Effects of series elasticity and activation conditions on muscle power output and efficiency

Perturbation-based estimation of within-stride cycle metabolic cost

Metabolic cost greatly impacts trade-offs within a variety of human movements. Standard respiratory measurements only obtain the mean cost of a movement cycle, preventing understanding of the contributions of different phases in, for example, walking. We present a method that estimates the within-stride cost of walking by leveraging measurements under different force perturbations. The method reproduces time series with greater consistency (r = 0.55 and 0.80 in two datasets) than previous model-based estimations (r = 0.29). This perturbation-based method reveals how the cost of push-off (10%) is much smaller than would be expected from positive mechanical work (~ 70%). This work elucidates the costliest phases during walking, offering new targets for assistive devices and rehabilitation strategies.

The energetics of muscle contractions resembling in vivo performance

Muscle energetics has expanded into the study of contractions that resemble in vivo muscle activity. A summary is provided of experiments of this type and what they have added to our understanding of muscle function and effects of compliant tendons, as well as the new questions raised about the efficiency of energy transduction in muscle.

Ankle-Specific Training Does Not Alter Drop Jumping Biomechanics Despite Increased Plantar Flexor Strength and Jumping Performance

INTRODUCTION

Power plays a crucial role in determining an athlete's final performance, as it signifies the ability to rapidly generate force. The plantar flexor muscles have a crucial role in producing the necessary power. The plantar flexor muscles are important in explosive sports movements due to their ability to generate substantial force quickly during the propulsion phase and facilitate efficient energy transfer through the joints. This study aimed to investigate the effects of specific plantar flexor training on drop jumping (DJ) biomechanics, muscle activation, and muscle strength.

MATERIAL AND METHODS

A total of 30 male participants were divided into three groups: the incline hopping (IH) group, which performed continuous jumps on a 15° inclined surface; the plane hopping (PH) group, which performed jumps on a plane surface; and the electrostimulation (EMS) group (n = 10 for each group). All groups trained four times weekly, performing 10 sets of 10 jumps per session. The intervention period lasted four weeks. Participants' drop jumping ability was assessed before and immediately after the training period using hip, knee, and ankle kinematics and electromyographic (EMG) activity of the medial gastrocnemius (MGas), tibialis anterior (TA), rectus femoris (RF), and semitendinosus (ST) muscles. In addition, maximal isokinetic plantar flexor force measurements were evaluated in eccentric and concentric conditions.

RESULTS

Analysis of variance (ANOVA) revealed that only the inclined hopping showed significant improvements in the take-off velocity (Vto) of the fast drop jump (bounce drop jump (BDJ)) (p < 0.05). These improvements were accompanied by significantly higher MGas activity during the propulsion phase of the jump (p < 0.05). In addition, all groups demonstrated greater eccentric torque (p < 0.05), while IH also improved concentric torque (p < 0.05).

CONCLUSIONS

The results support the efficacy of inclined hopping in improving the Vto of BDJs. The increased MGas activity and stable co-activation index (CI) during the propulsion phase are likely to contribute to these improvements. Coaches should consider incorporating incline hopping into the periodization of athletes, while level hopping and electrostimulation could be used to increase overall strength.

Understanding altered contractile properties in advanced age: insights from a systematic muscle modelling approach

Age-related alterations of skeletal muscle are numerous and present inconsistently, and the effect of their interaction on contractile performance can be nonintuitive. Hill-type muscle models predict muscle force according to well-characterised contractile phenomena. Coupled with simple, yet reasonably realistic activation dynamics, such models consist of parameters that are meaningfully linked to fundamental aspects of muscle excitation and contraction. We aimed to illustrate the utility of a muscle model for elucidating relevant mechanisms and predicting changes in output by simulating the individual and combined effects on isometric force of several known ageing-related adaptations. Simulating literature-informed reductions in free Ca2+ concentration and Ca2+ sensitivity generated predictions at odds qualitatively with the characteristic slowing of contraction speed. Conversely, incorporating slower Ca2+ removal or a fractional increase in type I fibre area emulated expected changes; the former was required to simulate slowing of the twitch measured experimentally. Slower Ca2+ removal more than compensated for force loss arising from a large reduction in Ca2+ sensitivity or moderate reduction in Ca2+ release, producing realistic age-related shifts in the force-frequency relationship. Consistent with empirical data, reductions in free Ca2+ concentration and Ca2+ sensitivity reduced maximum tetanic force only slightly, even when acting in concert, suggesting a modest contribution to lower specific force. Lower tendon stiffness and slower intrinsic shortening speed slowed and prolonged force development in a compliance-dependent manner without affecting force decay. This work demonstrates the advantages of muscle modelling for exploring sources of variation and identifying mechanisms underpinning the altered contractile properties of aged muscle.

The mechanosensitive ion channel PIEZO1 is expressed in tendons and regulates physical performance

How mechanical stress affects physical performance via tendons is not fully understood. Piezo1 is a mechanosensitive ion channel, and E756del PIEZO1 was recently found as a gain-of-function variant that is common in individuals of African descent. We generated tendon-specific knock-in mice using R2482H Piezo1, a mouse gain-of-function variant, and found that they had higher jumping abilities and faster running speeds than wild-type or muscle-specific knock-in mice. These phenotypes were associated with enhanced tendon anabolism via an increase in tendon-specific transcription factors, Mohawk and Scleraxis, but there was no evidence of changes in muscle. Biomechanical analysis showed that the tendons of R2482H Piezo1 mice were more compliant and stored more elastic energy, consistent with the enhancement of jumping ability. These phenotypes were replicated in mice with tendon-specific R2482H Piezo1 replacement after tendon maturation, indicating that PIEZO1 could be a target for promoting physical performance by enhancing function in mature tendon. The frequency of E756del PIEZO1 was higher in sprinters than in population-matched nonathletic controls in a small Jamaican cohort, suggesting a similar function in humans. Together, this human and mouse genetic and physiological evidence revealed a critical function of tendons in physical performance, which is tightly and robustly regulated by PIEZO1 in tenocytes.

Elastic energy storage across speeds during steady-state hopping of desert kangaroo rats (Dipodomys deserti)

Small bipedal hoppers, including kangaroo rats, are thought to not benefit from substantial elastic energy storage and return during hopping. However, recent species-specific material properties research suggests that, despite relative thickness, the ankle extensor tendons of these small hoppers are considerably more compliant than had been assumed. With faster locomotor speeds demanding higher forces, a lower tendon stiffness suggests greater tendon deformation and thus a greater potential for elastic energy storage and return with increasing speed. Using the elastic modulus values specific to kangaroo rat tendons, we sought to determine how much elastic energy is stored and returned during hopping across a range of speeds. In vivo techniques were used to record tendon force in the ankle extensors during steady-speed hopping. Our data support the hypothesis that the ankle extensor tendons of kangaroo rats store and return elastic energy in relation to hopping speed, storing more at faster speeds. Despite storing comparatively less elastic energy than larger hoppers, this relationship between speed and energy storage offer novel evidence of a functionally similar energy storage mechanism, operating irrespective of body size or tendon thickness, across the distal muscle-tendon units of both small and large bipedal hoppers.

Reduced Achilles Tendon Stiffness Disrupts Calf Muscle Neuromechanics in Elderly Gait

Older adults walk slower and with a higher metabolic energy expenditure than younger adults. In this review, we explore the hypothesis that age-related declines in Achilles tendon stiffness increase the metabolic cost of walking due to less economical calf muscle contractions and increased proximal joint work. This viewpoint may motivate interventions to restore ankle muscle-tendon stiffness, improve walking mechanics, and reduce metabolic cost in older adults.

The energy of muscle contraction. IV. Greater mass of larger muscles decreases contraction efficiency

While skeletal muscle mass has been shown to decrease mass-specific mechanical work per cycle, it is not yet known how muscle mass alters contraction efficiency. In this study, we examined the effect of muscle mass on mass-specific metabolic cost and efficiency during cyclic contractions in simulated muscles of different sizes. We additionally explored how tendon and its stiffness alters the effects of muscle mass on mass-specific work, mass-specific metabolic cost and efficiency across different muscle sizes. To examine contraction efficiency, we estimated the metabolic cost of the cycles using established cost models. We found that for motor contractions in which the muscle was primarily active during shortening, greater muscle mass resulted in lower contraction efficiency, primarily due to lower mass-specific mechanical work per cycle. The addition of a tendon in series with the mass-enhanced muscle model improved the mass-specific work and efficiency per cycle with greater mass for motor contractions, particularly with a shorter excitation duty cycle, despite higher predicted metabolic cost. The results of this study indicate that muscle mass is an important determinant of whole muscle contraction efficiency.

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

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

Acute Effects of Resistance Training with Blood Flow Restriction on Achilles Tendon Thickness

The Achilles tendon is one of the strongest and thickest tendons of the human body. Several studies have reported an immediate decrease in Achilles tendon thickness after a single bout of resistance training. However, the effects of blood flow restriction training on Achilles tendon thickness have not been investigated. The purpose of this study was to investigate the acute effects of different regimens of resistance training on Achilles tendon thickness. Fiftytwo participants (27.3 ± 7 years; 177.6 ± 11 cm; 72.2 ± 13.7 kg) were randomly allocated into one of the three groups: low-intensity exercise without (LI, n = 13) and with blood flow restriction (LI-BFR, n = 24), and high-intensity exercise (HI, n = 15). Participants from LI and LI-BFR groups performed four sets (1 x 30 + 3 x 15 reps) at 30% 1RM, while the HI group performed four sets (1 x 30 with 30% 1RM + 3 x 10 reps with 75% 1RM). All groups performed a plantar flexion exercise. For the LI-BFR group, a blood pressure cuff was placed on the dominant calf and inflated at 30% of the individual´s occlusion pressure (47.6 ± 19.8 mmHg). Sonographic images of Achilles tendon thickness were taken at pre, immediately after, 60 min and 24 h following acute bouts of exercise. Achilles tendon thickness was significantly reduced immediately after, 60 min and 24 h post-LI-BFR exercise (pre: 4.4 ± 0.4 mm vs. IA: 3.8 ± 0.4 mm vs. 60 min: 3.7 ± 0.3 mm vs. 24 h: 4.1 ± 0.3 mm; p < 0.001), whereas Achilles tendon thickness was unchanged for HI and LI groups (p > 0.05). These results suggest that blood flow restriction training may be an effective strategy to stimulate a positive response in Achilles tendon thickness.

Neuromechanical adaptations of foot function to changes in surface stiffness during hopping

Humans choose work-minimizing movement strategies when interacting with compliant surfaces. Our ankles are credited with stiffening our lower limbs and maintaining the excursion of our body's center of mass on a range of surface stiffnesses. We may also be able to stiffen our feet through an active contribution from our plantar intrinsic muscles (PIMs) on such surfaces. However, traditional modeling of the ankle joint has masked this contribution. We compared foot and ankle mechanics and muscle activation on low, medium, and high stiffness surfaces during bilateral hopping using a traditional and anatomical ankle model. The traditional ankle model overestimated work and underestimated stiffness compared with the anatomical model. Hopping on a low stiffness surface resulted in less longitudinal arch compression with respect to the high stiffness surface. However, because midfoot torque was also reduced, midfoot stiffness remained unchanged. We observed lower activation of the PIMs, soleus, and tibialis anterior on the low and medium stiffness conditions, which paralleled the pattern we saw in the work performed by the foot and ankle. Rather than performing unnecessary work, participants altered their landing posture to harness the energy stored by the sprung surface in the low and medium conditions. These findings highlight our preference to minimize mechanical work when transitioning to compliant surfaces and highlight the importance of considering the foot as an active, multiarticular, part of the human leg.NEW & NOTEWORTHY When seeking to understand how humans adapt their movement to changes in substrate, the role of the human foot has been neglected. Using multi-segment foot modeling, we highlight the importance of adaptable foot mechanics in adjusting to surfaces of different compliance. We also show, via electromyography, that the adaptations are under active muscular control.

Thermal robustness of biomechanical processes

Temperature influences many physiological processes that govern life as a result of the thermal sensitivity of chemical reactions. The repeated evolution of endothermy and widespread behavioral thermoregulation in animals highlight the importance of elevating tissue temperature to increase the rate of chemical processes. Yet, movement performance that is robust to changes in body temperature has been observed in numerous species. This thermally robust performance appears exceptional in light of the well-documented effects of temperature on muscle contractile properties, including shortening velocity, force, power and work. Here, we propose that the thermal robustness of movements in which mechanical processes replace or augment chemical processes is a general feature of any organismal system, spanning kingdoms. The use of recoiling elastic structures to power movement in place of direct muscle shortening is one of the most thoroughly studied mechanical processes; using these studies as a basis, we outline an analytical framework for detecting thermal robustness, relying on the comparison of temperature coefficients (Q ₁₀ values) between chemical and mechanical processes. We then highlight other biomechanical systems in which thermally robust performance that arises from mechanical processes may be identified using this framework. Studying diverse movements in the context of temperature will both reveal mechanisms underlying performance and allow the prediction of changes in performance in response to a changing thermal environment, thus deepening our understanding of the thermal ecology of many organisms.

Older Adults Overcome Reduced Triceps Surae Structural Stiffness to Preserve Ankle Joint Quasi-Stiffness During Walking

Ankle joint quasi-stiffness is an aggregate measure of the interaction between triceps surae muscle stiffness and Achilles tendon stiffness. This interaction may be altered due to age-related changes in the structural properties and functional behavior of the Achilles tendon and triceps surae muscles. The authors hypothesized that, due to a more compliant of Achilles' tendon, older adults would exhibit lower ankle joint quasi-stiffness than young adults during walking and during isolated contractions at matched triceps surae muscle activations. The authors also hypothesized that, independent of age, triceps surae muscle stiffness and ankle joint quasi-stiffness would increase with triceps surae muscle activation. The authors used conventional gait analysis in one experiment and, in another, electromyographic biofeedback and in vivo ultrasound imaging applied during isolated contractions. The authors found no difference in ankle joint quasi-stiffness between young and older adults during walking. Conversely, this study found that (1) young and older adults modulated ankle joint quasi-stiffness via activation-dependent changes in triceps surae muscle length-tension behavior and (2) at matched activation, older adults exhibited lower ankle joint quasi-stiffness than young adults. Despite age-related reductions during isolated contractions, ankle joint quasi-stiffness was maintained in older adults during walking, which may be governed via activation-mediated increases in muscle stiffness.

Ontogenetic scaling of pelvic limb muscles, tendons and locomotor economy in the ostrich (Struthio camelus)

In rapidly growing animals there are numerous selective pressures and developmental constraints underpinning the ontogenetic development of muscle-tendon morphology and mechanical properties. Muscle force generating capacity, tendon stiffness, elastic energy storage capacity and efficiency were calculated from muscle and tendon morphological parameters and in vitro tendon mechanical properties obtained from a growth series of ostrich cadavers. Ontogenetic scaling relationships were established using reduced major axis regression analysis. Ostrich pelvic limb muscle mass and cross-sectional area broadly scaled with positive allometry, indicating maintained or relatively greater capacity for maximum isometric force generation in larger animals. The length of distal limb tendons was found to scale with positive allometry in several tendons associated with antigravity support and elastic energy storage during locomotion. Distal limb tendon stiffness scaled with negative allometry with respect to body mass, with tendons being relatively more compliant in larger birds. Tendon material properties also appeared to be size-dependent, suggesting that the relative increased compliance of tendons in larger ostriches is due in part to compensatory distortions in tendon material properties during maturation and development, not simply from ontogenetic changes in tendon geometry. Our results suggest that the previously reported increase in locomotor economy through ontogeny in the ostrich is due to greater potential for elastic energy storage with increasing body size. In fact, the rate of this increase may be somewhat greater than the conservative predictions of previous studies, thus illustrating the biological importance of elastic tendon structures in adult ostriches.

Activation-Dependent Changes in Soleus Length-Tension Behavior Augment Ankle Joint Quasi-Stiffness

The triceps surae muscle-tendon units are important in governing walking performance, acting to regulate mechanical behavior of the ankle through interaction between active muscle and passive elastic structures. Ankle joint quasi-stiffness (the slope of the relation between ankle moment and ankle rotation, k_A) is a useful aggregate measure of this mechanical behavior. However, the role of muscle activation and length-tension behavior in augmenting k_A remains unclear. In this study, 10 subjects completed eccentric isokinetic contractions at rest and at 2 soleus activation levels (25% and 75% isometric voluntary contraction) prescribed using electromyographic biofeedback. Ultrasound imaging quantified activation-dependent modulation of soleus muscle length-tension behavior and its role in augmenting k_A. The authors found that soleus muscle stiffness (k_M) and k_A exhibit nonlinear relations with muscle activation and both were more sensitive to the onset of activation than to subsequent increases in activation. Our findings also suggest that k_A can be modulated via activation through changes in soleus muscle length-tension behavior. However, this modulation is more complex than previously appreciated-reflecting interaction between active muscle and passive elastic tissues. Our findings may have implications for understanding normal and pathological ankle joint function and the design of impedance-based prostheses.

The effect of muscle-tendon unit vs. fascicle analyses on vastus lateralis force-generating capacity during constant power output cycling with variable cadence

The maximum force-generating capacity of a muscle is dependent on the lengths and velocities of its contractile apparatus. Muscle-tendon unit (MTU) length changes can be estimated from joint kinematics; however, contractile element length changes are more difficult to predict during dynamic contractions. The aim of this study was to compare vastus lateralis (VL) MTU and fascicle level force-length and force-velocity relationships, and dynamic muscle function while cycling at a constant submaximal power output (2.5 W/kg) with different cadences. We hypothesized that manipulating cadence at a constant power output would not affect VL MTU shortening, but significantly affect VL fascicle shortening. Furthermore, these differences would affect the predicted force capacity of the muscle. Using an isokinetic dynamometer and B-mode ultrasound (US), we determined the force-length and force-velocity properties of the VL MTU and its fascicles. In addition, three-dimensional kinematics and kinetics of the lower limb, as well as US images of VL fascicles were collected during submaximal cycling at cadences of 40, 60, 80, and 100 rotations per minute. Ultrasound measures revealed a significant increase in fascicle shortening as cadence decreased (84% increase across all conditions, P < 0.01), whereas there were no significant differences in MTU lengths across any of the cycling conditions (maximum of 6%). The MTU analysis resulted in greater predicted force capacity across all conditions relative to the force-velocity relationship ( P < 0.01). These results reinforce the need to determine muscle mechanics in terms of separate contractile element and connective tissue length changes during isokinetic contractions, as well as dynamic movements like cycling. NEW & NOTEWORTHY We demonstrate that vastus lateralis (VL) muscle tendon unit (MTU) length changes do not adequately reflect the underlying fascicle mechanics during cycling. When examined across different pedaling cadence conditions, the force-generating potential measured only at the level of MTU (or joint) overestimated the maximum force capacity of VL compared with analysis using fascicle level data.

Effectiveness of Traditional Strength vs. Power Training on Muscle Strength, Power and Speed with Youth: A Systematic Review and Meta-Analysis

Numerous national associations and multiple reviews have documented the safety and efficacy of strength training for children and adolescents. The literature highlights the significant training-induced increases in strength associated with youth strength training. However, the effectiveness of youth strength training programs to improve power measures is not as clear. This discrepancy may be related to training and testing specificity. Most prior youth strength training programs emphasized lower intensity resistance with relatively slow movements. Since power activities typically involve higher intensity, explosive-like contractions with higher angular velocities (e.g., plyometrics), there is a conflict between the training medium and testing measures. This meta-analysis compared strength (e.g., training with resistance or body mass) and power training programs (e.g., plyometric training) on proxies of muscle strength, power, and speed. A systematic literature search using a Boolean Search Strategy was conducted in the electronic databases PubMed, SPORT Discus, Web of Science, and Google Scholar and revealed 652 hits. After perusal of title, abstract, and full text, 107 studies were eligible for inclusion in this systematic review and meta-analysis. The meta-analysis showed small to moderate magnitude changes for training specificity with jump measures. In other words, power training was more effective than strength training for improving youth jump height. For sprint measures, strength training was more effective than power training with youth. Furthermore, strength training exhibited consistently large magnitude changes to lower body strength measures, which contrasted with the generally trivial, small and moderate magnitude training improvements of power training upon lower body strength, sprint and jump measures, respectively. Maturity related inadequacies in eccentric strength and balance might influence the lack of training specificity with the unilateral landings and propulsions associated with sprinting. Based on this meta-analysis, strength training should be incorporated prior to power training in order to establish an adequate foundation of strength for power training activities.

Developmental differences in dynamic muscle-tendon behaviour: implications for movement efficiency

Children perform cyclic motor tasks less efficiently than adults; however, the mechanisms underlying such differences are not fully understood. One mechanism that may contribute to these age-related differences is a differential contribution of muscles and tendons to a given muscle-tendon unit (MTU) excursion. The aims of this study were to (i) compare muscle and tendon excursion between children and adults performing vertical hopping, and (ii) determine whether children and adults choose a hopping frequency that maximizes movement efficiency, based on the utilization of energy-saving mechanisms. Twelve children (8.8±0.3 years) and 12 adults (26.0±2.1 years) performed 20 s of two-legged hopping at a self-selected frequency and at 1.33, 2.00, 2.67 and 3.33 Hz. Gastrocnemius medialis MTU excursion was estimated from kinematic data and muscle and tendon excursions were derived using a combination of 3D-motion capture and ultrasonography. Optimum hopping frequency was determined as the frequency that maximized surrogate measures of elastic energy storage potential of the tendon and minimized muscle excursion. Adults presented a significantly greater potential for elastic energy storage in combination with lower muscle excursion than children at their self-selected frequency, suggesting that children do not utilize these energy-saving mechanisms as effectively as adults. However, tendon elastic energy storage was maximized and muscle excursion minimized at the preferred frequency in both children and adults, indicating that children may select their preferred hopping frequency based on the same criteria as adults. These findings increase our understanding of the mechanisms contributing to the higher energy cost of movement performance in children, and have implications for the interpretation of age-related differences in complex task performance.

Modeling age-related changes in muscle-tendon dynamics during cyclical contractions in the rat gastrocnemius

Efficient muscle-tendon performance during cyclical tasks is dependent on both active and passive mechanical tissue properties. Here we examine whether age-related changes in the properties of muscle-tendon units (MTUs) compromise their ability to do work and utilize elastic energy storage. We empirically quantified passive and active properties of the medial gastrocnemius muscle and material properties of the Achilles tendon in young (∼6 mo) and old (∼32 mo) rats. We then used these properties in computer simulations of a Hill-type muscle model operating in series with a Hookean spring. The modeled MTU was driven through sinusoidal length changes and activated at a phase that optimized muscle-tendon tuning to assess the relative contributions of active and passive elements to the force and work in each cycle. In physiologically realistic simulations where young and old MTUs started at similar passive forces and developed similar active forces, the capacity of old MTUs to store elastic energy and produce positive work was compromised. These results suggest that the observed increase in the metabolic cost of locomotion with aging may be in part due to the recruitment of additional muscles to compensate for the reduced work at the primary MTU. Furthermore, the age-related increases in passive stiffness coupled with a reduced active force capacity in the muscle can lead to shifts in the force-length and force-velocity operating range that may significantly impact mechanical and metabolic performance. Our study emphasizes the importance of the interplay between muscle and tendon mechanical properties in shaping MTU performance during cyclical contractions.

Locomotion as an emergent property of muscle contractile dynamics

Skeletal muscles share many common, highly conserved features of organization at the molecular and myofilament levels, giving skeletal muscle fibers generally similar and characteristic mechanical and energetic properties; properties well described by classical studies of muscle mechanics and energetics. However, skeletal muscles can differ considerably in architectural design (fiber length, pinnation, and connective tissue organization), as well as fiber type, and how they contract in relation to the timing of neuromotor activation and in vivo length change. The in vivo dynamics of muscle contraction is, therefore, crucial to assessing muscle design and the roles that muscles play in animal movement. Architectural differences in muscle-tendon organization combined with differences in the phase of activation and resulting fiber length changes greatly affect the time-varying force and work that muscles produce, as well as the energetic cost of force generation. Intrinsic force-length and force-velocity properties of muscles, together with their architecture, also play important roles in the control of movement, facilitating rapid adjustments to changing motor demands. Such adjustments complement slower, reflex-mediated neural feedback control of motor recruitment. Understanding how individual fiber forces are integrated to whole-muscle forces, which are transmitted to the skeleton for producing and controlling locomotor movement, is therefore essential for assessing muscle design in relation to the dynamics of movement.

Comparison of the validity of Hill and Huxley muscle tendon complex models using experimental data obtained from rat m. soleus in situ

The relationship between mechanical and metabolic behaviour in the widely used Hill muscle-tendon complex (MTC) model is not straightforward, while this is an integral part of the Huxley model. In this study we assessed to what extent Huxley and Hill type MTC models yield adequate predictions of mechanical muscle behaviour during stretch-shortening cycles (SSC). In fully anaesthetized male Wistar rats (N=3), m. soleus was dissected completely free, except for the insertion. Cuff electrodes were placed over the n. ischiadicus. The distal end of the tendon was connected to a servo motor, via a force transducer. The setup allowed for full control over muscle stimulation and length, while force was measured. Quick release and isovelocity contractions (part 1), and SSC (part 2) were imposed. Simulations of part 2 were made with both a Hill and a Huxley MTC model, using parameter values determined from part 1. A modification to the classic two-state Huxley model was made to incorporate series elasticity, activation dynamics and active and passive force-length relations. Results were similar for all rats. Fitting of the free parameters to data of part 1 was near perfect (R2 &gt; .97). During SSC, predicted peak force and force during relaxation deviated from the experimental data, for both models. Overall, both models yielded similarly adequate predictions of the experimental data. We conclude that Huxley and Hill MTC models are equally valid with respect to mechanical behaviour.

Timing matters: tuning the mechanics of a muscle-tendon unit by adjusting stimulation phase during cyclic contractions

A growing body of research on the mechanics and energetics of terrestrial locomotion has demonstrated that elastic elements acting in series with contracting muscle are critical components of sustained, stable and efficient gait. Far fewer studies have examined how the nervous system modulates muscle-tendon interaction dynamics to optimize 'tuning' or meet varying locomotor demands. To explore the fundamental neuromechanical rules that govern the interactions between series elastic elements (SEEs) and contractile elements (CEs) within a compliant muscle-tendon unit (MTU), we used a novel work loop approach that included implanted sonomicrometry crystals along muscle fascicles. This enabled us to decouple CE and SEE length trajectories when cyclic strain patterns were applied to an isolated plantaris MTU from the bullfrog (Lithobates catesbeianus). Using this approach, we demonstrate that the onset timing of muscle stimulation (i.e. stimulation phase) that involves a symmetrical MTU stretch-shorten cycle during active force production results in net zero mechanical power output, and maximal decoupling of CE and MTU length trajectories. We found it difficult to 'tune' the muscle-tendon system for strut-like isometric force production by adjusting stimulation phase only, as the zero power output condition involved significant positive and negative mechanical work by the CE. A simple neural mechanism - adjusting muscle stimulation phase - could shift an MTU from performing net zero to net positive (energy producing) or net negative (energy absorbing) mechanical work under conditions of changing locomotor demand. Finally, we show that modifications to the classical work loop paradigm better represent in vivo muscle-tendon function during locomotion.

Comparative functional anatomy of the epaxial musculature of dogs (Canis familiaris) bred for sprinting vs. fighting

The axial musculoskeletal system of quadrupedal mammals is not currently well understood despite its functional importance in terms of facilitating postural stability and locomotion. Here we examined the detailed architecture of the muscles of the vertebral column of two breeds of dog, the Staffordshire bull terrier (SBT) and the racing greyhound, which have been selectively bred for physical combat and high speed sprint performance, respectively. Dissections of the epaxial musculature of nine racing greyhounds and six SBTs were carried out; muscle mass, length, and fascicle lengths were measured and used to calculate muscle physiological cross-sectional area (PCSA), and to estimate maximum muscle potential for force, work and power production. The longissimus dorsi muscle was found to have a high propensity for force production in both breeds of dog; however, when considered in combination with the iliocostalis lumborum muscle it showed enhanced potential for production of power and facilitating spinal extension during galloping gaits. This was particularly the case in the greyhound, where the m. longissimus dorsi and the m. iliocostalis lumborum were estimated to have the potential to augment hindlimb muscle power by ca. 12%. Breed differences were found within various other muscles of the axial musculoskeletal system, particularly in the cranial cervical muscles and also the deep muscles of the thorax which insert on the ribs. These may also highlight key functional adaptations between the two breeds of dog, which have been selectively bred for particular purposes. Additionally, in both breeds of dog, we illustrate specialisation of muscle function by spinal region, with differences in both mass and PCSA found between muscles at varying levels of the axial musculoskeletal system, and between muscle functional groups.

Effect of microtitanium impregnated tape on the recovery of triceps surae musculotendinous function following strenuous running

We previously reported increased running economy and joint range of motion (ROM) during subsequent exercise performed 48-h following strenuous exercise while wearing garments containing micro-titanium particles generated from high-pressure aqueous processing of titanium (AQUA TITAN^TM). Here we utilised an isolated plantarflexion triceps surae model and AQUA TITAN-treated flexible tape to determine if dermal application of the micro-titanium could account for meaningful changes in functional properties of the musculotendinous unit. In a randomised double-blind crossover, 20 trained men day 1, baseline measures, AQUA TITAN or placebo tape covering the triceps surae, intermittent high-intensity treadmill running; day 2, rest; day 3, post-stress post-treatment outcome measures. Outcomes comprised: plantarflexion ROM via isokinetic dynamometry; short latency reflex from electromyography; Achilles tendon stiffness from isometric dynamometry, ultrasonography (Achilles-medial-gastrocnemius junction), motion analysis, and force-length modelling. High-intensity exercise with placebo tape reduced tendon stiffness (-16.5%; 95% confidence limits ±8.1%; small effect size), relative to non-taped baseline, but this effect was negligible (-5.9%; ±9.2%) with AQUA TITAN (AQUA TITAN-placebo difference -11.3%; ±11.6%). Change in latency relative to baseline was trivial with placebo (1.6%; ±3.8%) but large with AQUA TITAN (-11.3%; ±3.3%). The effects on ROM with AQUA TITAN (1.6%; ±2.0%) and placebo were trivial (-1.6% ±1.9%), but the small difference (3.1%; ±2.7%) possibly greater with AQUA TITAN. AQUA TITAN tape accelerated the reflex response and attenuated reduced Achilles tendon stiffness following fatiguing exercise. Altered neuromuscular control of tendon stiffness via dermal application of micro-titanium treated materials may facilitate restoration of musculotendinous contractile performance following prior strenuous exercise.

Soleus fascicle length changes are conserved between young and old adults at their preferred walking speed

Older adults have been shown to naturally select a walking speed approximately 20% slower than younger adults. We explored the possibility that a reduction in preferred speed in older adults represents a strategy to preserve the mechanical function of the leg muscles. We examined this question in the soleus muscle in eight healthy young (25.8±3.5 years) and eight healthy older adults (66.1±2.3 years) who were paired so that their preferred speed differed by ∼20%. Soleus muscle fascicle lengths were recorded dynamically using ultrasound, together with simultaneous measurements of soleus EMG activity and ankle joint kinematics while (a) older adults walked on a treadmill at a speed 20% above their preferred speed (speeds matched to the preferred speed of young adults), and (b) young and older adults walked at their preferred treadmill speeds. Analyses of mean muscle fascicle length changes revealed that, at matched speeds, older adults had a statistically different soleus fascicle length pattern compared to young adults, where the muscle's stretch-shorten cycle during stance was diminished. However, older adults walking at their preferred speed exhibited a more pronounced stretch-shorten cycle that was not statistically different from young adults. Conserving muscle length patterns through a reduction in speed in older adults may represent a physiologically relevant modulation of muscle function that permits greater force and power production. Our findings offer a novel mechanical explanation for the slower walking speed in older adults, whereby a reduction in speed may permit muscles to function in a mechanically similar manner to that of younger adults.

The role of hind limb tendons in gibbon locomotion: springs or strings?

Tendon properties have an important effect on the mechanical behaviour of muscles, with compliant tendons allowing near-isometric muscle contraction and facilitating elastic energy storage and recoil. Stiff tendons, in contrast, facilitate rapid force transfer and precise positional control. In humans, the long Achilles tendon contributes to the mechanical efficiency of running via elastic energy storage and recovery, and its presence has been linked to the evolution of habitual bipedalism. Gibbons also possess relatively long hind limb tendons; however, their role is as yet unknown. Based on their large dimensions, and inferring from the situation in humans, we hypothesize that the tendons in the gibbon hind limb will facilitate elastic energy storage and recoil during hind-limb-powered locomotion. To investigate this, we determined the material properties of the gibbon Achilles and patellar tendon in vitro and linked this with available kinematic and kinetic data to evaluate their role in leaping and bipedalism. Tensile tests were conducted on tendon samples using a material testing machine and the load-displacement data were used to calculate stiffness, Young's modulus and hysteresis. In addition, the average stress-in-life and energy absorption capacity of both tendons were estimated. We found a functional difference between the gibbon Achilles and patellar tendon, with the Achilles tendon being more suitable for elastic energy storage and release. The patellar tendon, in contrast, has a relatively high hysteresis, making it less suitable to act as elastic spring. This suggests that the gibbon Achilles tendon might fulfil a similar function as in humans, contributing to reducing the locomotor cost of bipedalism by acting as elastic spring, while the high stiffness of the patellar tendon might favour fast force transfer upon recoil and, possibly, enhance leaping performance.

A conceptual framework for computational models of Achilles tendon homeostasis

Computational modeling of tendon lags the development of computational models for other tissues. A major bottleneck in the development of realistic computational models for Achilles tendon is the absence of detailed conceptual and theoretical models as to how the tissue actually functions. Without the conceptual models to provide a theoretical framework to guide the development and integration of multiscale computational models, modeling of the Achilles tendon to date has tended to be piecemeal and focused on specific mechanical or biochemical issues. In this paper, we present a new conceptual model of Achilles tendon tissue homeostasis, and discuss this model in terms of existing computational models of tendon. This approach has the benefits of structuring the research on relevant computational modeling to date, while allowing us to identify new computational models requiring development. The critically important functional issue for tendon is that it is continually damaged during use and so has to be repaired. From this follows the centrally important issue of homeostasis of the load carrying collagen fibrils within the collagen fibers of the Achilles tendon. Collagen fibrils may be damaged mechanically-by loading, or damaged biochemically-by proteases. Upon reviewing existing computational models within this conceptual framework of the Achilles tendon structure and function, we demonstrate that a great deal of theoretical and experimental research remains to be done before there are reliably predictive multiscale computational model of Achilles tendon in health and disease.

Mechanical and energetic scaling relationships of running gait through ontogeny in the ostrich (Struthio camelus)

It is unclear whether small animals, with their high stride frequency and crouched posture, or large animals, with more tendinous limbs, are more reliant on storage and return of elastic energy during locomotion. The ostrich has a limb structure that appears to be adapted for high-speed running with long tendons and short muscle fibres. Here we investigate biomechanics of ostrich gait through growth and, with consideration of anatomical data, identify scaling relationships with increasing body size, relating to forces acting on the musculoskeletal structures, effective mechanical advantage (EMA) and mechanical work. Kinematic and kinetic data were collected through growth from running ostriches. Joint moments scaled in a similar way to the pelvic limb segments as a result of consistent posture through growth, such that EMA was independent of body mass. Because no postural change was observed, relative loads applied to musculoskeletal tissues would be predicted to increase during growth, with greater muscle, and hence tendon, load allowing increased potential for elastic energy storage with increasing size. Mass-specific mechanical work per unit distance was independent of body mass, resulting in a small but significant increase in the contribution of elastic energy storage to locomotor economy in larger ostriches.

On the ascent: the soleus operating length is conserved to the ascending limb of the force-length curve across gait mechanics in humans

The region over which skeletal muscles operate on their force-length (F-L) relationship is fundamental to the mechanics, control and economy of movement. Yet surprisingly little experimental data exist on normalized length operating ranges of muscle during human gait, or how they are modulated when mechanical demands (such as force output) change. Here we explored the soleus muscle (SOL) operating lengths experimentally in a group of healthy young adults by combining subject-specific F-L relationships with in vivo muscle imaging during gait. We tested whether modulation of operating lengths occurred between walking and running, two gaits that require different levels of force production and different muscle-tendon mechanics, and examined the relationship between optimal fascicle lengths (L(0)) and normalized operating lengths during these gaits. We found that the mean active muscle lengths reside predominantly on the ascending limbs of the F-L relationship in both gaits (walk, 0.70-0.94 L(0); run, 0.65-0.99 L(0)). Furthermore, the mean normalized muscle length at the time of the peak activation of the muscle was the same between the two gaits (0.88 L(0)). The active operating lengths were conserved, despite a fundamentally different fascicle strain pattern between walking (stretch-shorten cycle) and running (near continuous shortening). Taken together, these findings indicate that the SOL operating length is highly conserved, despite gait-dependent differences in muscle-tendon dynamics, and appear to be preferentially selected for stable force production compared with optimal force output (although length-dependent force capacity is high when maximal forces are expected to occur). Individuals with shorter L(0) undergo smaller absolute muscle excursions (P<0.05) so that the normalized length changes during walking and running remain independent of L(0). The correlation between L(0) and absolute length change was not explained on the basis of muscle moment arms or joint excursion, suggesting that regulation of muscle strain may occur via tendon stretch.

A compliant tendon increases fatigue resistance and net efficiency during fatiguing cyclic contractions of mouse soleus muscle

AIM

As muscles fatigue, their ability to generate mechanical work decreases as a result of decreased force generation and in cyclic activity, slower the relaxation. The purpose of this study was to determine whether a compliant tendon, connected in series with a muscle, would increase sustained work output during cyclic contractions.

METHODS

Experiments were performed in vitro (37 °C) using fibre bundles from mouse soleus muscles (n = 7). Each muscle performed two series of 40 brief contractions at a contraction frequency of 2 Hz and with a sinusoidal length change. One series was performed using the fibre bundle only and one with the fibre bundle and a compliant strip of latex connected between the muscle and the force recording apparatus.

RESULTS

When contracting with the latex strip, muscle work output was better maintained during the second half of the protocol than when performed without the latex, overall energy cost was reduced and mechanical efficiency was increased.

CONCLUSION

The provision of a compliant tendon analogue increased the level of work output that could be sustained during cyclic contractions and reduced energy expenditure. It is proposed that both metabolic and mechanical consequences of the compliant tendon contribute to the improved performance.

Age-related fascicle-tendon interaction in repetitive hopping

Increasing age can influence the interaction of muscle fascicles and tendon during dynamic movements. The object of the present study was to examine occurrence and possible reasons for the age-specific behavior of fascicles and tendons and their interaction during hopping with different intensities. Nine young and 24 elderly subjects performed repetitive hopping with maximal effort as well as with 50, 65, 75 and 90 % intensities. During hopping joint kinematics and ground reaction, forces were measured together with recordings of ultrasound images of both the fascicle and the muscle-tendon junction part of the gastrocnemius medialis (GaM) muscle. The results showed that fascicle behavior during the braking phase of hopping was clearly age specific in nature with more fascicle shortening in the young (p < 0.001). In addition, the fascicle shortening increased in young subjects with increasing intensity (p < 0.05). At the instant of ground contact, the elderly subjects demonstrated decreased fascicle length with increasing hopping intensity (p < 0.01). Thereafter in the braking phase, the elderly showed much smaller changes in fascicle length as compared to the young. In contrast to the fascicles, the GaM outer tendon did not show major age-specific differences in stretching and shortening amplitudes during hopping although the peak tendon forces were clearly lower in the elderly (p < 0.001). These results suggest that GaM outer tendon behavior is not influenced greatly with increasing age. It is further suggested that when aging modifies the fascicle-tendon interaction, it is primarily due to the age-specific difference in the fascicle level. This notion poses a question that as compared to the young, the elderly individuals may have a different fascicle behavior for optimal SSC locomotion such as hopping.

The effects of asymmetric length trajectories on the initial mechanical efficiency of mouse soleus muscles

Asymmetric cycles with more than half of the cycle spent shortening enhance the mechanical power output of muscle during flight and vocalisation. However, strategies that enhance muscle mechanical power output often compromise efficiency. In order to establish whether a trade-off necessarily exists between power and efficiency, we investigated the effects of asymmetric muscle length trajectories on the maximal mechanical cycle-average power output and initial mechanical efficiency (Ei). Work and heat were measured in vitro in a mouse soleus muscle undergoing contraction cycles with 25% (Saw25%), 50% (Saw50%) and 75% (Saw75%) of the cycles spent shortening. Cycle-average power output tended to increase with the proportion of the cycle spent shortening at a given frequency. Maximum cycle-average power output was 102.9±7.6 W kg–1 for Saw75% cycles at 5 Hz. Ei was very similar for Saw50% and Saw75% cycles at all frequencies (approximately 0.27 at 5 Hz). Saw25% cycles had Ei values similar to those of Saw50% and Saw75% cycles at 1 Hz (approximately 0.20), but were much less efficient at 5 Hz (0.08±0.03). The lower initial mechanical efficiency of Saw25% cycles at higher frequencies suggests that initial mechanical efficiency is reduced if the time available for force generation and relaxation during shortening is insufficient. The similar initial mechanical efficiency of Saw50% and Saw75% cycles at all frequencies shows that increasing the proportion of the contraction cycle spent shortening is a strategy that allows an animal to increase muscle mechanical power output without compromising initial mechanical efficiency.

The anatomical arrangement of muscle and tendon enhances limb versatility and locomotor performance

The arrangement of muscles and tendons has been studied in detail by anatomists, surgeons and biomechanists for over a century, and the energetics and mechanics of muscle contraction for almost as long. Investigation of how muscles function during locomotion and the relative length change in muscle fibres and the associated elastic tendon has, however, been more challenging. In recent years, novel in vivo measurement methods such as ultrasound and sonomicrometry have contributed to our understanding of the dynamics of the muscle tendon unit during locomotion. Here, we examine both published and new data to explore how muscles are arranged to deliver the wide repertoire of locomotor function and the trade-offs between performance and economy that result.

Plasticity of human Achilles tendon mechanical and morphological properties in response to cyclic strain

The purpose of the current study in combination with our previous published data (Arampatzis et al., 2007) was to examine the effects of a controlled modulation of strain magnitude and strain frequency applied to the Achilles tendon on the plasticity of tendon mechanical and morphological properties. Eleven male adults (23.9 ± 2.2 yr) participated in the study. The participants exercised one leg at low magnitude tendon strain (2.97 ± 0.47%), and the other leg at high tendon strain magnitude (4.72 ± 1.08%) of similar frequency (0.5 Hz, 1s loading, 1s relaxation) and exercise volume (integral of the plantar flexion moment over time) for 14 weeks, 4 days per week, 5 sets per session. The exercise volume was similar to the intervention of our earlier study (0.17 Hz frequency; 3s loading, 3s relaxation) allowing a direct comparison of the results. Before and after the intervention ankle joint moment has been measured by a dynamometer, tendon-aponeurosis elongation by ultrasound and cross-sectional area of the Achilles tendon by magnet resonance images (MRI). We found a decrease in strain at a given tendon force, an increase in tendon-aponeurosis stiffness and tendon elastic modulus of the Achilles tendon only in the leg exercised at high strain magnitude. The cross-sectional area (CSA) of the Achilles tendon did not show any statistically significant (P > 0.05) differences to the pre-exercise values in both legs. The results indicate a superior improvement in tendon properties (stiffness, elastic modulus and CSA) at the low frequency (0.17 Hz) compared to the high strain frequency (0.5 Hz) protocol. These findings provide evidence that the strain magnitude applied to the Achilles tendon should exceed the value, which occurs during habitual activities to trigger adaptational effects and that higher tendon strain duration per contraction leads to superior tendon adaptational responses.

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.

The influence of tendon compliance on muscle power output and efficiency during cyclic contractions

Muscle power output and efficiency during cyclical contractions are influenced by the timing and duration of stimulation of the muscle and the interaction of the muscle with its mechanical environment. It has been suggested that tendon compliance may reduce the energy required for power production from the muscle by reducing the required shortening of the muscle fibres. Theoretically this may allow the muscle to maintain both high power output and efficiency during cyclical contraction; however, this has yet to be demonstrated experimentally. To investigate how tendon compliance might act to increase muscle power output and/or efficiency, we attached artificial tendons of varying compliance to muscle fibre bundles in vitro and measured power output and mechanical efficiency during stretch-shorten cycles (2 Hz) with a range of stretch amplitudes and stimulation patterns. The results showed that peak power, average power output and efficiency (none of which can have direct contributions from the compliant tendon) all increased with increasing tendon compliance, presumably due to the tendon acting to minimise muscle energy use by allowing the muscle fibres to shorten at optimal speeds. Matching highly compliant tendons with a sufficiently large amplitude length change and appropriate stimulation pattern significantly increased the net muscle efficiency compared with stiff tendons acting at the same frequency. The maximum efficiency for compliant tendons was also similar to the highest value measured under constant velocity and force conditions, which suggests that tendon compliance can maximise muscle efficiency in the conditions tested here. These results provide experimental evidence that during constrained cyclical contractions, muscle power and efficiency can be enhanced with compliant tendons.

Scientific bases and clinical utilisation of the calf-raise test

BACKGROUND

Athletes commonly sustain injuries to the triceps surae muscle-tendon unit. The calf-raise test (CRT) is frequently employed in sports medicine for the detection and monitoring of such injuries. However, despite being widely-used, a recent systematic review found no universal consensus relating to the test's purpose, parameters, and standard protocols.

OBJECTIVES

The purpose of this paper is to provide a clinical perspective on the anatomo-physiological bases underpinning the CRT and to discuss the utilisation of the test in relation to the structure and function of the triceps surae muscle-tendon unit.

DESIGN

Structured narrative review.

METHODS

Nine electronic databases were searched using keywords and MESH headings related to the CRT and the triceps surae muscle-tendon unit anatomy and physiology. A hand-search of reference lists and relevant journals and textbooks complemented the electronic search.

SUMMARY

There is evidence supporting the clinical use of the CRT to assess soleus and gastrocnemius, their shared aponeurosis, the Achilles tendon, and the combined triceps surae muscle-tendon unit. However, employing the same clinical test to assess all these structures and their associated functions remains challenging.

CONCLUSIONS

Further refinement of the CRT for the triceps surae muscle-tendon unit is needed. This is vital to support best practice utilisation, standardisation, and interpretation of the CRT in sports medicine.

Intensity of activation and timing of deactivation modulate elastic energy storage and release in a pennate muscle and account for gait-specific initiation of limb protraction in the horse

The equine biceps brachii (biceps) initiates rapid limb protraction through a catapult mechanism. Elastic strain energy is slowly stored in an internal tendon and is then rapidly released to protract the forelimb. The muscle fibres are short, have little scope for length change and can therefore only shorten slowly compared with the speed at which the whole muscle must shorten,which makes them poor candidates for driving rapid limb protraction. We suggest that the muscle fibres in the biceps act to modulate the elastic energy output of the muscle–tendon unit (MTU) to meet the demands of locomotion under different conditions. We hypothesise that more elastic strain energy is stored and released from the biceps MTU during higher speed locomotion to accommodate the increase in energy required to protract the limb and that this can be achieved by varying the length change and activation conditions of the muscle. We examined the work performed by the biceps during trot and canter using an inverse dynamics analysis (IDA). We then used excised biceps muscles to determine how much work could be performed by the muscle in active and passive stretch–shorten cycles. A muscle model was developed to investigate the influence of changes in activation parameters on energy storage and energy return from the biceps MTU. Increased biceps MTU length change and increased work performed by the biceps MTU were found at canter compared with at trot. More work was performed by the ex vivo biceps MTU following activation of the muscle and by increasing muscle length change. However, the ratio of active to passive work diminished with increasing length change. The muscle model demonstrated that duration and timing of activation during stretch–shorten cycles could modulate the elastic energy storage and return from the biceps. We conclude that the equine biceps MTU acts as a tuneable spring and the contractile component functions to modulate the energy required for rapid forelimb protraction at different speeds.

Exploring the mechanical basis for acceleration: pelvic limb locomotor function during accelerations in racing greyhounds (Canis familiaris)

Animals in their natural environments are confronted with a regular need to perform rapid accelerations (for example when escaping from predators or chasing prey). Such acceleration requires net positive mechanical work to be performed on the centre of mass by skeletal muscle. Here we determined how pelvic limb joints contribute to the mechanical work and power that are required for acceleration in galloping quadrupeds. In addition, we considered what, if any, biomechanical strategies exist to enable effective acceleration to be achieved. Simultaneous kinematic and kinetic data were collected for racing greyhounds undergoing a range of low to high accelerations. From these data, joint moments and joint powers were calculated for individual hindlimb joints. In addition, the mean effective mechanical advantage (EMA) of the limb and the ;gear ratio' of each joint throughout stance were calculated. Greatest increases in joint work and power with acceleration appeared at the hip and hock joints, particularly in the lead limb. Largest increases in absolute positive joint work occurred at the hip, consistent with the hypothesis that quadrupeds power locomotion by torque about the hip. In addition, hindlimb EMA decreased substantially with increased acceleration - a potential strategy to increase stance time and thus ground impulses for a given peak force. This mechanism may also increase the mechanical advantage for applying the horizontal forces necessary for acceleration.

Thermal substitution and aerobic efficiency: measuring and predicting effects of heat balance on endotherm diving energetics

For diving endotherms, modelling costs of locomotion as a function of prey dispersion requires estimates of the costs of diving to different depths. One approach is to estimate the physical costs of locomotion (Pmech) with biomechanical models and to convert those estimates to chemical energy needs by an aerobic efficiency (eta=Pmech/Vo2) based on oxygen consumption (Vo2) in captive animals. Variations in eta with temperature depend partly on thermal substitution, whereby heat from the inefficiency of exercising muscles or the heat increment of feeding (HIF) can substitute for thermogenesis. However, measurements of substitution have ranged from lack of detection to nearly complete use of exercise heat or HIF. This inconsistency may reflect (i) problems in methods of calculating substitution, (ii) confounding mechanisms of thermoregulatory control, or (iii) varying conditions that affect heat balance and allow substitution to be expressed. At present, understanding of how heat generation is regulated, and how heat is transported among tissues during exercise, digestion, thermal challenge and breath holding, is inadequate for predicting substitution and aerobic efficiencies without direct measurements for conditions of interest. Confirming that work rates during exercise are generally conserved, and identifying temperatures at those work rates below which shivering begins, may allow better prediction of aerobic efficiencies for ecological models.

Resonant hopping of a robot controlled by an artificial neural oscillator

The bouncing gaits of terrestrial animals (hopping, running, trotting) can be modeled as a hybrid dynamic system, with spring-mass dynamics during stance and ballistic motion during the aerial phase. We used a simple hopping robot controlled by an artificial neural oscillator to test the ability of the neural oscillator to adaptively drive this hybrid dynamic system. The robot had a single joint, actuated by an artificial pneumatic muscle in series with a tendon spring. We examined how the oscillator-robot system responded to variation in two neural control parameters: descending neural drive and neuromuscular gain. We also tested the ability of the oscillator-robot system to adapt to variations in mechanical properties by changing the series and parallel spring stiffnesses. Across a 100-fold variation in both supraspinal gain and muscle gain, hopping frequency changed by less than 10%. The neural oscillator consistently drove the system at the resonant half-period for the stance phase, and adapted to a new resonant half-period when the muscle series and parallel stiffnesses were altered. Passive cycling of elastic energy in the tendon accounted for 70-79% of the mechanical work done during each hop cycle. Our results demonstrate that hopping dynamics were largely determined by the intrinsic properties of the mechanical system, not the specific choice of neural oscillator parameters. The findings provide the first evidence that an artificial neural oscillator will drive a hybrid dynamic system at partial resonance.

Human tendon behaviour and adaptation, in vivo

Tendon properties contribute to the complex interaction of the central nervous system, muscle-tendon unit and bony structures to produce joint movement. Until recently limited information on human tendon behaviour in vivo was available; however, novel methodological advancements have enabled new insights to be gained in this area. The present review summarizes the progress made with respect to human tendon and aponeurosis function in vivo, and how tendons adapt to ageing, loading and unloading conditions. During low tensile loading or with passive lengthening not only the muscle is elongated, but also the tendon undergoes significant length changes, which may have implications for reflex responses. During active loading, the length change of the tendon far exceeds that of the aponeurosis, indicating that the aponeurosis may more effectively transfer force onto the tendon, which lengthens and stores elastic energy subsequently released during unloading, in a spring-like manner. In fact, data recently obtained in vivo confirm that, during walking, the human Achilles tendon provides elastic strain energy that can decrease the energy cost of locomotion. Also, new experimental evidence shows that, contrary to earlier beliefs, the metabolic activity in human tendon is remarkably high and this affords the tendon the ability to adapt to changing demands. With ageing and disuse there is a reduction in tendon stiffness, which can be mitigated with resistance exercises. Such adaptations seem advantageous for maintaining movement rapidity, reducing tendon stress and risk of injury, and possibly, for enabling muscles to operate closer to the optimum region of the length-tension relationship.

Functional specialisation of the pelvic limb of the hare (Lepus europeus)

We provide quantitative anatomical data on the muscle-tendon architecture of the hare pelvic limb (specifically muscle mass, fascicle length, pennation angle, tendon mass and length). In addition, moment arms of major pelvic limb muscles were measured. Maximum isometric force and power of muscles, the moment of force about a joint, and tendon stress and strain were estimated. Data are compared with published data for other cursorial mammals such as the horse and dog, and a non-specialised Lagamorph, the rabbit. The pelvic limb of the hare was found to contain substantial amounts of hip extensor and adductor/abductor muscle volume, which is likely to be required for power production and stability during rapid turning. A proximal to distal reduction in muscle volume and fascicle length was also observed, as is the case in other cursorial quadrupeds, along with a reduction in distal limb mass via the replacement of muscle volume by long distal limb tendons, capable of storing large amounts of elastic energy. The majority of hare pelvic limb muscle moment arms varied with joint position, giving the hare the capacity to vary muscle function with limb posture and presumably different locomotor activities.

Is Achilles tendon compliance optimised for maximum muscle efficiency during locomotion?

Tendon elasticity is important for economical locomotion; however it is unknown whether tendon stiffness is appropriate to achieve an optimal efficiency in various muscles. Here we test the hypothesis that the Achilles tendon is of an appropriate stiffness to maximise medial gastrocnemius muscle efficiency during locomotion with different power requirements. To test this hypothesis we used a three element Hill muscle model to determine how muscle fascicles would be required to change length if the series elastic element stiffness is varied, whilst the limb kinematics and muscle properties are held constant. We applied a model of muscle energetics to these data to predict muscle efficiency for a range of stiffness values in both walking and running conditions. We also compared the model results to in vivo data collected using ultrasonography. The muscle model predicted that optimal series elastic element stiffness for maximising efficiency is equal or slightly higher than that of the average Achilles tendon in running and walking, respectively. Although the peak efficiency values for running (26%) and walking (27%) are similar, the range of stiffness values achieving high efficiency in running is much smaller than that during walking. These results suggest that a compliant tendon, such as the Achilles tendon, is required for efficient running. Such a finding is important, because it describes how the stiffness of a tendon may be adapted to achieve optimal efficiency for particular athletic pursuits. The influence of varying tendon stiffness on kinematic performance may, however, play an important role in determining the efficiency of the muscle.

Interactions between the human gastrocnemius muscle and the Achilles tendon during incline, level and decline locomotion

Muscles are required to perform or absorb mechanical work under different conditions. However the ability of a muscle to do this depends on the interaction between its contractile components and its elastic components. In the present study we have used ultrasound to examine the length changes of the gastrocnemius medialis muscle fascicle along with those of the elastic Achilles tendon during locomotion under different incline conditions. Six male participants walked (at 5 km h-1) on a treadmill at grades of -10%,0% and 10% and ran (at 10 km h-1) at grades of 0% and 10%, whilst simultaneous ultrasound, electromyography and kinematics were recorded. In both walking and running, force was developed isometrically; however,increases in incline increased the muscle fascicle length at which force was developed. Force was developed at shorter muscle lengths for running when compared to walking. Substantial levels of Achilles tendon strain were recorded in both walking and running conditions, which allowed the muscle fascicles to act at speeds more favourable for power production. In all conditions, positive work was performed by the muscle. The measurements suggest that there is very little change in the function of the muscle fascicles at different slopes or speeds, despite changes in the required external work. This may be a consequence of the role of this biarticular muscle or of the load sharing between the other muscles of the triceps surae.

In vivo mechanical properties of the human Achilles tendon during one-legged hopping

Compliant tendons act as energy stores, which benefit the energetics and power output of a muscle–tendon unit. However the compliance of tendon and the material properties may vary between individuals and hence alter the energy storing capacity of the tendon. We aimed to determine the in vivo Achilles tendon (AT) stress and strain during one-legged hopping and hence the contribution of elastic recoil to mechanical energy changes. We simultaneously measured the length of the Achilles tendon from the muscle–tendon junction to the insertion on the calcaneous and the approximate AT force in ten male participants. The position of the muscle–tendon junction was determined using ultrasound images that were projected into three-dimensional space. Achilles tendon force was measured using inverse dynamics. The results demonstrated that one-legged hopping elicited high tendon strains and that the force–length relationship of the whole tendon is relatively linear, particularly at high strains. The stiffness, elastic modulus and hysteresis varied across the population(inter-quartile range of 145–231 N mm–1,0.67–1.07 GPa and 17–35%, respectively). These values are within the reported biological range. An average of 38 J of energy was recovered from the elastic recoil of the tendon, which contributes 16% of the total average mechanical work of the hop (254 J). The high strains measured here (average peak strain was 8.3%) and in other studies may be possible due to the complex architecture of the Achilles tendon; however, prolonged hopping may well cause tendon damage. In conclusion, the properties of the elastic Achilles tendon can contribute significantly to the total mechanical work of the body during one-legged hopping; however, individual variation in the properties of the tendon vary the energy storing capacity of this structure.