Mono- versus biarticular muscle function in relation to speed and gait changes: in vivo analysis of the goat triceps brachii

Legs as linkages: an alternative paradigm for the role of tendons and isometric muscles in facilitating economical gait

Considerable attention has been given to the spring-like behaviour of stretching and recoiling tendons, and how this can reduce the work demanded from muscle for a given loss-return cycling of mechanical energy during high-speed locomotion. However, even completely isometric muscle-tendon units have the potential to act as tension struts, forming links in linkages that avoid the demand for mechanical work-cycling in the first place. Here, forelimb and hindlimb structures and geometries of quadrupeds are considered in terms of linkages that avoid mechanical work at the level of both the whole limb and the individual muscles. The scapula, isometric serratus muscles and forelimb can be viewed as a modified Roberts' straight-line mechanism that supports an approximately horizontal path of the body with vertically orientated forces, resulting in low work demand at the level of both limb and muscle. Modelled isometric triceps brachii inserting to the olecranon form part of a series of four-bar linkages (forelimb) and isometric biceps femoris cranial, rectus femoris and tensor fascia latae form part of a series of six-bar linkages (hindlimb), in both cases potentially resulting in straight-line horizontal motion, generating appropriate moments about shoulder and hip to maintain vertical ground reaction forces and again low mechanical work demand from the limb. Analysing part of the complexity of animal limb structure as linkages that avoid work at the level of both the whole limb and the supporting muscles suggests a new paradigm with which to appreciate the role of isometric muscle-tendon units and multiple muscle origins.

Biarticular muscles in light of template models, experiments and robotics: a review

Leg morphology is an important outcome of evolution. A remarkable morphological leg feature is the existence of biarticular muscles that span adjacent joints. Diverse studies from different fields of research suggest a less coherent understanding of the muscles' functionality in cyclic, sagittal plane locomotion. We structured this review of biarticular muscle function by reflecting biomechanical template models, human experiments and robotic system designs. Within these approaches, we surveyed the contribution of biarticular muscles to the locomotor subfunctions (stance, balance and swing). While mono- and biarticular muscles do not show physiological differences, the reviewed studies provide evidence for complementary and locomotor subfunction-specific contributions of mono- and biarticular muscles. In stance, biarticular muscles coordinate joint movements, improve economy (e.g. by transferring energy) and secure the zig-zag configuration of the leg against joint overextension. These commonly known functions are extended by an explicit role of biarticular muscles in controlling the angular momentum for balance and swing. Human-like leg arrangement and intrinsic (compliant) properties of biarticular structures improve the controllability and energy efficiency of legged robots and assistive devices. Future interdisciplinary research on biarticular muscles should address their role for sensing and control as well as non-cyclic and/or non-sagittal motions, and non-static moment arms.

Fitting unanchored puzzle pieces in the skeleton: appropriate 3D scapular positions for the quadrupedal support in tetrapods

Deducing the scapular positions of extinct tetrapod skeletons remains difficult, because the scapulae and rib cage are connected with each other not directly by skeletal joint, but by thoracic muscles. In extant non-testudine quadrupedal tetrapods, the top positions of the scapulae/suprascapulae occur at the anterior portion of the rib cage, above the vertebral column and near the median plane. The adequacy of this position was tested using three-dimensional mechanical models of Felis, Rattus and Chamaeleo that assumed stances on a forelimb on a single side and the hindlimbs. The net moment about the acetabulum generated by the gravity force and the contractive forces of the anti-gravity thoracic muscles, and the resistance of the rib to vertical compression between the downward gravity and upward lifting force from the anti-gravity thoracic muscle depend on the scapular position. The scapular position common among quadrupeds corresponds to the place at which the roll and yaw moments of the uplifted portion of the body are negligible, where the pitch moment is large enough to lift the body, and above the ribs having high strength against vertical compression. These relationships between scapular position and rib cage morphology should allow reliable reconstruction of limb postures of extinct taxa.

The magnitude of muscular activation of four canine forelimb muscles in dogs performing two agility-specific tasks

Background

The purpose of this study was to measure the muscular activation in four forelimb muscles while dogs performed agility tasks (i.e., jumping and A-frame) and to provide insight into potential relationships between level of muscular activation and risk of injury. Muscle activation in eight healthy, client-owned agility dogs was measured using ultrasound-guided fine-wire electromyography of four specific forelimb muscles: Biceps Brachii, Supraspinatus, Infraspinatus, and Triceps Brachii – Long Head, while dogs performed a two jump sequence and while dogs ascended and descended an A-frame obstacle at two different competition heights.

Results

The peak muscle activations during these agility tasks were between 1.7 and 10.6 fold greater than walking. Jumping required higher levels of muscle activation compared to ascending and descending an A-frame, for all muscles of interest. There was no significant difference in muscle activation between the two A-frame heights.

Conclusions

Compared to walking, all of the muscles were activated at high levels during the agility tasks and our findings indicate that jumping is an especially demanding activity for dogs in agility. This information is broadly relevant to understanding the pathophysiology of forelimb injuries related to canine athletic activity.

Curved bones: An adaptation to habitual loading

Why are long bones curved? It has long been considered a paradox that many long bones supporting mammalian bodies are curved, since this curvature results in the bone undergoing greater bending, with higher strains and so greater fracture risk under load. This study develops a theoretical model wherein the curvature is a response to bending strains imposed by the requirements of locomotion. In particular the radioulna of obligate quadrupeds is a lever operated by the triceps muscle, and the bending strains induced by the triceps muscle counter the bending resulting from longitudinal loads acting on the curved bone. Indeed the theoretical model reverses this logic and suggests that the curvature is itself a response to the predictable bending strains induced by the triceps muscle. This, in turn, results in anatomical arrangements of bone, muscle and tendon that create a simple physiological mechanism whereby the bone can resist the bending due to the action of triceps in supporting and moving the body. The model is illustrated by contrasting the behaviour of a finite element model of a llama radioulna to that of a straightened version of the same bone. The results show that longitudinal and flexor muscle forces produce bending strains that effectively counter strains due to the pull of the triceps muscle in the curved but not in the straightened model. It is concluded that the curvature of these and other curved bones adds resilience to the skeleton by acting as pre-stressed beams or strainable pre-buckled struts. It is also proposed that the cranial bending strains that result from triceps, acting on the lever that is the radioulna, can explain the development of the curvature of such bones.

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.

Forelimb brachial muscle activation patterns using surface electromyography and their relationship to kinematics in normal dogs walking and trotting

The objective of this study was to determine activity of the elbow flexor and elbow extensor groups of muscles relative to shoulder and elbow joint kinematics in normal walking and trotting dogs using surface electromyography (EMG), and to determine if muscle activity varies with gait or limb. Ten healthy mixed-breed dogs were walked and trotted across embedded force plates in a 6 m walkway while simultaneously recording muscle activation using surface EMG positioned over the biceps brachii (elbow flexor group) and triceps brachii (elbow extensor group); peak shoulder, elbow, and carpal joint angles from motion capture, and ground reaction forces. EMG magnitude, timing, and power spectral density (PSD) were used to analyse muscle activity. The effects of gait type and limb side on EMG measures and joint angles were assessed using an analysis of variance. Results showed that the elbow flexor group was maximally active at end of stance. The elbow extensor group was maximally active at the beginning of stance. Muscle activity occurred earlier in the gait phase (stance or swing) in the trot compared to the walk. The amplitude, frequency at maximum PSD (elbow flexor group only) and the median frequency were larger on the right side than on the left side. The maximum PSD and integrated PSD were larger on the left side than the right side. These data provide a reference for identifying abnormalities associated with orthopaedic, neurological, or rehabilitative changes. Limb asymmetry observed in muscle activation in clinically normal dogs should be further evaluated.

Adaptations in muscle activity to induced, short-term hindlimb lameness in trotting dogs

Muscle tissue has a great intrinsic adaptability to changing functional demands. Triggering more gradual responses such as tissue growth, the immediate responses to altered loading conditions involve changes in the activity. Because the reduction in a limb's function is associated with marked deviations in the gait pattern, understanding the muscular responses in laming animals will provide further insight into their compensatory mechanisms as well as help to improve treatment options to prevent musculoskeletal sequelae in chronic patients. Therefore, this study evaluated the changes in muscle activity in adaptation to a moderate, short-term, weight-bearing hindlimb lameness in two leg and one back muscle using surface electromyography (SEMG). In eight sound adult dogs that trotted on an instrumented treadmill, bilateral, bipolar recordings of the m. triceps brachii, the m. vastus lateralis and the m. longissimus dorsi were obtained before and after lameness was induced. Consistent with the unchanged vertical forces as well as temporal parameters, neither the timing nor the level of activity changed significantly in the m. triceps brachii. In the ipsilateral m. vastus lateralis, peak activity and integrated SEMG area were decreased, while they were significantly increased in the contralateral hindlimb. In both sides, the duration of the muscle activity was significantly longer due to a delayed offset. These observations are in accordance with previously described kinetic and kinematic changes as well as changes in muscle mass. Adaptations in the activity of the m. longissimus dorsi concerned primarily the unilateral activity and are discussed regarding known alterations in trunk and limb motions.

Dynamic motor compensations with permanent, focal loss of forelimb force after cervical spinal cord injury

Incomplete cervical lesion is the most common type of human spinal cord injury (SCI) and causes permanent paresis of arm muscles, a phenomenon still incompletely understood in physiopathological and neuroanatomical terms. We performed spinal cord hemisection in adult rats at the caudal part of the segment C6, just rostral to the bulk of triceps brachii motoneurons, and analyzed the forces and kinematics of locomotion up to 4 months postlesion to determine the nature of motor function loss and recovery. A dramatic (50%), immediate and permanent loss of extensor force occurred in the forelimb but not in the hind limb of the injured side, accompanied by elbow and wrist kinematic impairments and early adaptations of whole-body movements that initially compensated the balance but changed continuously over the follow-up period to allow effective locomotion. Overuse of both contralateral legs and ipsilateral hind leg was evidenced since 5 days postlesion. Ipsilateral foreleg deficits resulted mainly from interruption of axons that innervate the spinal cord segments caudal to the lesion, because chronic loss (about 35%) of synapses was detected at C7 while only 14% of triceps braquii motoneurons died, as assessed by synaptophysin immunohistochemistry and retrograde neural tracing, respectively. We also found a large pool of propriospinal neurons projecting from C2-C5 to C7 in normal rats, with topographical features similar to the propriospinal premotoneuronal system of cats and primates. Thus, concurrent axotomy at C6 of brain descending axons and cervical propriospinal axons likely hampered spontaneous recovery of the focal neurological impairments.