A New Skeleton Model and the Motion Rhythm Analysis for Human Shoulder Complex Oriented to Rehabilitation Robotics

Directional Dependence of Experimental Trunk Stiffness: Role of Muscle-Stiffness Variation of Nonneural Origin

Trunk stiffness is an important parameter for trunk stability analysis and needs to be evaluated accurately. Discrepancies regarding the dependence of trunk stiffness on the direction of movement in the sagittal plane suggest inherent sources of error that require explanation. In contrast to the common assumption that the muscle stiffness remains constant prior to the induction of a reflex during position perturbations, it is postulated that muscle-stiffness changes of nonneural origin occur and alter the experimental trunk stiffness, causing it to depend on the sagittal direction. This is confirmed through reinterpretation of existing test data for a healthy subject, numerical simulation, and sensitivity analysis using a biomechanical model. The trunk stiffness is determined through a static approach (in forward and backward directions) and compared with the model stiffness for assumed scenarios involving deactivated muscles. The difference in stiffness between the opposite directions reaches 17.5% without a preload and decreases when a moderate vertical preload is applied. The increased muscle activation induced by preloads or electrical stimuli explains the apparent discrepancies observed in previous studies. The experimental stiffness invariably remains between low and high model-stiffness estimates based on extreme scenarios of the postulated losses of muscle activation, thereby confirming our hypothesis.