskeletal models of the forelimb and hindlimb of Ceratotherium simum, the heaviest extant rhino species, and used static optimisation (inverse) simulations to estimate the forces applied on the bones when standing at rest, including magnitudes and directions. Overall, unsurprisingly, the most active muscles were antigravity muscles, which generate moments opposing body weight (thereby incurring the ground reaction force), and thus keep the joints extended, avoiding joint collapse via flexion. Some muscles have an antigravity action around several joints, and thus were found to be highly active, likely specialised in body weight support (ulnaris lateralis; digital flexors). The humerus was subjected to the greatest amount of forces in terms of total magnitude; forces on the humerus furthermore came from a great variety of directions. The radius was mainly subject to high-magnitude compressive joint reaction forces, but to little muscular tension, whereas the opposite pattern was observed for the ulna. The femur had a pattern similar to that of the humerus, and the tibia's pattern was intermediate, being subject to great compression in its caudal side but to great tension in its cranial side (i.e. bending). The fibula was subject to by far the lowest force magnitude. Overall, the forces estimated were consistent with the documented morphofunctional adaptations of C. simum's long bones, which have larger insertion areas for several muscles and a greater robusticity overall than those of lighter rhinos, likely reflecting the intense forces we estimated here. Our estimates of muscle and bone (joint) loading regimes for this giant tetrapod improve the understanding of the links between form and function in supportive tissues and could be extended to other aspects of bone morphology, such as microanatomy.

Predicting Knee Joint Contact Forces During Normal Walking Using Kinematic Inputs With a Long-Short Term Neural Network

Knee joint contact forces are commonly estimated via surrogate measures (i.e., external knee adduction moments or musculoskeletal modeling). Despite its capabilities, modeling is not optimal for clinicians or persons with limited experience. The purpose of this study was to design a novel prediction method for knee joint contact forces that is simplistic in terms of required inputs. This study included marker trajectories and instrumented knee forces during normal walking from the "Grand Challenge" (n = 6) and "CAMS" (n = 2) datasets. Inverse kinematics were used to derive stance phase hip (sagittal, frontal, transverse), knee (sagittal, frontal), ankle (sagittal), and trunk (frontal) kinematics. A long-short term memory network (LSTM) was created using matlab to predict medial and lateral knee force waveforms using combinations of the kinematics. The Grand Challenge and CAMS datasets trained and tested the network, respectively. Musculoskeletal modeling forces were derived using static optimization and joint reaction tools in OpenSim. Waveform accuracy was determined as the proportion of variance and root-mean-square error between network predictions and in vivo data. The LSTM network was highly accurate for medial forces (R2 = 0.77, RMSE = 0.27 BW) and required only frontal hip and knee and sagittal hip and ankle kinematics. Modeled medial force predictions were excellent (R2 = 0.77, RMSE = 0.33 BW). Lateral force predictions were poor for both methods (LSTM R2 = 0.18, RMSE = 0.08 BW; modeling R2 = 0.21, RMSE = 0.54 BW). The designed LSTM network outperformed most reports of musculoskeletal modeling, including those reached in this study, revealing knee joint forces can accurately be predicted by using only kinematic input variables.

Exoskeletons vs. exosuits: A comparative analysis using biological-based computer simulation

BACKGROUND

Interest in the design of gait assistance devices has experienced significant growth in recent years. Among various uses of assistive devices, those aimed at supporting the elderly have gained importance due to the rising population of this age group.

METHODS

This study aims to compare the efficacy of two types of assistive devices through musculoskeletal simulations. One case is an ideal device, simulating the motor actuation as it would be in a rigid exoskeleton, and, cable-assisted devices, simulating the assistance of an exosuit. The simulations were based on data obtained from 9 subjects. OpenSim, an open-source software, was employed to conduct the simulations.

RESULTS

Our findings indicate that the cable-assisted device outperforms the traditional exoskeleton by achieving a more significant reduction in the metabolic cost with relatively lower assistance power.

CONCLUSION

Cable-assisted gait assistance devices have shown comparable results to traditional exoskeletons, with the added advantage of improved performance through reduced power requirements.

Marker-Based Versus IMU-Based Kinematics for Estimates of Lumbar Spine Loads Using a Full-Body Musculoskeletal Model

Musculoskeletal modeling, typically implemented using marker-based systems in laboratory environments, is commonly used for noninvasive estimations of loads. Inertial measurement units (IMUs) have become an alternative for the evaluation of kinematics. However, estimates of spine joint contact forces using IMUs have yet to be thoroughly evaluated. Dynamics tasks and static postures from activities of daily living were captured on 11 healthy subjects using both systems simultaneously. Spine kinematics obtained from IMU- and marker-based systems and L4-L5 joint contact forces were compared. Lateral bending resulted in a weak agreement with significant differences between the 2 systems (P = .02, average root mean-squared error = 4.81), whereas flexion-extension and axial rotation exhibited the highest agreement with no significant differences (P < .05, average root mean-squared error = 5.51 and P < .31, average root mean-squared error = 5.08, respectively). All tasks showed excellent correlations (R2 = .76-.99) in estimated loads between systems. Differences in predicted loads at the L4-L5 were only observed during flexion-extension (1041 N vs 947 N, P = .0004) and walking with weights (814 N vs 727 N, P = .004). Different joint reaction force outcomes were obtained in 2 of the 8 tasks between systems, suggesting that IMUs can be robust tools allowing for convenient and less expensive evaluations and for longitudinal assessments inside and outside the laboratory setting.

The Morphology of the Femur Influences the Fracture Risk during Stumbling and Falls on the Hip-A Computational Biomechanical Study

Proximal femur fracture risk depends on subject-specific factors such as bone mineral density and morphological parameters. Here, we aim to analyze the dependency of the femoral strength on sixteen morphological parameters. Therefore, finite-element analyses of 20 human femurs during stumbling and lateral falls on the hip were conducted. Pearson correlation coefficients were calculated and morphological parameters with significant correlations were examined in principal component analysis and linear regression analysis. The dependency of the fracture strength on morphological parameters was more pronounced during lateral falls on the hip compared to stumbling. Significant correlations were observed between the neck shaft angle (r = -0.474), neck diameter (r = 0.507), the true distance between the femoral head center and femoral shaft axis (r = 0.459), and its projected distance on the frontal plane (r = 0.511), greater trochanter height (r = 0.497), and distance between the femoral head center and a plane parallel to the frontal plane containing the projection of the femoral head center to the femoral neck axis (r = 0.669). Principal component analysis was strongly weighted by parameters defining the lever arm during a lateral fall as well as the loaded cross-section in the femoral neck.

A Biomechanical Comparison Between a High and Low Barbell Placement on Net Joint Moments, Kinematics, Muscle Forces, and Muscle-Specific Moments in 3 Repetition Maximum Back Squats

ABSTRACT

Larsen, S, de Zee, M, Kristiansen, EL, and van den Tillaar, R. A biomechanical comparison between a high and low barbell placement on net joint moments, kinematics, muscle forces, and muscle-specific moments in 3 repetition maximum back squats. J Strength Cond Res 38(7): 1221-1230, 2024-This study aimed to investigate the impact of a high barbell vs. low barbell placement on net joint moments, muscle forces, and muscle-specific moments in the lower extremity joints and muscles during maximum back squats. Twelve recreationally trained men (age = 25.3 ± 2.9 years, height = 1.79 ± 7.7 m, and body mass = 82.8 ± 6.9 kg) volunteered for the study. A marker-based motion capture system and force plate data were used to calculate the net joint moments, and individual muscle forces were estimated using static optimization. Muscle forces were multiplied by their corresponding internal moment arms to determine muscle-specific moments. Statistical parametric mapping was used to analyze the effect of barbell placement as time-series data during the concentric phase. The 3 repetition maximum barbell load lifted by the subjects was 129.1 ± 13.4 kg and 130.2 ± 12.7 kg in the high bar and low bar, which were not significantly different from each other. Moreover, no significant differences were observed in net joint moments, muscle forces, or muscle-specific moments for the hip, knee, or ankle joint between the low- and high bar placements. The findings of this study suggest that barbell placement plays a minor role in lower extremity muscle forces and moment-specific moments when stance width is standardized, and barbell load lifted does not differ between barbell placements among recreationally resistance-trained men during maximal back squats. Therefore, the choice of barbell placement should be based on individual preference and comfort.

Surrogate Simulation of Subject-Specific Lateral Pinch via Deep Learning

Musculoskeletal modeling and simulation is often a lengthy and computationally expensive process, particularly when developing and using personalized models. We present a deep learning-based adaptive surrogate model for lateral pinch, which accepts both musculoskeletal parameters and muscle activations as input for personalization and simulation. This model matches traditional OpenSim forward dynamics with an average root-mean-squared error (RMSE) of 2.27 N, within standard errors of experimental measurements, while demonstrating sensitivity to both categories of input and performing thousand of simulations in seconds (10-1000x faster than traditional multi-body simulations). In addition to direct use as a surrogate, the differentiable nature of the model may support future use in optimization problems, while its flexibility may support adaptation to modeling of experimental data.

An articulated shape model to predict paediatric lower limb bone geometry using sparse landmarks

Creating musculoskeletal models in a paediatric population currently involves either creating an image-based model from medical imaging data or a generic model using linear scaling. Image-based models provide a high level of accuracy but are time-consuming and costly to implement, on the other hand, linear scaling of an adult template musculoskeletal model is faster and common practice, but the output errors are significantly higher. An articulated shape model incorporates pose and shape to predict geometry for use in musculoskeletal models based on existing information from a population to provide both a fast and accurate method. From a population of 333 children aged 4-18 years old, we have developed an articulated shape model of paediatric lower limb bones to predict bone geometry from eight bone landmarks commonly used for motion capture. Bone surface root mean squared errors were found to be 2.63 ± 0.90 mm, 1.97 ± 0.61 mm, and 1.72 ± 0.51 mm for the pelvis, femur, and tibia/fibula, respectively. Linear scaling produced bone surface errors of 4.79 ± 1.39 mm, 4.38 ± 0.72 mm, and 4.39 ± 0.86 mm for the pelvis, femur, and tibia/fibula, respectively. Clinical bone measurement errors were low across all bones predicted using the articulated shape model, which outperformed linear scaling for all measurements. However, the model failed to accurately capture torsional measures (femoral anteversion and tibial torsion). Overall, the articulated shape model was shown to be a fast and accurate method to predict lower limb bone geometry in a paediatric population, superior to linear scaling.

Gait balance recovery after tripping: The influence of walking speed and ground inclination on muscle and joint function

Reactive lower limb muscle function during walking plays a key role in balance recovery following tripping, and ultimately fall prevention. The objective of this study was to evaluate muscle and joint function in the recovery limb during balance recovery after trip-based perturbations during walking. Twenty-four healthy participants underwent gait analysis while walking at slow, moderate and fast speeds over level, uphill and downhill inclines. Trip perturbations were performed randomly during stance, and lower limb kinematics, kinetics, and muscle contribution to the acceleration of the whole-body centre of mass (COM) were computed pre- and post-perturbation in the recovery limb. Ground slope and walking speed had a significant effect on lower limb joint angles, net joint moments and muscle contributions to support and propulsion during trip recovery (p < 0.05). Specifically, increasing walking speed during trip recovery significantly reduced hip extension in the recovery limb and increased knee flexion, particularly when walking uphill and at higher walking speeds (p < 0.05). Gluteus maximus played a critical role in providing support and forward propulsion of the body during trip recovery across all gait speeds and ground inclinations. This study provides a mechanistic link between muscle action, joint motion and COM acceleration during trip recovery, and underscores the potential of increased walking speed and ground inclination to increase fall risk, particularly in individuals prone to falling. The findings of this study may provide guidelines for targeted exercise therapy such as muscle strengthening for fall prevention.

An OpenSim thoracolumbar spine model applying a bottom-up modelling approach is similar to a top-down approach

The kinetic demands of the spine can be assessed using a top-down (TD) or bottom-up (BU) approach, which start calculations from the either the hands or from the feet, respectively. Biomechanists have traditionally favored a BU approach, though existing modeling approaches encourage a TD approach. Regardless of the approach the demands should be similar, provided the external forces and linked segment parameters are equivalently measured and modeled. Demonstrating a level of agreement between the two approaches can help evaluate a model. Further, having both approaches can be advantageous when data is inaccurate or unavailable for one. The purpose of this study was to compare the internal moments and forces at multiple lumbar and thoracic intervertebral joint (IVJ) levels during lifting tasks from an established OpenSim thoracolumbar spine model that applies a TD approach and a similar model modified to adopt a BU approach. Kinematics and external forces were recorded from twelve participants during sagittal and lateral lifts of different lifting speeds and crate masses. For both approaches IVJ kinetics were estimated using a standard OpenSim modeling pipeline. The BU and TD approach IVJ joint moments generally agreed both temporally (R2 = .94 ± .17) and in magnitude (RMSE=6.2 ± 3.5 Nm) of the primary planes of movement. There were however some temporal fit exceptions for off axes moments with low magnitudes (i.e., < 10 Nm). Bland-Altman plots also indicated acceptable agreement for IVJ peak forces (BU-TD difference of 12 ± 111 and 8 ± 31 N in compression and resultant shear, respectfully). These results support the application of the BU approach and the assigned linked segment parameters of the model. The new BU model is available on the SimTK site (https://simtk.org/projects/spine_ribcage).

The effect of including a mobile arch, toe joint, and joint coupling on predictive neuromuscular simulations of human walking

Predictive neuromuscular simulations are a powerful tool for studying the biomechanics of human walking, and deriving design criteria for technical devices like prostheses or biorobots. Good agreement between simulation and human data is essential for transferability to the real world. The human foot is often modeled with a single rigid element, but knowledge of how the foot model affects gait prediction is limited. Standardized procedures for selecting appropriate foot models are lacking. We performed 2D predictive neuromuscular simulations with six different foot models of increasing complexity to answer two questions: What is the effect of a mobile arch, a toe joint, and the coupling of toe and arch motion through the plantar fascia on gait prediction? and How much of the foot's anatomy do we need to model to predict sagittal plane walking kinematics and kinetics in good agreement with human data? We found that the foot model had a significant impact on ankle kinematics during terminal stance, push-off, and toe and arch kinematics. When focusing only on hip and knee kinematics, rigid foot models are sufficient. We hope our findings will help guide the community in modeling the human foot according to specific research goals and improve neuromuscular simulation accuracy.

Experiment-guided tuning of muscle-tendon parameters to estimate muscle fiber lengths and passive forces

The workflow to simulate motion with recorded data usually starts with selecting a generic musculoskeletal model and scaling it to represent subject-specific characteristics. Simulating muscle dynamics with muscle-tendon parameters computed from existing scaling methods in literature, however, yields some inconsistencies compared to measurable outcomes. For instance, simulating fiber lengths and muscle excitations during walking with linearly scaled parameters does not resemble established patterns in the literature. This study presents a tool that leverages reported in vivo experimental observations to tune muscle-tendon parameters and evaluates their influence in estimating muscle excitations and metabolic costs during walking. From a scaled generic musculoskeletal model, we tuned optimal fiber length, tendon slack length, and tendon stiffness to match reported fiber lengths from ultrasound imaging and muscle passive force-length relationships to match reported in vivo joint moment-angle relationships. With tuned parameters, muscle contracted more isometrically, and soleus's operating range was better estimated than with linearly scaled parameters. Also, with tuned parameters, on/off timing of nearly all muscles' excitations in the model agreed with reported electromyographic signals, and metabolic rate trajectories varied significantly throughout the gait cycle compared to linearly scaled parameters. Our tool, freely available online, can customize muscle-tendon parameters easily and be adapted to incorporate more experimental data.

Bridging the sim2real gap. Investigating deviations between experimental motion measurements and musculoskeletal simulation results-a systematic review

Musculoskeletal simulations can be used to estimate biomechanical variables like muscle forces and joint torques from non-invasive experimental data using inverse and forward methods. Inverse kinematics followed by inverse dynamics (ID) uses body motion and external force measurements to compute joint movements and the corresponding joint loads, respectively. ID leads to residual forces and torques (residuals) that are not physically realistic, because of measurement noise and modeling assumptions. Forward dynamic simulations (FD) are found by tracking experimental data. They do not generate residuals but will move away from experimental data to achieve this. Therefore, there is a gap between reality (the experimental measurements) and simulations in both approaches, the sim2real gap. To answer (patho-) physiological research questions, simulation results have to be accurate and reliable; the sim2real gap needs to be handled. Therefore, we reviewed methods to handle the sim2real gap in such musculoskeletal simulations. The review identifies, classifies and analyses existing methods that bridge the sim2real gap, including their strengths and limitations. Using a systematic approach, we conducted an electronic search in the databases Scopus, PubMed and Web of Science. We selected and included 85 relevant papers that were sorted into eight different solution clusters based on three aspects: how the sim2real gap is handled, the mathematical method used, and the parameters/variables of the simulations which were adjusted. Each cluster has a distinctive way of handling the sim2real gap with accompanying strengths and limitations. Ultimately, the method choice largely depends on various factors: available model, input parameters/variables, investigated movement and of course the underlying research aim. Researchers should be aware that the sim2real gap remains for both ID and FD approaches. However, we conclude that multimodal approaches tracking kinematic and dynamic measurements may be one possible solution to handle the sim2real gap as methods tracking multimodal measurements (some combination of sensor position/orientation or EMG measurements), consistently lead to better tracking performances. Initial analyses show that motion analysis performance can be enhanced by using multimodal measurements as different sensor technologies can compensate each other's weaknesses.

Human motion data expansion from arbitrary sparse sensors with shallow recurrent decoders

Advances in deep learning and sparse sensing have emerged as powerful tools for monitoring human motion in natural environments. We develop a deep learning architecture, constructed from a shallow recurrent decoder network, that expands human motion data by mapping a limited (sparse) number of sensors to a comprehensive (dense) configuration, thereby inferring the motion of unmonitored body segments. Even with a single sensor, we reconstruct the comprehensive set of time series measurements, which are important for tracking and informing movement-related health and performance outcomes. Notably, this mapping leverages sensor time histories to inform the transformation from sparse to dense sensor configurations. We apply this mapping architecture to a variety of datasets, including controlled movement tasks, gait pattern exploration, and free-moving environments. Additionally, this mapping can be subject-specific (based on an individual's unique data for deployment at home and in the community) or group-based (where data from a large group are used to learn a general movement model and predict outcomes for unknown subjects). By expanding our datasets to unmeasured or unavailable quantities, this work can impact clinical trials, robotic/device control, and human performance by improving the accuracy and availability of digital biomarker estimates.

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.

Advanced subject-specific neck musculoskeletal modeling unveils sex differences in muscle moment arm and cervical spine loading

Neck pain and injuries are growing healthcare burdens with women having a higher incidence rate and poorer treatment outcomes than males. A better understanding of sex differences in neck biomechanics, foundational for more targeted, effective prevention or treatment strategies, calls for more advanced subject-specific musculoskeletal modeling. Current neck musculoskeletal models are based on generic anatomy, lack subject specificity beyond anthropometric scaling, and are unable to accurately reproduce neck strengths exhibited in vivo without arbitrary muscle force scaling factors or residual torque actuators. In this work, subject-specific neck musculoskeletal models of 23 individuals (11 male, 12 female) were constructed by integrating multi-modality imaging and biomechanical measurements. Each model simulated maximal voluntary neck static exertions in three postures: neck flexion in a neutral posture, flexion in a 40° extended posture, and extension in a 40° flexed posture. Quantitative model validation showed close agreement between model-predicted muscle activation and EMG measurement. The models unveiled that (1) males have greater moment arms in one flexor muscle group and five extensor muscle groups, (2) females exhibited higher cervical spinal compression per unit exertion force in the flexed posture, and (3) the variability of compression force was much greater in females in all three exertions but most notably in the extension with a flexed "dropped head" position. These insights illuminated a plausible pathway from sex differences in neck biomechanics to sex disparities in the risk and prevalence of neck pain.