The consequences of short-range stiffness and fluctuating muscle activity for proprioception of postural joint rotations: the relevance to human standing

Motor unit modes in the calf muscles during a submaximal isometric contraction are changed by brief stretches

The purpose of our study was to investigate the influence of a stretch intervention on the common modulation of discharge rate among motor units in the calf muscles during a submaximal isometric contraction. The current report comprises a computational analysis of a motor unit dataset that we published previously (Mazzo et al., 2021). Motor unit activity was recorded from the three main plantar flexor muscles while participants performed an isometric contraction at 10% of the maximal voluntary contraction force before and after each of two interventions. The interventions were a control task (standing balance) and static stretching of the plantar flexor muscles. A factorization analysis on the smoothed discharge rates of the motor units from all three muscles yielded three modes that were independent of the individual muscles. The composition of the modes was not changed by the standing-balance task, whereas the stretching exercise reduced the average correlation in the second mode and increased it in the third mode. A centroid analysis on the correlation values showed that most motor units were associated with two or three modes, which were presumed to indicate shared synaptic inputs. The percentage of motor units adjacent to the seven centroids changed after both interventions: Control intervention, mode 1 decreased and the shared mode 1 + 2 increased; stretch intervention, shared modes either decreased (1 + 2) or increased (1 + 3). These findings indicate that the neuromuscular adjustments during both interventions were sufficient to change the motor unit modes when the same task was performed after each intervention. KEY POINTS: Based on covariation of the discharge rates of motor units in the calf muscles during a submaximal isometric contraction, factor analysis was used to assign the correlated discharge trains to three motor unit modes. The motor unit modes were determined from the combined set of all identified motor units across the three muscles before and after each participant performed a control and a stretch intervention. The composition of the motor unit modes changed after the stretching exercise, but not after the control task (standing balance). A centroid analysis on the distribution of correlation values found that most motor units were associated with a shared centroid and this distribution, presumably reflecting shared synaptic input, changed after both interventions. Our results demonstrate how the distribution of multiple common synaptic inputs to the motor neurons innervating the plantar flexor muscles changes after a brief series of stretches.

Is the attenuation effect on the ankle muscles activity from the EMG biofeedback generalized to - or compensated by - other lower limb muscles during standing?

Biofeedback based on electromyograms (EMGs) has been recently proposed to reduce exaggerated postural activity. Whether the effect of EMG biofeedback on the targeted muscles generalizes to - or is compensated by - other muscles is still an open question we address here. Fourteen young individuals were tested in three 60 s standing trials, without and with EMG-audio feedback: (i) collectively from soleus and medial gastrocnemius and (ii) from medial gastrocnemii. The Root Mean Square (RMS) of bipolar EMGs sampled from postural muscles bilaterally was computed to assess the degree of activity and postural sway was assessed from the center of pressure (CoP). In relation to standing at naturally, EMG-audio feedback from soleus and medial gastrocnemii decreased plantar flexors' activity (∼10 %) but at the cost of increased amplitude of tibialis anterior (∼5%) and vasti muscles (∼20 %) accompanied by a posterior shift of the mean CoP position. However, EMG-audio feedback from medial gastrocnemii reduced only plantar flexors' activity (∼5%) when compared to standing at naturally. Current results suggest the EMG biofeedback has the potential to reduce calf muscles' activity without loading other postural muscles especially when using medial gastrocnemii as feedback source, with implications on postural training aimed at assisting individuals in activating more efficiently postural muscles during standing.

Frontal plane ankle stiffness increases with axial load independent of muscle activity

Ankle sprains are the most common musculoskeletal injury, typically resulting from excessive inversion of the ankle. One way to prevent excessive inversion and maintain ankle stability is to generate a stiffness that is sufficient to resist externally imposed rotations. Frontal-plane ankle stiffness increases as participants place more weight on their ankle, but whether this effect is due to muscle activation or axial loading of the ankle is unknown. Identifying whether and to what extent axial loading affects ankle stiffness is important in understanding what role the passive mechanics of the ankle joint play in maintaining its stability. The objective of this study was to determine the effect of passive axial load on frontal-plane ankle stiffness. We had subjects seated in a chair as an axial load was applied to the ankle ranging from 10% to 50% body weight. Small rotational perturbations were applied to the ankle in the frontal plane to estimate stiffness. We found a significant, linear, 3-fold increase in ankle stiffness with axial load from the range of 0% body weight to 50% body weight. This increase could not be due to muscle activity as we observed no significant axial-load-dependent change in any of the recorded muscle activations. These results demonstrate that axial loading is a significant contributor to maintaining frontal-plane ankle stability, and that disruptions to the mechanism mediating this sensitivity of stiffness to axial loading may result in pathological cases of ankle instability.

Effects of Occasional and Habitual Wearing of High-Heeled Shoes on Static Balance in Young Women

The purpose of this study was to examine the effects of occasional and habitual wearing of high-heeled shoes on static balance in young women. Groups of habitual high-heel wearers and non-wearers (n = 7 in both groups) were asked to stand quietly on a force platform without shoes (WS condition) or with high heels (heel area 1 cm², heel height 7 cm) (HH condition). During the trials, the center-of-pressure (CoP) position in the anterior-posterior direction was measured, and its root mean square (as a measure of postural sway magnitude, CoP_RMS) and mean velocity (as a measure of regulatory activity, CoP_MV) were calculated. To further examine the effect of high-heel wearing on the temporal aspects of slow and fast processes in static balance, the CoP sway was decomposed into low- (below 0.5 Hz) and high- (above 0.5 Hz) frequency components, and then spectral analysis was performed. Results showed that the CoP_RMS was not significantly different between the groups or between the shoe conditions, indicating that wearing high heels with a heel height of 7 cm did not increase the magnitude of postural sway, irrespective of high-heel experience. The CoP_MV was significantly larger in the HH condition than in the WS condition, whereas it was not significantly different between the groups. This result indicates that wearing high heels increased the amount of regulatory activity in both habitual wearers and non-wearers. The spectral analysis further showed that habitual high-heel wearers showed significantly decreased rate of regulatory activity than non-wearers, both while standing with and without high heels. These results suggest that use-dependent changes in static balance control are evident in both high-heeled and without shoes conditions.

The Kapitza's Pendulum as a Concurrent Strategy for Maintaining Upright Posture

A Kapitza's pendulum shows that it is possible to stabilize an inverted pendulum by making its base oscillate vertically. This action seems to introduce an inertial effect which will produce an attractor about the upright vertical position. This work shows that the upright posture of the trunk achieved while walking can be explained using a combination of a vertical oscillation and an angular stiffness regulation at the pelvis. This is shown with an estimated oscillation and stiffness obtained from video recordings of an unimpaired and a Parkinsoninan gaits. By simulating the dynamic model of the pendulum for a range of parameters, a series of stability conditions are found. They show that the introduction of the vertical oscillation results in a fast stabilization of the trunk and point to control strategies which rely on the system's dynamics.

Biomechanical muscle stiffness measures of extensor digitorum explain potential mechanism of McArdle sign

BACKGROUND

McArdle sign is a phenomenon of impaired gait and muscle weakness that occurs with neck flexion, immediately reversible with neck extension. A recent report measured the specificity of this sign for multiple sclerosis by measuring differences in peak torque of the extensor digitorum between neck extension and flexion.

METHODS

This substudy included 73 participants (29 multiple sclerosis, 20 non-multiple sclerosis myelopathies, 5 peripheral nerve disorders, and 19 healthy controls). The effect of neck position was assessed on muscle stiffness and neuromechanical error of the extensor digitorum.

FINDINGS

Patients with multiple sclerosis had greater neuromechanical error (sum of squared error of prediction) compared to controls (P = 0.023) and non-multiple sclerosis myelopathies (P = 0.003). Neuromechanical error also provided improved sensitivity/specificity of McArdle sign. Peak torque, muscle stiffness, and neuromechanical error could distinguish multiple sclerosis from other myelopathies with 80% specificity and 97% sensitivity (AUC = 0.95).

INTERPRETATION

A decrease in muscle stiffness and neuromechanical error in neck flexion compared to extension are additional indicators for a diagnosis of multiple sclerosis. Analysis of muscle stiffness may provide insights into the pathophysiology of this specific clinical sign for multiple sclerosis. Furthermore, muscle stiffness may provide an additional accurate, simple assessment to evaluate multiple sclerosis therapeutic interventions and disease progression.

Modeling the neuro-mechanics of human balance when recovering from a fall: a continuous-time approach

BACKGROUND

Balance control deteriorates with age and nearly 30% of the elderly population in the United States reports stability problems. Postural stability is an integral task to daily living reliant upon the control of the ankle and hip. To this end, the estimation of joint parameters can be a useful tool when analyzing compensatory actions aimed at maintaining postural stability.

METHODS

Using an analytical approach, this study expands on previous work and analyzes a two degrees of freedom human model. The first two modes of vibration of the system are represented by the neuro-mechanical parameters of a second-order, time-varying Kelvin-Voigt model actuated at the ankle and hip. The model is tested using a custom double inverted pendulum and healthy volunteers who were subjected to a positional step-like perturbation during quiet standing. An in silico sensitivity analysis of the influence of inertial parameters was also performed.

RESULTS

The proposed method is able to correctly identify the time-varying visco-elastic parameters of of a double inverted pendulum. We show that that the parameter estimation method can be applied to standing humans. These results appear to identify a subject-independent strategy to control quiet standing that combines both the modulation of stiffness, and the use of an intermittent control.

CONCLUSIONS

This paper presents the analysis of the non-linear system of differential equations representing the control of lumped muscle-tendon units. It utilizes motion capture measurements to obtain the estimates of the system's control parameters by constructing a simple time-dependent regressor for estimating the time-varying parameters of the control with a single perturbation. This work is a step forward into the understanding of the neuro-mechanical control parameters of human recovering from a fall. In previous literature, the analysis is either restricted to the first vibrational mode of an inverted-pendulum model or assumed to be time-invariant. The proposed method allows for the analysis of hip related movement for stability control and highlights the importance of core training.

Association Between Plantarflexion Torque Variability In Quiet Stance And During Force And Position Tasks

This study examined the association between plantarflexion torque variability during quiet bipedal standing (QS) and during plantarflexion force- and position-matching tasks (FT and PT, respectively). In QS, participants stood still over a force plate, and the mean plantarflexion torque level exerted by each subject in QS (divided by 2 to give the torque due to a single leg) served as the target torque level for right leg FT and PT (performed with the participants seated with their right knee fully extended). During FT participants controlled the force level exerted by the foot against a rigid restraint, while during PT they controlled the angular position of the ankle when sustaining equivalent inertial loads. Standard deviation (SD) of plantarflexion torque was computed from torque signals acquired during periods with and without visual feedback. Significant correlations were found between plantarflexion torque variability in QS and FT (r = 0.8615, p < 0.0001 and r = 0.8838, p = 0.0003 for visual and no visual conditions, respectively) as well as between QS and PT (r = 0.8046, p = 0.003 and r = 0.7332, p = 0.0103 for visual and no visual conditions, respectively), regardless of vision availability. No significant differences were found between the correlations for Qs vs FT and QS vs PT (t(8) = 0.4778, p = 0.6455 and t(8) = 1.6819, p = 0.1310 for visual and no visual conditions, respectively), as assessed by "Hotelling-Williams" tests for equality among dependent correlations. The results indicate that simple measurements of plantarflexion torque fluctuations during FT and PT may be used to estimate balance ability. From a practical standpoint, it is suggested that rehabilitation protocols designed to regain/improve balance function may be based on the performance of FTs or PTs executed in a seated position.

Acting together, destabilizing influences can stabilize human balance

The causes of falling in the elderly are multi-factorial. Three factors that influence balance stability are the time delay, a sensory dead zone and the maximum ankle torque that can be generated by muscular contraction. Here, the effects of these contributions are evaluated in the context of a model of an inverted pendulum stabilized by time-delayed proportional-derivative (PD) feedback. The effect of the sensory dead zone is to produce a hybrid type of control in which the PD feedback is switched ON or OFF depending on whether or not the controlled variable is larger or smaller than the detection threshold, Π. It is shown that, as Π increases, the region in the plane of control parameters where the balance time (BT) is greater than 60 s is increased slightly. However, when maximum ankle torque is also limited, there is a dramatic increase in the parameter region associated with BTs greater than 60 s. This increase is due to the effects of a torque limitation on over-control associated with bang-bang type switching controllers. These observations show that acting together influences, which are typically thought to destabilize balance, can actually stabilize balance. This article is part of the theme issue 'Nonlinear dynamics of delay systems'.

Parameters of the crossing points between center of pressure and center of mass signals are potential markers of postural control efficiency

Posturographic signals were recorded for 384 subjects of different ages and with old persons with gait disturbances. Four conditions were used: Eyes Open/Closed vs. Head Normal/Bent Back. ‘Center of Pressure’ (CoP) signals were decomposed into ‘Center of Mass’ (CoM) and the remaining difference between Center of Pressure and Center of Mass (CoPM). The Zero-Crossing points in which the Center of Mass and Center of Pressure paths cross each other have been extracted. Velocity of CoM, velocity of CoPM and acceleration of CoPM in Zero-Crossing points were analyzed to be potential markers of balance efficiency. Three factors causing the deterioration of balance quality were analyzed: closing eyes, bending the head back and patient age. The influence of the given factors was measured using the significance p of the t-Student test and Cohen's d effect size and applied to differences for the logarithms of three of the mentioned above variables measured without and with the given deteriorating factor. In the majority of comparisons, the proposed new parameters of balance quality possessed higher statistical power to detect deteriorated balance quality than the standard parameters: standard deviation of the signal and ellipse area covering 90% of the signal envelope. Most valuable are the velocity and acceleration of CoPM for the medio-lateral direction. Logarithms of the analyzed parameters are proposed to be used in analyses because they possess normal or close to normal distribution and they are less sensitive to single high values occurring often in measurements.

Attainment of Quiet Standing in Humans: Are the Lower Limb Joints Controlled Relative to a Misaligned Postural Reference?

In human quiet standing, the relative position between ankle joint centre and line of gravity is neurally regulated within tight limits. The regulation of the knee and hip configuration is unclear and thought to be controlled passively. However, perturbed standing experiments have shown a lower limb multi-joint coordination. Here, measuring the relative alignment between lower limb joints and the line of gravity in quiet standing after walking, we investigated whether the configuration is maintained over time through passive mechanisms or active control. Thirteen healthy adults walked without following a path and then stood quietly for 7.6 s on a force platform (up to four trials). The transition between initiation and steady-state standing (7.6 s) was measured using motion capture. Sagittal lower limb joint centres' position relative to line of gravity (CoG_AP) and their time constants were calculated in each trial. Ankle, knee, and hip joint moments were also calculated through inverse dynamics. After walking, the body decelerated (τ = 0.16 s). The ankle and hip joints' position relative to CoG_AP measured at two time intervals of quiet standing (Mid = 0.5-0.55 s; End = 7.55-7.6 s) were different (mean ± SEM, CoG_{AP-Ankle_Mid} = 47 ± 4 mm, CoG_{AP-Ankle_End} = 58 ± 5 mm; CoG_{AP-Hip_Mid} = 2 ± 5 mm, CoG_{AP-Hip_End} = -5 ± 5 mm). The ankle, knee, and hip flexion-extension moments significantly changed. Changes in joints position relative to CoG_AP and misalignment suggest that joint position is not maintained over 7.6 s, but regulated relative to a standing reference. Higher joint moments at steady-state standing suggest mechanisms other than passive knee and hip regulation are involved in standing.

Microchaos in human postural balance: Sensory dead zones and sampled time-delayed feedback

Models for the stabilization of an inverted pendulum figure prominently in studies of human balance control. Surprisingly, fluctuations in measures related to the vertical displacement angle for quietly standing adults with eyes closed exhibit chaos. Here we show that small-amplitude chaotic fluctuations ("microchaos") can be generated by the interplay between three essential components of human neural balance control, namely time-delayed feedback, a sensory dead zone, and frequency-dependent encoding of force. When the sampling frequency of the force encoding is decreased, the sensitivity of the balance control to changes in the initial conditions increases. The sampled, time-delayed nature of the balance control may provide insights into why falls are more common in the very young and the elderly.

Decreased high-frequency center-of-pressure complexity in recently concussed asymptomatic athletes

Two experiments compared multiple methods of estimating postural stability entropy to address: 1) if postural complexity differences exist between concussed and healthy athletes immediately following return-to-play; 2) which methods best detect such differences; and 3) what is an appropriate interpretation of such differences. First, center of pressure (COP) data were collected from six concussed athletes over the six weeks immediately following their concussion and from 24 healthy athletes. Second, 25 healthy non-athletes performed four quiet standing tasks: normal, co-contracting their lower extremity muscles, performing a cognitive arithmetic task, and voluntarily manipulating their sway. Postural complexity was calculated using approximate, sample, multi-variate sample, and multi-variate composite multi-scale (MV-CompMSE) entropy methods for both high-pass filtered and low-pass filtered COP data. MV-CompMSE of the high-pass filtered COP signal identified the most consistent differences between groups, with concussed athletes exhibiting less complexity over the high frequency COP time-series. Among healthy non-athletes, high-pass filtered MV-CompMSE increased only in the co-contraction condition, suggesting the decrease in high frequency MV-CompMSE found in concussed athletes may be due to more relaxed muscles or less complex muscle contractions. This decrease in entropy may associate with reported increases in intra-cortical inhibition. Furthermore, a single-case study suggested high frequency MV-CompMSE may be a useful clinical tool for concussion management.

Stance Postural Strategies in Patients with Chronic Inflammatory Demyelinating Polyradiculoneuropathy

Introduction

Polyneuropathy leads to postural instability and an increased risk of falling. We investigated how impaired motor impairment and proprioceptive input due to neuropathy influences postural strategies.

Methods

Platformless bisegmental posturography data were recorded in healthy subjects and patients with chronic inflammatory demyelinating polyradiculoneuropathy (CIDP). Each subject stood on the floor, wore a head and a hip electromagnetic tracker. Sway amplitude and velocity were recorded and the mean direction difference (MDD) in the velocity vector between trackers was calculated as a flexibility index.

Results

Head and hip postural sway increased more in patients with CIDP than in healthy controls. MDD values reflecting hip strategies also increased more in patients than in controls. In the eyes closed condition MDD values in healthy subjects decreased but in patients remained unchanged.

Discussion

Sensori-motor impairment changes the balance between postural strategies that patients adopt to maintain upright quiet stance. Motor impairment leads to hip postural strategy overweight (eyes open), and prevents strategy re-balancing when the sensory context predominantly relies on proprioceptive input (eyes closed).

Sway-dependent changes in standing ankle stiffness caused by muscle thixotropy

Key points

The passive stiffness of the calf muscles contributes to standing balance, although the properties of muscle tissue are highly labile.

We investigated the effect of sway history upon intrinsic ankle stiffness and demonstrated reductions in stiffness of up to 43% during conditions of increased baseline sway.

This sway dependence was most apparent when using low amplitude stiffness‐measuring perturbations, and the short‐range stiffness component was smaller during periods of high sway.

These characteristics are consistent with the thixotropic properties of the calf muscles causing the observed changes in ankle stiffness.

Periods of increased sway impair the passive stabilization of standing, demanding more active neural control of balance.

Abstract

Quiet standing is achieved through a combination of active and passive mechanisms, consisting of neural control and intrinsic mechanical stiffness of the ankle joint, respectively. The mechanical stiffness is partly determined by the calf muscles. However, the viscoelastic properties of muscle are highly labile, exhibiting a strong dependence on movement history. By measuring the effect of sway history upon ankle stiffness, the present study determines whether this lability has consequences for the passive stabilization of human standing. Ten subjects stood quietly on a rotating platform whose axis was collinear with the ankle joint. Ankle sway was increased by slowly tilting this platform in a random fashion, or decreased by fixing the body to a board. Ankle stiffness was measured by using the same platform to simultaneously apply small, brief perturbations (<0.6 deg; 140 ms) at the same time as the resulting torque response was recorded. The results show that increasing sway reduces ankle stiffness by up to 43% compared to the body‐fixed condition. Normal quiet stance was associated with intermediate values. The effect was most apparent when using smaller perturbation amplitudes to measure stiffness (0.1 vs. 0.6 deg). Furthermore, torque responses exhibited a biphasic pattern, consisting of an initial steep rise followed by a shallower increase. This transition occurred earlier during increased levels of ankle sway. These results are consistent with a movement‐dependent change in passive ankle stiffness caused by thixotropic properties of the calf muscle. The consequence is to place increased reliance upon active neural control during times when increased sway renders ankle stiffness low.

The passive stiffness of the calf muscles contributes to standing balance, although the properties of muscle tissue are highly labile.

We investigated the effect of sway history upon intrinsic ankle stiffness and demonstrated reductions in stiffness of up to 43% during conditions of increased baseline sway.

This sway dependence was most apparent when using low amplitude stiffness‐measuring perturbations, and the short‐range stiffness component was smaller during periods of high sway.

These characteristics are consistent with the thixotropic properties of the calf muscles causing the observed changes in ankle stiffness.

Periods of increased sway impair the passive stabilization of standing, demanding more active neural control of balance.

Balance dysfunction in Parkinson's disease

Stability and mobility in functional motor activities depend on a precise regulation of phasic and tonic muscular activity that is carried out automatically, without conscious awareness. The sensorimotor control of posture involves a complex integration of multisensory inputs that results in a final motor adjustment process. All or some of the components of this system may be dysfunctional in Parkinsonian patients, rendering postural instability one of the most disabling features of Parkinson's disease (PD). Balance control is critical for moving safely in and adapting to the environment. PD induces a multilevel impairment of this function, therefore worsening the patients' physical and psychosocial disability. In this review, we describe the complex ways in which PD impairs posture and balance, collecting and reviewing the available experimental evidence.

Critical damping conditions for third order muscle models: implications for force control

Experimental results presented in the literature suggest that humans use a position control strategy to indirectly control force rather than direct force control. Modeling the muscle-tendon system as a third-order linear model, we provide an explanation of why an indirect force control strategy is preferred. We analyzed a third-order muscle system and verified that it is required for a faithful representation of muscle-tendon mechanics, especially when investigating critical damping conditions. We provided numerical examples using biomechanical properties of muscles and tendons reported in the literature. We demonstrated that at maximum isotonic contraction, for muscle and tendon stiffness within physiologically compatible ranges, a third-order muscle-tendon system can be under-damped. Over-damping occurs for values of the damping coefficient included within a finite interval defined by two separate critical limits (such interval is a semi-infinite region in second-order models). An increase in damping beyond the larger critical value would lead the system to mechanical instability. We proved the existence of a theoretical threshold for the ratio between tendon and muscle stiffness above which critical damping can never be achieved; thus resulting in an oscillatory free response of the system, independently of the value of the damping. Under such condition, combined with high muscle activation, oscillation of the system can be compensated only by active control.

Reciprocal activation of gastrocnemius and soleus motor units is associated with fascicle length change during knee flexion

While medial gastrocnemius (MG) and soleus (SOL) are considered synergists, they are anatomically exclusive in that SOL crosses only the ankle, while MG crosses both the knee and ankle. Due to the force-length properties of both active and passive structures, activation of SOL and MG must be constantly regulated to provide the required joint torques for any planned movement. As such, the aim of this study was to investigate the neural regulation of MG and SOL when independently changing their length by changing only the knee joint angle, thus exclusively altering the length of MG fibers. MG and SOL motor units (MU) were recorded intramuscularly along with ultrasound imaging of MG and SOL fascicle lengths, while moving the knee through 60° of rotation and maintaining a low level of voluntary plantar flexor torque. The results showed a reciprocal activation of MG and SOL as the knee was moved into flexion and extension. A clear reduction in MG MU firing rates occurred as the knee was flexed (MG fascicles shortening), with de-recruitment of most MG MU occurring at close to full knee flexion. A concomitant increase in SOL MU activity was observed while no change in the length of its fascicles was found. The opposite effects were found when the knee was moved into extension. A strong correlation (ICC = 0.78) was found between the fascicle length at which MG MUs were de-recruited and subsequently re-recruited. This was stronger than the relationship of de-recruitment and re-recruitment with knee angle (ICC = 0.52), indicating that in this instance, muscle fascicle length rather than joint angle is more influential in regulating MG recruitment. Such a reciprocal arrangement like the one presented here for SOL and MG is essential for human voluntary movements such as walking or cycling.

Sensory systems in the control of movement

Animal movement is immensely varied, from the simplest reflexive responses to the most complex, dexterous voluntary tasks. Here, we focus on the control of movement in mammals, including humans. First, the sensory inputs most closely implicated in controlling movement are reviewed, with a focus on somatosensory receptors. The response properties of the large muscle receptors are examined in detail. The role of sensory input in the control of movement is then discussed, with an emphasis on the control of locomotion. The interaction between central pattern generators and sensory input, in particular in relation to stretch reflexes, timing, and pattern forming neuronal networks is examined. It is proposed that neural signals related to bodily velocity form the basic descending command that controls locomotion through specific and well-characterized relationships between muscle activation, step cycle phase durations, and biomechanical outcomes. Sensory input is crucial in modulating both the timing and pattern forming parts of this mechanism.

Haptic recognition of dystonia and spasticity in simulated multi-joint hypertonia

This paper investigates the capability of naïve individuals to recognize dystonic- or spastic- like conditions through physical manipulation of a virtual arm. Subjects physically interact with a two-joint, six-muscle hypertonic arm model, rendered on a two degrees-of-freedom robotic manipulandum. This paradigm aims to identify the limitation of manual manipulation during diagnosis of hypertonia. Our results indicate that there are difficulties to discriminate between the two conditions at low to medium level of severity. We found that the sample entropy of the executed motion and the force experienced during physical manipulation, tended to be higher during incorrectly identified trials than in those correctly assessed.

Tibialis anterior muscle fascicle dynamics adequately represent postural sway during standing balance

To maintain a stable, upright posture, the central nervous system (CNS) must integrate sensory information from multiple sources and subsequently generate corrective torque about the ankle joint. Although proprioceptive information from the muscles that cross this joint has been shown to be vital in this process, the specific source of this information remains questionable. Recent research has been focused on the potential role of tibialis anterior (TA) muscle during standing, largely due to the lack of modulation of its activity throughout the sway cycle. Ten young, healthy subjects were asked to stand normally under varying conditions, for periods of 60 s. During these trials, intramuscular electromyographic (EMG) activity and the fascicle length of three distinct anatomical regions of TA were sampled synchronously with kinematic data regarding sway position. In the quiet standing conditions, TA muscle activity was unmodulated and fascicle length changes in each region were tightly coupled with changes in sway position. In the active sway condition, more EMG activity was observed in TA and the fascicle length changes were decoupled from sway position. No regional specific differences in correlation values were observed, contrasting previous observations. The ability of the fascicles to follow sway position builds upon the suggestion that TA is well placed to provide accurate, straightforward sensory information to the CNS. As previously suggested, through reciprocal inhibition, afferent information from TA could help to regulate plantar flexor torque at relevant phases of the sway cycle. The proprioceptive role of TA appears to become complicated during more challenging conditions.

Experimental measure of arm stiffness during single reaching movements with a time-frequency analysis

We tested an innovative method to estimate joint stiffness and damping during multijoint unfettered arm movements. The technique employs impulsive perturbations and a time-frequency analysis to estimate the arm's mechanical properties along a reaching trajectory. Each single impulsive perturbation provides a continuous estimation on a single-reach basis, making our method ideal to investigate motor adaptation in the presence of force fields and to study the control of movement in impaired individuals with limited kinematic repeatability. In contrast with previous dynamic stiffness studies, we found that stiffness varies during movement, achieving levels higher than during static postural control. High stiffness was associated with elevated reflexive activity. We observed a decrease in stiffness and a marked reduction in long-latency reflexes around the reaching movement velocity peak. This pattern could partly explain the difference between the high stiffness reported in postural studies and the low stiffness measured in dynamic estimation studies, where perturbations are typically applied near the peak velocity point.

Therapist recognition of impaired muscle groups in simulated multi-joint hypertonia

It is common in today's clinical practice for a therapist to physically manipulate patients' limbs to assess hypertonic conditions (e.g. spasticity, rigidity, dystonia, among others). We present a study that evaluates the capabilities of expert therapists to correctly identify the location of a hypertonic impairment of an arm through standard manipulation. Therapists interacted with a hypertonic virtual arms rendered on a robotic device. Our results show that testing joints independently can cause misjudgment of the mechanical contributions of pluri-articular muscles to multi-joint impairment.

Rapid repetitive passive movement promotes knee proprioception in the elderly

Joint proprioception plays an important role in the generation of coordinated movements, maintenance of normal body posture, body conditioning, motor learning, and relearning. Previous studies have demonstrated that proprioceptive function of the elderly can be enhanced via specific exercises; however, not all of the elderly can actively and safely participate in physical activities. The purpose of this study was to evaluate the effects of rapid repetitive passive movement in an average velocity of 90°/s on knee proprioception in the elderly. A repeated-measure design was employed. Two age groups (12 young/12 elderly) were intervened with repetitive passive movements of 60 repetitions to the knee joint via two machines (isokinetic dynamometer/self-designed machine) in separate days. Changes in proprioception were evaluated via joint active repositioning and kinesthesia, both before and after the intervention. The results revealed that all subjects demonstrated good test–retest reliabilities on proprioceptive measurements. For the active repositioning and kinesthesia, significant statistical main effects were found for group and time, but not for machine. No statistical interactions were revealed. Despite of age-related proprioceptive declines, elderly subjects could benefit from rapid repetitive passive movements. This indicates that repetitive passive movement may be an alternative to physical activity for those who are home-bound, in a sedentary lifestyle, or with other health conditions that may limit their abilities to actively maintain or strengthen joint proprioception.

Haptic perception of multi-joint hypertonia during simulated patient-therapist physical tele-interaction

A potential solution to provide individualized physical therapy in remote areas is tele-interaction via robotic devices. To maintain stability during tele-interaction, transmission delay-compensation algorithms bound the impedance between the patient and the therapist. This can compromise the haptic perception of the patient being assessed, which can in turn lead to a bad diagnosis or intervention. We investigated how the perception of the severity of hypertonia (a common condition after neurological disorders) varied by modifying the connection impedance on a physical simulator. We found that assessing hypetonia using a low impedance connection may result in an overestimation of mild impairments.

Third-Order Muscle Models: The Role of Oscillatory Behavior In Force Control

This paper presents the analysis of a third-order linear differential equation representing a muscle-tendon system, including the identification of critical damping conditions. We analytically verified that this model is required for a faithful representation of muscle-skeletal muscles and provided numerical examples using the biomechanical properties of muscles and tendon reported in the literature. We proved the existence of a theoretical threshold for the ratio between tendon and muscle stiffness above which critical damping can never be achieved, thus resulting in an oscillatory free response of the system, independently of the value of the damping. Oscillation of the limb can be compensated only by active control, which requires creating an internal model of the limb mechanics. We demonstrated that, when admissible, over-damping of the muscle-tendon system occurs for damping values included within a finite interval between two separate critical limits. The same interval is a semi-infinite region in second-order models. Moreover, an increase in damping beyond the second critical point rapidly brings the system to mechanical instability.

Gender differences in both active and passive parts of the plantar flexors series elastic component stiffness and geometrical parameters of the muscle-tendon complex

Men are reportedly at higher risk of plantar flexor muscle injury and Achilles tendon ruptures than women. Biomechanical parameters are thought to play a role in the higher frequency of injury to males. One parameter is the stiffness of tissues; a stiff tissue cannot absorb sufficient energy with loading, and subsequently may be more likely to be injured. Thus, our purpose was to investigate the gender difference in the geometrical parameters of plantar flexor's muscle-tendon complex and the stiffness of both active and passive parts of the series elastic component (S(SEC1) and S(SEC2) , respectively). Using the alpha method on data obtained from quick stretches to the plantar flexors performed during isometric contractions, S(SEC1) and S(SEC2) were assessed. Plantar flexor muscles and Achilles tendon cross-sectional areas (CSA(TS) and CSA(AT) , respectively) were determined in young healthy men (n = 49) and women (n = 31). The findings showed that S(SEC2) was higher in men (p < 0.001), but this difference was not apparent when S(SEC2) was normalized to CSA(AT) (p > 0.05). In contrast, S(SEC1) was lower in men (p < 0.001) and remained so after normalization to CSA(TS) . Higher joint stiffness observed in men was notably influenced by lever arm length. Thus, the results of this study have implications for performance and injury.

Age-related changes in the behavior of the muscle-tendon unit of the gastrocnemius medialis during upright stance

Mechanical properties of the muscle-tendon unit change with aging, but it is not known how these modifications influence the control of lower leg muscles during upright stance. In this study, young and elderly adults stood upright on a force platform with and without vision while muscle architecture and myotendinous junction movements (expressed relative to the change in the moment on the x-axis of the force platform) were recorded by ultrasonography and muscle activity by electromyography. The results show that the maximal amplitude of the sway in the antero-posterior direction was greater in elderly adults (age effect, P < 0.05) and was accompanied by an increase in lower leg muscle activity compared with young adults. Moreover, the data highlight that fascicles shorten during forward sway and lengthen during backward sways but more so for young (−4 ± 3 and −4 ± 3 mm/Nm, respectively) than elderly adults (−0.7 ± 3 and 0.8 ± 3 mm/Nm, respectively; age × sway, P < 0.001). Concurrently, the pennation angle increased and decreased during forward and backward sways, respectively, with greater changes in young than elderly adults (age × sway, P < 0.001). In contrast, no significant differences were observed between age groups for tendon lengthening and shortening during sways. The results indicate that, compared with young, elderly adults increase the stiffness of the muscular portion of the muscle-tendon unit during upright stance that may compensate for the age-related decrease in tendon stiffness. These observations suggest a shift in the control strategy used to maintain balance.

Human proprioceptive adaptations during states of height-induced fear and anxiety

Clinical and experimental research has demonstrated that the emotional experience of fear and anxiety impairs postural stability in humans. The current study investigated whether changes in fear and anxiety can also modulate spinal stretch reflexes and the gain of afferent inputs to the primary somatosensory cortex. To do so, two separate experiments were performed on two separate groups of participants while they stood under conditions of low and high postural threat. In experiment 1, the proprioceptive system was probed using phasic mechanical stimulation of the Achilles tendon while simultaneously recording the ensuing tendon reflexes in the soleus muscle and cortical-evoked potentials over the somatosensory cortex during low and high threat conditions. In experiment 2, phasic electrical stimulation of the tibial nerve was used to examine the effect of postural threat on somatosensory evoked potentials. Results from experiment 1 demonstrated that soleus tendon reflex excitability was facilitated during states of height-induced fear and anxiety while the magnitude of the tendon-tap-evoked cortical potential was not significantly different between threat conditions. Results from experiment 2 demonstrated that the amplitudes of somatosensory-evoked potentials were also unchanged between threat conditions. The results support the hypothesis that muscle spindle sensitivity in the triceps surae muscles may be facilitated when humans stand under conditions of elevated postural threat, although the presumed increase in spindle sensitivity does not result in higher afferent feedback gain at the level of the somatosensory cortex.

Modelling human balance using switched systems with linear feedback control

We are interested in understanding the mechanisms behind and the character of the sway motion of healthy human subjects during quiet standing. We assume that a human body can be modelled as a single-link inverted pendulum, and the balance is achieved using linear feedback control. Using these assumptions, we derive a switched model which we then investigate. Stable periodic motions (limit cycles) about an upright position are found. The existence of these limit cycles is studied as a function of system parameters. The exploration of the parameter space leads to the detection of multi-stability and homoclinic bifurcations.

Ultrasonography as a tool to study afferent feedback from the muscle-tendon complex during human walking

In humans, one of the most common tasks in everyday life is walking, and sensory afferent feedback from peripheral receptors, particularly the muscle spindles and Golgi tendon organs (GTO), makes an important contribution to the motor control of this task. One factor that can complicate the ability of these receptors to act as length, velocity and force transducers is the complex pattern of interaction between muscle and tendinous tissues, as tendon length is often considerably greater than muscle fibre length in the human lower limb. In essence, changes in muscle-tendon mechanics can influence the firing behaviour of afferent receptors, which may in turn affect the motor control. In this review we first summarise research that has incorporated the use of ultrasound-based techniques to study muscle-tendon interaction, predominantly during walking. We then review recent research that has combined this method with an examination of muscle activation to give a broader insight to neuromuscular interaction during walking. Despite the advances in understanding that these techniques have brought, there is clearly still a need for more direct methods to study both neural and mechanical parameters during human walking in order to unravel the vast complexity of this seemingly simple task.