Flexible mechanisms: the diverse roles of biological springs in vertebrate movement

Beyond power limits: the kinetic energy capacity of skeletal muscle

Muscle is the universal agent of animal movement, and limits to muscle performance are therefore an integral aspect of animal behaviour, ecology and evolution. A mechanical perspective on movement makes it amenable to analysis from first principles, and so brings the seeming certitude of simple physical laws to the challenging comparative study of complex biological systems. Early contributions on movement biomechanics considered muscle energy output to be limited by muscle work capacity, Wmax; triggered by seminal work in the late 1960s, it is now held broadly that a complete analysis of muscle energy output must also consider muscle power capacity, for no unit of work can be delivered in arbitrarily brief time. Here, we adopt a critical stance towards this paradigmatic notion of a power limit, and argue that the alternative constraint to muscle energy output is imposed instead by a characteristic kinetic energy capacity, Kmax, dictated by the maximum speed with which the actuating muscle can shorten. The two critical energies can now be directly compared, and define the physiological similarity index, Γ=Kmax/Wmax. It is the explanatory power of this comparison that lends weight to a shift in perspective from muscle power to kinetic energy capacity, as is argued through a series of illustrative examples. Γ emerges as an important dimensionless number in musculoskeletal dynamics, and sparks novel hypotheses on functional adaptations in musculoskeletal 'design' that depart from the parsimonious evolutionary null hypothesis of geometric similarity.

Comparative muscle anatomy of the anuran pelvis and hindlimb in relation to locomotor mode

Frogs have a highly conserved body plan, yet they employ a diverse array of locomotor modes, making them ideal organisms for investigating the relationships between morphology and locomotor function, in particular whether anatomical complexity is a prerequisite for functional complexity. We use diffusible iodine contrast-enhanced microCT (diceCT) imaging to digitally dissect the gross muscle anatomy of the pelvis and hindlimbs for 30 species of frogs representing five primary locomotor modes, including the first known detailed dissection for some of the world's smallest frogs, forming the largest digital comparative analysis of musculoskeletal structure in any vertebrate clade to date. By linking musculoskeletal dissections and phylogenetic comparative methods, we then quantify and compare relationships between anatomy and function across over 160 million years of anuran evolution. In summary, we have found that bone lengths and pelvic crest sizes are generally not reliable predictors of muscle sizes, which highlights important implications for future palaeontological studies. Our investigation also presents previously unreported differences in muscle anatomy between frogs specialising in different locomotor modes, including several of the smallest frog hindlimb muscles, which are extremely difficult to extract and measure using traditional approaches. Furthermore, we find evidence of many-to-one and one-to-many mapping of form to function across the phylogeny. Additionally, we perform the first quantitative analysis of how the degree of muscle separation can differ between frogs. We find evidence that phylogenetic history is the key contributing factor to muscle separation in the pelvis and thigh, while the separation of shank muscles is influenced more strongly by locomotor mode. Finally, our anatomical 3D reconstructions are published alongside this manuscript to contribute towards future research and serve as educational materials.

Optimizing Resistance Training for Sprint and Endurance Athletes: Balancing Positive and Negative Adaptations

Resistance training (RT) triggers diverse morphological and physiological adaptations that are broadly considered beneficial for performance enhancement as well as injury risk reduction. Some athletes and coaches therefore engage in, or prescribe, substantial amounts of RT under the assumption that continued increments in maximal strength capacity and/or muscle mass will lead to improved sports performance. In contrast, others employ minimal or no RT under the assumption that RT may impair endurance or sprint performances. However, the morphological and physiological adaptations by which RT might impair physical performance, the likelihood of these being evoked, and the training program specifications that might promote such impairments, remain largely undefined. Here, we discuss how selected adaptations to RT may enhance or impair speed and endurance performances while also addressing the RT program variables under which these adaptations are likely to occur. Specifically, we argue that while some myofibrillar (muscle) hypertrophy can be beneficial for increasing maximum strength, substantial hypertrophy can lead to macro- and microscopic adaptations such as increases in body (or limb) mass and internal moment arms that might, under some conditions, impair both sprint and endurance performances. Further, we discuss how changes in muscle architecture, fiber typology, microscopic muscle structure, and intra- and intermuscular coordination with RT may maximize speed at the expense of endurance, or maximize strength at the expense of speed. The beneficial effect of RT for sprint and endurance sports can be further improved by considering the adaptive trade-offs and practical implications discussed in this review.

Achilles tendon morpho-mechanical parameters are related to triceps surae motor unit firing properties

Recent studies combining high-density surface electromyography (HD-sEMG) and ultrasound imaging have yielded valuable insights into the relationship between motor unit activity and muscle contractile properties. However, limited evidence exists on the relationship between motor unit firing properties and tendon morpho-mechanical properties. This study aimed to determine the relationship between triceps surae motor unit firing properties and the morpho-mechanical properties of the Achilles tendon (AT). Motor unit firing properties [i.e. mean discharge rate (DR) and coefficient of variation of the interspike interval (COVisi)] and motor unit firing-torque relationships [cross-correlation between cumulative spike train (CST) and torque, and the delay between motor unit firing and torque production (neuromechanical delay)] of the medial gastrocnemius (MG), lateral gastrocnemius (LG), and soleus (SO) muscles were assessed using HD-sEMG during isometric plantarflexion contractions at 10% and 40% of maximal voluntary contraction (MVC). The morpho-mechanical properties of the AT (i.e. length, thickness, cross-sectional area, and resting stiffness) were determined using B-mode ultrasonography and shear-wave elastography. Multiple linear regression analysis showed that at 10% MVC, the DR of the triceps surae muscles explained 41.7% of the variance in resting AT stiffness. In addition, at 10% MVC, COVisi SO predicted 30.4% of the variance in AT length. At 40% MVC, COVisi MG and COVisi SO explained 48.7% of the variance in AT length. Motor unit-torque relationships were not associated with any morpho-mechanical parameter. This study provides novel evidence of a contraction intensity-dependent relationship between motor unit firing parameters of the triceps surae muscle and the morpho-mechanical properties of the AT. NEW & NOTEWORTHY By employing HD-sEMG, conventional B-mode ultrasonography, and shear-wave elastography, we showed that the resting stiffness of the Achilles tendon is related to mean discharge rate of triceps surae motor units during low-force isometric plantarflexion contractions, providing relevant information about the complex interaction between rate coding and the muscle-tendon unit.

Muscle and tendon stiffness of lower extremity in older adults with fall history: Stiffness effect on physical performance and fall risk

Changes in muscle and tendon stiffness may lead to falls in older adults by affecting joint stability and muscle function. This study aims to investigate the changes in stiffness in lower extremity muscles and tendons in the older adults with a fall history. A cross-sectional research design was followed. 25 older adults with a fall history and 26 older adults without fall history were recruited study. Stiffness of the lower extremity muscles and tendons was measured using a MyotonPRO device. Balance and functional ability of the participants were evaluated. The stiffness of all the selected muscles and tendon was lower in the older adults with a history of fall compared to controls (p<0.05). The obtained results suggest the decrease in the stiffness of the lower extremity muscles and tendon may negatively affect muscle function and joint stability/ control, and it may increase the predisposition to falling in older adults.

Anion-Coordination Foldamer-Based Polymer Network: from Molecular Spring to Elastomer

Foldamer is a scaled-down version of coil spring, which can absorb and release energy by conformational change. Here, polymer networks with high density of molecular springs were developed by employing anion-coordination-based foldamers as the monomer. The coiling of the foldamer is controlled by oligo(urea) ligands coordinating to chloride ions; subsequently, the folding and unfolding of foldamer conformations endow the polymer network with excellent energy dissipation and toughness. The mechanical performance of the corresponding polymer networks shows a dramatic increase from P-L2UCl (non-folding), to P-L4UCl (a full turn), and then to P-L6UCl (1.5 turns), in terms of strength (2.62 MPa; 14.26 MPa; 22.93 MPa), elongation at break (70 %; 325 %; 352 %), Young's modulus (2.69 MPa; 63.61 MPa; 141.50 MPa), and toughness (1.12 MJ/m3; 21.39 MJ/m3; 49.62 MJ/m3), respectively, which is also better than those without anion centers and the non-foldamer based counterparts. Moreover, P-L6UCl shows enhanced strength and toughness than most of the molecular-spring based polymer networks. Thus, an effective strategy for designing high-performance anion-coordination-based materials is presented.

Passive mechanical properties of adipose tissue and skeletal muscle from C57BL/6J mice

Skeletal muscle and adipose tissue are characterized by unique structural features finely tuned to meet specific functional demands. In this study, we investigated the passive mechanical properties of soleus (SOL), extensor digitorum longus (EDL) and diaphragm (DIA) muscles, as well as subcutaneous (SAT), visceral (VAT) and brown (BAT) adipose tissues from 13 C57BL/6J mice. Thereto, alongside stress-relaxation assessments we subjected isolated muscles and adipose tissues (ATs) to force-extension tests up to 10% and 30% of their optimal length, respectively. Peak passive stress was highest in the DIA, followed by the SOL and lowest in the EDL (p < 0.05). SOL displayed also the highest Young's modulus and hysteresis among muscles (p < 0.05). BAT demonstrated highest peak passive stress and Young's modulus followed by VAT (p < 0.05), while SAT showed the highest hysteresis (p < 0.05). When comparing data across all six biological specimens at fixed passive force intervals (i.e., 20-40 and 50-70 mN), skeletal muscles exhibited significantly higher peak stresses and strains than ATs (p < 0.05). Young's modulus was higher in skeletal muscles than in ATs (p < 0.05). Muscle specimens exhibited slower force relaxation in the first phase compared to ATs (p < 0.05), while there was no significant difference in behavior between muscles and AT in the second phase of relaxation. The study revealed distinctive mechanical behaviors specific to different tissues, and even between different muscles and ATs. These variations in mechanical properties are likely such to optimize the specific functions performed by each biological tissue.

Fourier Analysis of the Vertical Ground Reaction Force During Walking: Applications for Quantifying Differences in Gait Strategies

Time series biomechanical data inform our understanding of normal gait mechanics and pathomechanics. This study examines the utility of different quantitative methods to distinguish vertical ground reaction forces (VGRFs) from experimentally distinct gait strategies. The goals of this study are to compare measures of VGRF data-using the shape factor method and a Fourier series-based analysis-to (1) describe how these methods reflect and distinguish gait patterns and (2) determine which Fourier series coefficients discriminate normal walking, with a relatively stiff-legged gait, from compliant walking, using deep knee flexion and limited vertical oscillation. This study includes a reanalysis of previously presented VGRF data. We applied the shape factor method and fit 3- to 8-term Fourier series to zero-padded VGRF data. We compared VGRF renderings using Euclidean L2 distances and correlations stratified by gait strategy. Euclidean L2 distances improved with additional harmonics, with limited improvement after the seventh term. Euclidean L2 distances were greater in shape factor versus Fourier series renderings. In the 8 harmonic model, amplitudes of 9 Fourier coefficients-which contribute to VGRF features including peak and local minimum amplitudes and limb loading rates-were different between normal and compliant walking. The results suggest that Fourier series-based methods distinguish between gait strategies.

Moth resonant mechanics are tuned to wingbeat frequency and energetic demands

An insect's wingbeat frequency is a critical determinant of its flight performance and varies by multiple orders of magnitude across Insecta. Despite potential energetic benefits for an insect that matches its wingbeat frequency to its resonant frequency, recent work has shown that moths may operate off their resonant peak. We hypothesized that across species, wingbeat frequency scales with resonance frequency to maintain favourable energetics, but with an offset in species that use frequency modulation as a means of flight control. The moth superfamily Bombycoidea is ideal for testing this hypothesis because their wingbeat frequencies vary across species by an order of magnitude, despite similar morphology and actuation. We used materials testing, high-speed videography and a model of resonant aerodynamics to determine how components of an insect's flight apparatus (stiffness, wing inertia, muscle strain and aerodynamics) vary with wingbeat frequency. We find that the resonant frequency of a moth correlates with wingbeat frequency, but resonance curve shape (described by the Weis-Fogh number) and peak location vary within the clade in a way that corresponds to frequency-dependent biomechanical demands. Our results demonstrate that a suite of adaptations in muscle, exoskeleton and wing drive variation in resonant mechanics, reflecting potential constraints on matching wingbeat and resonant frequencies.

Energetics (and Mechanical Determinants) of Sprint and Shuttle Running

Unsteady locomotion (e. g., sprints and shuttle runs) requires additional metabolic (and mechanical) energy compared to running at constant speed. In addition, sprints or shuttle runs with relevant speed changes (e. g., with large accelerations and/or decelerations) are typically short in duration and, thus, anaerobic energy sources must be taken into account when computing energy expenditure. In sprint running there is an additional problem due to the objective difficulty in separating the acceleration phase from a (necessary and subsequent) deceleration phase.In this review the studies that report data of energy expenditure during sprints and shuttles (estimated or actually calculated) will be summarized and compared. Furthermore, the (mechanical) determinants of metabolic energy expenditure will be discussed, with a focus on the analogies with and differences from the energetics/mechanics of constant-speed linear running.

Biomechanical behavior of the lower limbs and of the joints when landing from different heights

Landing from a jump is a challenging task as the energy accumulated during the aerial phase of the jump must be fully dissipated by the lower limbs during landing; the higher the jump height, the greater the amount of energy to be dissipated. In the present study, we aim to understand (1) how the biomechanical behavior is tuned as a function of the mechanical demand, and (2) the relationship between the self-selected landing strategy and the behavior of the joints. Fourteen subjects were asked to drop off a box of 10 to 60 cm height and land on the ground. The ground reaction forces and the kinematics were recorded using force plates and a motion capture system. A model was used to estimate the properties, i.e. stiffness and damping, of the lower limbs and of the joints. Our results show that, whatever the amount of energy to be dissipated (i.e. height of the jump), the lower limbs and the anke and knee joints behave first as a spring, then as a spring-damper system. However each joint plays a specific role: during the spring phase, the behaviour of the lower limb is associated with the stiffness of the ankle and with the landing constraints (i.e. force peak and loading rate), while during the spring-damper phase, it is associated with the stiffness of the knee and with the amount of energy to be dissipated. Our findings suggest that constraints and performance result from a distinct control of biomechanical parameters at the joints.

The interaction of in vivo muscle operating lengths and passive stiffness in rat hindlimbs

The operating length of a muscle is a key determinant of its ability to produce force in vivo. Muscles that operate near the peak of their force-length relationship will generate higher forces whereas muscle operating at relatively short length may be safe from sudden lengthening perturbations and subsequent damage. At longer lengths, passive mechanical properties have the potential to contribute to force or constrain operating length with stiffer muscle-tendon units theoretically being restricted to shorter lengths. Connective tissues typically increase in density during aging, thus increasing passive muscle stiffness and potentially limiting the operating lengths of muscle during locomotion. Here, we compare in vivo and in situ muscle strain from the medial gastrocnemius in young (7 months old) and aged (30-32 months old) rats presumed to have varying passive tissue stiffness to test the hypothesis that stiffer muscles operate at shorter lengths relative to their force-length relationship. We measured in vivo muscle operating length during voluntary locomotion on inclines and flat trackways and characterized the muscle force-length relationship of the medial gastrocnemius using fluoromicrometry. Although no age-related results were evident, rats of both age groups demonstrated a clear relationship between passive stiffness and in vivo operating length, such that shorter operating lengths were significantly correlated with greater passive stiffness. Our results suggest that increased passive stiffness may restrict muscles to operating lengths shorter than optimal lengths, potentially limiting force capacity during locomotion.

Plastic and elastic biomechanical properties of anterior cruciate ligament autografts

BACKGROUND

Anterior cruciate ligament (ACL) rupture is a common orthopedic injury, occurring in roughly 68.6 per 100,000 persons annually, with the primary treatment option being ACL reconstruction. However, debate remains about the appropriate graft type for restoring the native biomechanical properties of the knee. Furthermore, plastic graft elongation may promote increased knee laxity and instability without rupture. This study aims to investigate the plastic properties of common ACL-R graft options.

METHODS

Patellar tendon (PT), hamstring tendon (HT), and quadriceps tendon (QT) grafts were harvested from 11 cadaveric knees (6 male and 5 female) with a mean age of 71(range 55-81). All grafts were mechanically tested under uniaxial tension until failure to determine each graft's elastic and plastic biomechanical properties.

RESULTS

Mechanically, the QT graft was the weakest, exhibiting the lowest failure force and the lowest failure stress (QT < HT, p = 0.032). The PT was the stiffest of the grafts, having a significantly higher stiffness (PT > QT, p = 0.0002) and Young's modulus (PT > QT, p = 0.001; PT > HT, p = 0.041). The HT graft had the highest plastic elongation at 4.01 ± 1.32 mm (HT > PT, p = 0.002). The post-yield behavior of the HT tendon shows increased energy storage capabilities with the highest plastic energy storage (HT > QT, p = 0.012) and the highest toughness (HT > QT, p = 0.032).

CONCLUSION

Our study agrees with prior studies indicating that the failure load of all grafts is above the requirements for everyday activities. However, grafts may be susceptible to yielding before failure during daily activities. This may result in the eventual loss of functionality for the neo-ACL, resulting in increased knee laxity and instability.

Personalized tendon loading reduces muscle-tendon imbalances in male adolescent elite athletes

An imbalanced adaptation of muscle strength and tendon stiffness in response to training may increase tendon strain (i.e., the mechanical demand on the tendon) and consequently tendon injury risk. This study investigated if personalized tendon loading inducing tendon strain within the effective range for adaptation (4.5%-6.5%) can reduce musculotendinous imbalances in male adolescent handball athletes (15-16 years). At four measurement time points during a competitive season, we assessed knee extensor muscle strength and patellar tendon mechanical properties using dynamometry and ultrasonography and estimated the tendon's structural integrity with a peak spatial frequency (PSF) analysis of proximal tendon ultrasound scans. A control group (n = 13) followed their usual training routine, an intervention group (n = 13) integrated tendon exercises into their training (3x/week for ~31 weeks) with a personalized intensity corresponding to an average of ~6.2% tendon strain. We found a significant time by group interaction (p < 0.005) for knee extensor muscle strength and normalized patellar tendon stiffness with significant increases over time only in the intervention group (p < 0.001). There were no group differences or time-dependent changes in patellar tendon strain during maximum voluntary contractions or PSF. At the individual level, the intervention group demonstrated lower fluctuations of maximum patellar tendon strain during the season (p = 0.005) and a descriptively lower frequency of athletes with high-level tendon strain (≥9%). The findings suggest that the personalized tendon loading program reduced muscle-tendon imbalances in male adolescent athletes, which may provide new opportunities for tendon injury prevention.

Viscoelastic materials are most energy efficient when loaded and unloaded at equal rates

Biological springs can be used in nature for energy conservation and ultra-fast motion. The loading and unloading rates of elastic materials can play an important role in determining how the properties of these springs affect movements. We investigate the mechanical energy efficiency of biological springs (American bullfrog plantaris tendons and guinea fowl lateral gastrocnemius tendons) and synthetic elastomers. We measure these materials under symmetric rates (equal loading and unloading durations) and asymmetric rates (unequal loading and unloading durations) using novel dynamic mechanical analysis measurements. We find that mechanical efficiency is highest at symmetric rates and significantly decreases with a larger degree of asymmetry. A generalized one-dimensional Maxwell model with no fitting parameters captures the experimental results based on the independently characterized linear viscoelastic properties of the materials. The model further shows that a broader viscoelastic relaxation spectrum enhances the effect of rate-asymmetry on efficiency. Overall, our study provides valuable insights into the interplay between material properties and unloading dynamics in both biological and synthetic elastic systems.

Evidence for multi-scale power amplification in skeletal muscle

Many animals use a combination of skeletal muscle and elastic structures to amplify power output for fast motions. Among vertebrates, tendons in series with skeletal muscle are often implicated as the primary power-amplifying spring, but muscles contain elastic structures at all levels of organization, from the muscle tendon to the extracellular matrix to elastic proteins within sarcomeres. The present study used ex vivo muscle preparations in combination with high-speed video to quantify power output, as the product of force and velocity, at several levels of muscle organization to determine where power amplification occurs. Dynamic ramp-shortening contractions in isolated frog flexor digitorum superficialis brevis were compared with isotonic power output to identify power amplification within muscle fibers, the muscle belly, free tendon and elements external to the muscle tendon. Energy accounting revealed that artifacts from compliant structures outside of the muscle-tendon unit contributed significant peak instantaneous power. This compliance included deflection of clamped bone that stored and released energy contributing 195.22±33.19 W kg-1 (mean±s.e.m.) to the peak power output. In addition, we found that power detected from within the muscle fascicles for dynamic shortening ramps was 338.78±16.03 W kg-1, or approximately 1.75 times the maximum isotonic power output of 195.23±8.82 W kg-1. Measurements of muscle belly and muscle-tendon unit also demonstrated significant power amplification. These data suggest that intramuscular tissues, as well as bone, have the capacity to store and release energy to amplify whole-muscle power output.

Effects of pregnancy and lactation on muscle-tendon morphology

Pregnancy and lactation hormones have been shown to mediate anatomical changes to the musculoskeletal system that generates animal movement. In this study, we characterize changes in the medial gastrocnemius muscle, its tendon and aponeuroses that are likely to have an effect on whole animal movement and energy expenditure, using the rat model system, Rattus norvegicus. We quantified muscle architecture (mass, cross-sectional area, and pennation angle), muscle fiber type and diameter, and Young's modulus of stiffness for the medial gastrocnemius aponeuroses as well as its contribution to Achilles tendon in three groups of three-month-old female rats: virgin, primiparous pregnant, and primiparous lactating animals. We found that muscle mass drops by 23% during lactation but does not change during pregnancy. We also found that during pregnancy muscle fibers switch from Type I to IIa and during lactation from Type IIb to Type I. The stiffness of connective tissues that has a demonstrated role in locomotion, the aponeurosis and tendon, also changed. Pregnant animals had a significantly less stiff aponeurosis. However, tendon stiffness was most affected during lactation, with a significant drop in stiffness and interindividual variation. We propose that the energetic demands of locomotion may have driven the evolution of these anatomical changes in muscle-tendon units during pregnancy and lactation to ensure more energy can be allocated to fetal development and lactation.

Biomimetic Venus Flytrap Structures Using Smart Composites: A Review

Biomimetic structures are inspired by elegant and complex architectures of natural creatures, drawing inspiration from biological structures to achieve specific functions or improve specific strength and modulus to reduce weight. In particular, the rapid closure of a Venus flytrap leaf is one of the fastest motions in plants, its biomechanics does not rely on muscle tissues to produce rapid shape-changing, which is significant for engineering applications. Composites are ubiquitous in nature and are used for biomimetic design due to their superior overall performance and programmability. Here, we focus on reviewing the most recent progress on biomimetic Venus flytrap structures based on smart composite technology. An overview of the biomechanics of Venus flytrap is first introduced, in order to reveal the underlying mechanisms. The smart composite technology was then discussed by covering mainly the principles and driving mechanics of various types of bistable composite structures, followed by research progress on the smart composite-based biomimetic flytrap structures, with a focus on the bionic strategies in terms of sensing, responding and actuation, as well as the rapid snap-trapping, aiming to enrich the diversities and reveal the fundamentals in order to further advance the multidisciplinary science and technological development into composite bionics.

Correlations between Achilles tendon material and structural properties and quantitative magnetic resonance imagining in different athletic populations

Achilles tendon stiffness (kAT) and Young's modulus (yAT) are important determinants of tendon function. However, their evaluation requires sophisticated equipment and time-consuming procedures. The goal of this study was twofold: to compare kAT and yAT between populations using the classical approach proposed in the literature (a combination of ultrasound and force data) and the MRI technique to understand the MRI's capability in determining differences in kAT and yAT. Furthermore, we investigated potential correlations between short and long T2* relaxation time, kAT and yAT to determine whether T2* relaxation time may be associated with material or structural properties. Twelve endurance and power athlete, and twelve healthy controls were recruited. AT T2* short and long components were measured using standard gradient echo MRI at rest, while kAT and yAT were evaluated using the classical method (combination of ultrasound and dynamometric measurements). Power athletes had the highest kAT (3064 ± 260, 2714 ± 260 and 2238 ± 189 N/mm for power athletes, endurance athletes and healthy control, respectively) and yAT (2.39 ± 0.28, 1.64 ± 0.22 and 1.97 ± 0.32 GPa for power athletes, endurance athletes and healthy control, respectively) and the lowest T2* short component (0.58 ± 0.07, 0.77 ± 0.06 and 0.74 ± 0.08 ms for power athletes, endurance athletes and healthy control, respectively). Endurance athletes had the highest T2* long component value. No correlations were reported between T2* long component, kAT or yAT in the investigated populations, whereas the T2* short component was negatively correlated with yAT. These results suggest that T2* short component could be used to investigate the differences in AT material properties in different populations.

Comparability of the Effectiveness of Different Types of Exercise in the Treatment of Achilles Tendinopathy: A Systematic Review

Achilles tendinopathy (AT) is a common condition both in athletes and the general population. The purpose of this study is to highlight the most effective form of exercise in managing pain-related symptoms and functional capacity as well as in a return to life activities, ensuring the quality of life of patients with AT, and creating a protocol to be used in rehabilitation. We conducted a systematic review of the published literature in Pubmed, Scopus, Science Direct, and PEDro for Randomised Controlled Trials concerning interventions that were based exclusively on exercise and delivered in patients 18-65 years old, athletes and non-athletes. An amount of 5235 research articles generated from our search. Five met our inclusion criteria and were included in the review. Research evidence supports the effectiveness of a progressive loading eccentric exercise program based on Alfredson's protocol, which could be modified in intensity and pace to fit the needs of each patient with AT. Future research may focus on the optimal dosage and load of exercise in eccentric training and confirm the effectiveness of other type of exercise, such as a combination of eccentric-concentric training or heavy slow resistance exercise. Pilates could be applied as an alternative, useful, and friendly tool in the rehabilitation of AT.

Muscle function during cross-country skiing at different speed and incline conditions

The human musculoskeletal system is well adapted to use energy-efficient muscle-tendon mechanics during walking and running, but muscle behaviour during on-snow locomotion is unknown. Here, we examined muscle and muscle-tendon unit behaviour during diagonal-style cross-country roller skiing at three speed and incline conditions to examine whether skiers can exploit energy-saving mechanisms of the muscle-tendon unit. We assessed lower leg muscle and muscle-tendon unit mechanics and muscle activity in 13 high-level skiers during treadmill roller skiing using synchronised ultrasound, motion capture, electromyography and ski-binding force measurements. Participants skied using diagonal style at 2.5 and 3.5 m s-1 up 5 deg, and at 2.5 m s-1 up 10 deg. We found an uncoupling of muscle and joint behaviour during most parts of the propulsive kick phase in all conditions (P<0.01). Gastrocnemius muscle fascicles actively shortened ∼0.9 cm during the kick phase, while the muscle-tendon unit went through a stretch-shortening cycle. Peak muscle-tendon unit shortening velocity was 5 times faster than fascicle velocity (37.5 versus 7.4 cm s-1, P<0.01). Steeper incline skiing was achieved by greater muscle activity (24%, P=0.04) and slower fascicle shortening velocity (3.4 versus 4.5 cm s-1, P<0.01). Faster speed was achieved by greater peak muscle activity (23%, P<0.01) and no change in fascicle shortening velocity. Our data show that, during diagonal-style cross-county skiing, muscle behaviour is uncoupled from the joint movement, which enables beneficial contractile conditions and energy utilisation with different slopes and speeds. Active preloading at the end of the glide phase may facilitate these mechanisms.

Joint Coordination and Muscle-Tendon Interaction Differ Depending on The Level of Jumping Performance

The countermovement jump is a popular measurement modality to evaluate muscle power in sports and exercise. Muscle power is essential to achieve a high jump, yet the well-coordinated movement of the body segments, which optimizes the stretch-shortening cycle (SSC) effects, is also required. Among the proposed explanations of SSC effects, this study investigated whether the ankle joint kinematics, kinetics, and muscle-tendon interaction depend on the level of jump skill and the jump task. Sixteen healthy males were grouped as a function of their jump height (High jumpers; greater than 50 cm, Low jumpers; less than 50 cm). They were instructed to jump with two intensities; light effort (20 % of their height) and maximal effort. Joint kinematics and kinetics of the lower limbs were analyzed using a 3-dimensional motion analysis system. The muscle-tendon interaction was investigated using B-mode real-time ultrasonography. As the jump intensity increased, all participants jumped with increased joint velocity and power. However, the high jumper shows less fascicle shortening velocity (-0.2 ± 0.1 m/s) than the low jumper group (-0.3 ± 0.1 m/s) and greater tendon velocity, which indicated the capability of elastic energy recoil. In addition, the delayed onset time of ankle extension in the high jumper implies better use of the catapult mechanism. The findings of this study showed that the muscle-tendon interaction differs depending on the jump skill level, suggesting a more efficient neuromuscular control in skilled jumpers.

Muscle-tendon unit design and tuning for power enhancement, power attenuation, and reduction of metabolic cost

The contractile elements in skeletal muscle fibers operate in series with elastic elements, tendons and potentially aponeuroses, in muscle-tendon units (MTUs). Elastic strain energy (ESE), arising from either work done by muscle fibers or the energy of the body, can be stored in these series elastic elements (SEEs). MTUs vary considerably in their design in terms of the relative lengths and stiffnesses of the muscle fibers and SEEs, and the force and work generating capacities of the muscle fibers. However, within an MTU it is thought that contractile and series elastic elements can be matched or tuned to maximize ESE storage. The use of ESE is thought to improve locomotor performance by enhancing contractile element power during activities such as jumping, attenuating contractile element power during activities such as landing, and reducing the metabolic cost of movement during steady-state activities such as walking and running. The effectiveness of MTUs in these potential roles is contingent on factors such as the source of mechanical energy, the control of the flow of energy, and characteristics of SEE recoil. Hence, we suggest that MTUs specialized for ESE storage may vary considerably in the structural, mechanical, and physiological properties of their components depending on their functional role and required versatility.

Structural damping renders the hawkmoth exoskeleton mechanically insensitive to non-sinusoidal deformations

Muscles act through elastic and dissipative elements to mediate movement, which can introduce dissipation and filtering which are important for energetics and control. The high power requirements of flapping flight can be reduced by an insect's exoskeleton, which acts as a spring with frequency-independent material properties under purely sinusoidal deformation. However, this purely sinusoidal dynamic regime does not encompass the asymmetric wing strokes of many insects or non-periodic deformations induced by external perturbations. As such, it remains unknown whether a frequency-independent model applies broadly and what implications it has for control. We used a vibration testing system to measure the mechanical properties of isolated Manduca sexta thoraces under symmetric, asymmetric and band-limited white noise deformations. The asymmetric and white noise conditions represent two types of generalized, multi-frequency deformations that may be encountered during steady-state and perturbed flight. Power savings and dissipation were indistinguishable between symmetric and asymmetric conditions, demonstrating that no additional energy is required to deform the thorax non-sinusoidally. Under white noise conditions, stiffness and damping were invariant with frequency, suggesting that the thorax has no frequency-dependent filtering properties. A simple flat frequency response function fits our measured frequency response. This work demonstrates the potential of materials with frequency-independent damping to simplify motor control by eliminating any velocity-dependent filtering that viscoelastic elements usually impose between muscle and wing.

Eccentric muscle contractions: from single muscle fibre to whole muscle mechanics

Eccentric muscle loading encompasses several unique features compared to other types of contractions. These features include increased force, work, and performance at decreased oxygen consumption, reduced metabolic cost, improved energy efficiency, as well as decreased muscle activity. This review summarises explanatory approaches to long-standing questions in terms of muscular contraction dynamics and molecular and cellular mechanisms underlying eccentric muscle loading. Moreover, this article intends to underscore the functional link between sarcomeric components, emphasising the fundamental role of titin in skeletal muscle. The giant filament titin reveals versatile functions ranging from sarcomere organisation and maintenance, providing passive tension and elasticity, and operates as a mechanosensory and signalling platform. Structurally, titin consists of a viscoelastic spring segment that allows activation-dependent coupling to actin. This titin-actin interaction can explain linear force increases in active lengthening experiments in biological systems. A three-filament model of skeletal muscle force production (mediated by titin) is supposed to overcome significant deviations between experimental observations and predictions by the classic sliding-filament and cross-bridge theories. Taken together, this review intends to contribute to a more detailed understanding of overall muscle behaviour and force generation-from a microscopic sarcomere level to a macroscopic multi-joint muscle level-impacting muscle modelling, the understanding of muscle function, and disease.

Liquid Crystal Elastomer Based Dexterous Artificial Motor Unit

Despite the great advancement in designing diverse soft robots, they are not yet as dexterous as animals in many aspects. One challenge is that they still lack the compact design of an artificial motor unit with a great comprehensive performance that can be conveniently fabricated, although many recently developed artificial muscles have shown excellent properties in one or two aspects. Herein, an artificial motor unit is developed based on gold-coated ultrathin liquid crystal elastomer (LCE) film. Subject to a voltage, Joule heating generated by the gold film increases the temperature of the LCE film underneath and causes it to contract. Due to the small thermal inertial and electrically controlling method of the ultrathin LCE structure, its cyclic actuation speed is fast and controllable. It is shown that under electrical stimulation, the actuation strain of the LCE-based motor unit reaches 45%, the strain rate reaches 750%/s, and the output power density is as high as 1360 W kg^-1 . It is further demonstrated that the LCE-based motor unit behaves like an actuator, a brake, or a nonlinear spring on demand, analogous to most animal muscles. Finally, as a proof-of-concept, multiple highly dexterous artificial neuromuscular systems are demonstrated using the LCE-based motor unit.

Developing elastic mechanisms: ultrafast motion and cavitation emerge at the millimeter scale in juvenile snapping shrimp

Organisms such as jumping froghopper insects and punching mantis shrimp use spring-based propulsion to achieve fast motion. Studies of elastic mechanisms have primarily focused on fully developed and functional mechanisms in adult organisms. However, the ontogeny and development of these mechanisms can provide important insights into the lower size limits of spring-based propulsion, the ecological or behavioral relevance of ultrafast movement, and the scaling of ultrafast movement. Here, we examined the development of the spring-latch mechanism in the bigclaw snapping shrimp, Alpheus heterochaelis (Alpheidae). Adult snapping shrimp use an enlarged claw to produce high-speed strikes that generate cavitation bubbles. However, until now, it was unclear when the elastic mechanism emerges during development and whether juvenile snapping shrimp can generate cavitation at this size. We reared A. heterochaelis from eggs, through their larval and postlarval stages. Starting 1 month after hatching, the snapping shrimp snapping claw gradually developed a spring-actuated mechanism and began snapping. We used high-speed videography (300,000 frames s-1) to measure juvenile snaps. We discovered that juvenile snapping shrimp generate the highest recorded accelerations (5.8×105±3.3×105 m s-2) for repeated-use, underwater motion and are capable of producing cavitation at the millimeter scale. The angular velocity of snaps did not change as juveniles grew; however, juvenile snapping shrimp with larger claws produced faster linear speeds and generated larger, longer-lasting cavitation bubbles. These findings establish the development of the elastic mechanism and cavitation in snapping shrimp and provide insights into early life-history transitions in spring-actuated mechanisms.

Spring and latch dynamics can act as control pathways in ultrafast systems

Ultrafast movements propelled by springs and released by latches are thought limited to energetic adjustments prior to movement, and seemingly cannot adjust once movement begins. Even so, across the tree of life, ultrafast organisms navigate dynamic environments and generate a range of movements, suggesting unrecognized capabilities for control. We develop a framework of control pathways leveraging the non-linear dynamics of spring-propelled, latch-released systems. We analytically model spring dynamics and develop reduced-parameter models of latch dynamics to quantify how they can be tuned internally or through changing external environments. Using Lagrangian mechanics, we test feedforward and feedback control implementation via spring and latch dynamics. We establish through empirically-informed modeling that ultrafast movement can be controllably varied during latch release and spring propulsion. A deeper understanding of the interconnection between multiple control pathways, and the tunability of each control pathway, in ultrafast biomechanical systems presented here has the potential to expand the capabilities of synthetic ultra-fast systems and provides a new framework to understand the behaviors of fast organisms subject to perturbations and environmental non-idealities.

Changes in gravity affect neuromuscular control, biomechanics, and muscle-tendon mechanics in energy storage and dissipation tasks

This study evaluates neuromechanical control and muscle-tendon interaction during energy storage and dissipation tasks in hypergravity. During parabolic flights, while 17 subjects performed drop jumps (DJs) and drop landings (DLs), electromyography (EMG) of the lower limb muscles was combined with in vivo fascicle dynamics of the gastrocnemius medialis, two-dimensional (2D) kinematics, and kinetics to measure and analyze changes in energy management. Comparisons were made between movement modalities executed in hypergravity (1.8 G) and gravity on ground (1 G). In 1.8 G, ankle dorsiflexion, knee joint flexion, and vertical center of mass (COM) displacement are lower in DJs than in DLs; within each movement modality, joint flexion amplitudes and COM displacement demonstrate higher values in 1.8 G than in 1 G. Concomitantly, negative peak ankle joint power, vertical ground reaction forces, and leg stiffness are similar between both movement modalities (1.8 G). In DJs, EMG activity in 1.8 G is lower during the COM deceleration phase than in 1 G, thus impairing quasi-isometric fascicle behavior. In DLs, EMG activity before and during the COM deceleration phase is higher, and fascicles are stretched less in 1.8 G than in 1 G. Compared with the situation in 1 G, highly task-specific neuromuscular activity is diminished in 1.8 G, resulting in fascicle lengthening in both movement modalities. Specifically, in DJs, a high magnitude of neuromuscular activity is impaired, resulting in altered energy storage. In contrast, in DLs, linear stiffening of the system due to higher neuromuscular activity combined with lower fascicle stretch enhances the buffering function of the tendon, and thus the capacity to safely dissipate energy.NEW & NOTEWORTHY For the first time, the neuromechanics of distinct movement modalities that fundamentally differ in their energy management function have been investigated during overload systematically induced by hypergravity. Parabolic flight provides a unique experimental setting that allows near-natural movement execution without the confounding effects typically associated with load variation. Our findings show that gravity-adjusted muscle activities are inversely affected within jumps and landings. Specifically, in 1.8 G, typical task-specific differences in neuromuscular activity are reduced during the center of mass deceleration phase, resulting in fascicle lengthening, which is associated with energy dissipation.

The interplay between gastrocnemius medialis force-length and force-velocity potentials, cumulative EMG activity and energy cost at speeds above and below the walk to run transition speed

NEW FINDINGS

What is the central question of the study? Are the changes in force potentials (at the muscle level) related with metabolic changes at speeds above and below the walk-to-run transition? What is the main finding and its importance? The force-length and force-velocity potentials of gastrocnemius medialis during human walking decrease as a function of speed; this decrease is associated with an increase in cumulative EMG activity and in the energy cost of locomotion. Switching from fast walking to running is associated to an increase in the force potentials, supporting the idea that the 'metabolic trigger' that determines the transition from walking to running is ultimately driven by a reduction of the muscle's contractile capacity.

ABSTRACT

The aim of this study was to investigate the interplay between the force-length (F-L) and force-velocity (F-V) potentials of gastrocnemius medialis (GM) muscle fascicles, the cumulative muscle activity per distance travelled (CMAPD) of the lower limb muscles (GM, vastus lateralis, biceps femori, tibialis anterior) and net energy cost (Cnet ) during walking and running at speeds above and below the walk-to-run transition speed (walking: 2-8 km h-1 ; running: 6-10 km h-1 ). A strong association was observed between Cnet and CMAPD: both changed significantly with walking speed but were unaffected by speed in running. The F-L and F-V potentials decreased with speed in both gaits and, at 6-8 km h-1 , were significantly larger in running. At low to moderate walking speeds (2-6 km h-1 ), the changes in GM force potentials were not associated with substantial changes in CMAPD (and Cnet ), whereas at walking speeds of 7-8 km h-1 , even small changes in force potentials were associated with steep increases in CMAPD (and Cnet ). These data suggest that: (i) the walk to run transition could be explained by an abrupt increase in Cnet driven by an upregulation of the EMG activity (e.g., in CMAPD) at sustained walking speeds (>7 km h-1 ) and (ii) the reduction in the muscle's ability to produce force (e.g., in the F-L and F-V potentials) contributes to the increase in CMAPD (and Cnet ). Switching to running allows regaining of high force potentials, thus limiting the increase in CMAPD (and Cnet ) that would otherwise occur to sustain the increase in locomotion speed.

Supervised, Heavy Resistance Training Is Tolerated and Potentially Beneficial in Women with Knee Pain and Knee Joint Hypermobility: A Case Series

Introduction

Adults with generalised joint hypermobility including knee joint hypermobility (GJHk) report more knee joint symptoms when compared to adults without GJHk. There is no consensus on best practice for symptom management. For instance, controversy exists regarding the appropriateness and safety of heavy resistance training as an intervention for this specific group. This case series aims to describe a supervised, progressive heavy resistance training program in adults with GJHk and knee pain, the tolerability of the intervention, and the outcomes of knee pain, knee-related quality of life, muscle strength, proprioception, and patellar tendon stiffness through a 12-week period.

Materials and Methods

Adults with GJHk and knee pain were recruited to perform supervised, progressive heavy resistance training twice a week for 12 weeks. The main outcome was the tolerability of the intervention. Secondary outcomes were knee pain during a self-nominated activity (VASNA); Knee injury and Osteoarthritis Outcome Score (KOOS); Tampa Scale of Kinesiophobia (TSK); maximal quadriceps voluntary isometric contraction and rate of torque development; 5 repetition maximum strength in five different leg exercises; single leg hop for distance; knee proprioception and patellar tendon stiffness.

Results

In total, 16 women (24.2 years, SD 2.5) completed at least 21/24 training sessions. No major adverse events were observed. On average, VASNA decreased by 32.5 mm (95% CI 21.4-43.6), in addition to improvements in KOOS and TSK scores. These improvements were supported by an increase in all measures of lower extremity muscle strength, knee proprioception, and patellar tendon stiffness.

Conclusion

Supervised heavy resistance training seems to be well tolerated and potentially beneficial in young women with GJHk and knee pain.

Hill-type, bioinspired actuation delivers energy economy in DC motors

Electromagnetic motors convert stored energy to mechanical work through a linear force-velocity (FV) relationship. In biological systems, however, muscle actuation is characterized by the hyperbolic FV mechanisms of the Hill muscle-in which a parameterαcharacterizes the degree of nonlinearity. Previous work has shown that bioinspiration in human-engineered systems can contribute favorable mechanical attributes-such as energy efficiency, self-stability, and flexibility, among others. In this study, we first construct an easily amendable, bioinspired electromagnetic motor which produces FV curves that mimic the Hill model of muscle with a high degree of accuracy. A proportional-integral-differential (PID) controller converges the characteristically linear FV relationship of a DC motor to nonlinear Hill-type force outputs. The bioinspired electric motor does a fixed amount of work by lifting a 147.5 g mass, and we record the translational velocity of the mass and the nonlinear applied force of the motor. Under optimized gain coefficients in the PID, the bioinspired motor achieves agreement ofR2>0.99with the Hill muscle model. Studies have shown that designing biologically inspired actuators produce comparatively energy efficient systems. We investigate the energy economy of actuating our motor with nonlinear, Hill-type forces in direct comparison with conventional linear FV actuation techniques. We find that the bioinspired motor delivers energy economy with respect to energy consumption and conversion: the nonlinear, Hill-type DC motor reduces the energetic cost of actuation when delivering a fixed amount of mechanical work.

Optimal kinematics of the bee tongue for viscous fluid transport

Honey bees can forage nectar from a large spectrum of nectariferous flowers using their rhythmically erectable tongue hairs in a viscous dipping fashion that involves a faster protraction stroke toward the nectar pool and a slower retraction stroke backward. Since honey bees are capable of using their hairy tongues to adapt to various feeding environments, the kinematic characteristics of the bee tongue, especially the retraction time, would likely represent evolutionary optimization. However, the phenomenon and mechanism remain elusive. In this combined experimental and theoretical study, we established a mathematical model to analyze the effects of tongue retraction time on the energy intake rate considering the unfolding dynamics of tongue hairs in the retraction phase. The theoretical optimal retraction time at which the energy intake rate reached the maximum was governed by the dimensions of tongue hairs, which matched well with the in vivo tests. This study may not only bridge the connection between the kinematics and geometry of the bee tongue but also shed light on a control strategy for micropumps equipped with dynamic surfaces.

Mechanical, Material and Morphological Adaptations of Healthy Lower Limb Tendons to Mechanical Loading: A Systematic Review and Meta-Analysis

BACKGROUND

Exposure to increased mechanical loading during physical training can lead to increased tendon stiffness. However, the loading regimen that maximises tendon adaptation and the extent to which adaptation is driven by changes in tendon material properties or tendon geometry is not fully understood.

OBJECTIVE

To determine (1) the effect of mechanical loading on tendon stiffness, modulus and cross-sectional area (CSA); (2) whether adaptations in stiffness are driven primarily by changes in CSA or modulus; (3) the effect of training type and associated loading parameters (relative intensity; localised strain, load duration, load volume and contraction mode) on stiffness, modulus or CSA; and (4) whether the magnitude of adaptation in tendon properties differs between age groups.

METHODS

Five databases (PubMed, Scopus, CINAHL, SPORTDiscus, EMBASE) were searched for studies detailing load-induced adaptations in tendon morphological, material or mechanical properties. Standardised mean differences (SMDs) with 95% confidence intervals (CIs) were calculated and data were pooled using a random effects model to estimate variance. Meta regression was used to examine the moderating effects of changes in tendon CSA and modulus on tendon stiffness.

RESULTS

Sixty-one articles met the inclusion criteria. The total number of participants in the included studies was 763. The Achilles tendon (33 studies) and the patella tendon (24 studies) were the most commonly studied regions. Resistance training was the main type of intervention (49 studies). Mechanical loading produced moderate increases in stiffness (standardised mean difference (SMD) 0.74; 95% confidence interval (CI) 0.62-0.86), large increases in modulus (SMD 0.82; 95% CI 0.58-1.07), and small increases in CSA (SMD 0.22; 95% CI 0.12-0.33). Meta-regression revealed that the main moderator of increased stiffness was modulus. Resistance training interventions induced greater increases in modulus than other training types (SMD 0.90; 95% CI 0.65-1.15) and higher strain resistance training protocols induced greater increases in modulus (SMD 0.82; 95% CI 0.44-1.20; p = 0.009) and stiffness (SMD 1.04; 95% CI 0.65-1.43; p = 0.007) than low-strain protocols. The magnitude of stiffness and modulus differences were greater in adult participants.

CONCLUSIONS

Mechanical loading leads to positive adaptation in lower limb tendon stiffness, modulus and CSA. Studies to date indicate that the main mechanism of increased tendon stiffness due to physical training is increased tendon modulus, and that resistance training performed at high compared to low localised tendon strains is associated with the greatest positive tendon adaptation. PROSPERO registration no.: CRD42019141299.

Corn Snakes Show Consistent Sarcomere Length Ranges Across Muscle Groups and Ontogeny

The force-generating capacity of muscle depends upon many factors including the actin-myosin filament overlap due to the relative length of the sarcomere. Consequently, the force output of a muscle may vary throughout its range of motion, and the body posture allowing maximum force generation may differ even in otherwise similar species. We hypothesized that corn snakes would show an ontogenetic shift in sarcomere length range from being centered on the plateau of the length-tension curve in small individuals to being on the descending limb in adults. Sarcomere lengths across the plateau would be advantageous for locomotion, while the descending limb would be advantageous for constriction due to the increase in force as the coil tightens around the prey. To test this hypothesis, we collected sarcomere lengths from freshly euthanized corn snakes, preserving segments in straight and maximally curved postures, and quantifying sarcomere length via light microscopy. We dissected 7 muscles (spinalis, semispinalis, multifidus, longissimus dorsi, iliocostalis (dorsal and ventral), and levator costae) in an ontogenetic series of corn snakes (mass = 80–335 g) at multiple regions along the body (anterior, middle, and posterior). Our data shows all of the muscles analyzed are on the descending limb of the length-tension curve at rest across all masses, regions, and muscles analyzed, with muscles shortening onto or past the plateau when flexed. While these results are consistent with being advantageous for constriction at all sizes, there could also be unknown benefits of this sarcomere arrangement for locomotion or striking.

The Effect of Thermally Robust Ballistic Mechanisms on Climatic Niche in Salamanders

Many organismal functions are temperature-dependent due to the contractile properties of muscle. Spring-based mechanisms offer a thermally robust alternative to temperature-sensitive muscular movements and may correspondingly expand a species' climatic niche by partially decoupling the relationship between temperature and performance. Using the ballistic tongues of salamanders as a case study, we explore whether the thermal robustness of elastic feeding mechanisms increases climatic niche breadth, expands geographic range size, and alters the dynamics of niche evolution. Combining phylogenetic comparative methods with global climate data, we find that the feeding mechanism imparts no discernable signal on either climatic niche properties or the evolutionary dynamics of most climatic niche parameters. Although biomechanical innovation in feeding influences many features of whole-organism performance, it does not appear to drive macro-climatic niche evolution in salamanders. We recommend that future work incorporate micro-scale environmental data to better capture the conditions that salamanders experience, and we discuss a few outstanding questions in this regard. Overall, this study lays the groundwork for an investigation into the evolutionary relationships between climatic niche and biomechanical traits in ectotherms.

Altered countermovement jump force profile and muscle-tendon unit kinematics following combined ballistic training

Combined heavy‐ and light‐load ballistic training is often employed in high‐performance sport to improve athletic performance and is accompanied by adaptations in muscle architecture. However, little is known about how training affects muscle‐tendon unit (MTU) kinematics during the execution of a sport‐specific skill (e.g., jumping), which could improve our understanding of how training improves athletic performance. The aim of this study was to investigate vastus lateralis (VL) MTU kinematics during a countermovement jump (CMJ) following combined ballistic training. Eighteen young, healthy males completed a 10‐week program consisting of weightlifting derivatives, plyometrics, and ballistic tasks under a range of loads. Ultrasonography of VL and force plate measurements during a CMJ were taken at baseline, mid‐test, and post‐test. The training program improved CMJ height by 11 ± 13%. During the CMJ, VL's MTU and series elastic element (SEE) length changes and velocities increased from baseline to post‐test, but VL's fascicle length change and velocity did not significantly change. It is speculated that altered lower limb coordination and increased force output of the lower limb muscles during the CMJ allowed more energy to be stored within VL's SEE. This may have contributed to enhanced VL MTU work during the propulsion phase and an improved CMJ performance following combined ballistic training.

Dual spring force couples yield multifunctionality and ultrafast, precision rotation in tiny biomechanical systems

Small organisms use propulsive springs rather than muscles to repeatedly actuate high acceleration movements, even when constrained to tiny displacements and limited by inertial forces. Through integration of a large kinematic dataset, measurements of elastic recoil, energetic math modeling and dynamic math modeling, we tested how trap-jaw ants (Odontomachus brunneus) utilize multiple elastic structures to develop ultrafast and precise mandible rotations at small scales. We found that O. brunneus develops torque on each mandible using an intriguing configuration of two springs: their elastic head capsule recoils to push and the recoiling muscle-apodeme unit tugs on each mandible. Mandibles achieved precise, planar, circular trajectories up to 49,100 rad s-1 (470,000 rpm) when powered by spring propulsion. Once spring propulsion ended, the mandibles moved with unconstrained and oscillatory rotation. We term this mechanism a 'dual spring force couple', meaning that two springs deliver energy at two locations to develop torque. Dynamic modeling revealed that dual spring force couples reduce the need for joint constraints and thereby reduce dissipative joint losses, which is essential to the repeated use of ultrafast, small systems. Dual spring force couples enable multifunctionality: trap-jaw ants use the same mechanical system to produce ultrafast, planar strikes driven by propulsive springs and for generating slow, multi-degrees of freedom mandible manipulations using muscles, rather than springs, to directly actuate the movement. Dual spring force couples are found in other systems and are likely widespread in biology. These principles can be incorporated into microrobotics to improve multifunctionality, precision and longevity of ultrafast systems.

Achilles Tendon Mechanical Behavior and Ankle Joint Function at the Walk-to-Run Transition

Walking at speeds higher than transition speed is associated with a decrease in the plantar-flexor muscle fibres’ ability to produce force and, potentially, to an impaired behaviour of the muscle−tendon unit (MTU) elastic components. This study aimed to investigate the ankle joint functional indexes and the Achilles tendon mechanical behaviour (changes in AT force and power) to better elucidate the mechanical determinants of the walk-to-run transition. Kinematics, kinetic and ultrasound data of the gastrocnemius medialis (GM) were investigated during overground walking and running at speeds ranging from 5−9 km·h−1. AT and GM MTU force and power were calculated during the propulsive phase; the ankle joint function indexes (damper, strut, spring and motor) were obtained using a combination of kinetic and kinematic data. AT force was larger in running at speeds > 6.5 km/h. The contribution of AT to the total power provided by the GM MTU was significantly larger in running at speeds > 7.5 km/h. The spring and strut indexes of the ankle were significantly larger in running at speeds > 7.5 km/h. These data suggest that the walk-to-run transition could (at least partially) be explained by the need to preserve AT mechanical behaviour and the ankle spring function.

How velocity impacts eccentric force generation of fully activated skinned skeletal muscle fibers in long stretches

Eccentric muscle contractions are fundamental to everyday life. They occur markedly in jumping, running, and accidents. Following an initial force rise, stretching of a fully activated muscle can result in a phase of decreasing force ('Give') followed by force redevelopment. However, how the stretch velocity affects 'Give' and force redevelopment remains largely unknown. We investigated the force produced by fully activated single skinned fibers of rat extensor digitorum longus muscles during long stretches. Fibers were pulled from length .85 to 1.3 optimal fiber length at a rate of 1, 10 and 100% of the estimated maximum shortening velocity. 'Give' was absent in slow stretches. Medium and fast stretches yielded a clear 'Give'. After the initial force peak, forces decreased by 11.2% and 27.8% relative to the initial peak force before rising again. During the last half of the stretch (from 1.07 to 1.3 optimal fiber length, which is within the range of the expected descending limb of the force-length relationship), the linear force slope tripled from slow to medium stretch and increased further by 60% from medium to fast stretch. These results are compatible with forcible cross-bridge detachment and re-development of a cross-bridge distribution, and a viscoelastic titin contribution to fiber force. Accounting for these results can improve muscle models and predictions of multi-body simulations.

In vivo localised gastrocnemius subtendon representation within the healthy and ruptured human Achilles tendon

The Achilles tendon (AT) is composed of three distinct in-series elastic subtendons, arising from different muscles in the triceps surae. Independent activation of any of these muscles is thought to induce sliding between the adjacent AT subtendons. We aimed to investigate displacement patterns during voluntary contraction (VOL) and selective transcutaneous stimulation of medial (MGstim) and lateral (LGstim) gastrocnemius between ruptured and healthy tendons, and to examine the representative areas of AT subtendons. Twenty-eight patients with unilateral AT rupture performed bilateral VOL at 30% of the maximal isometric un-injured plantarflexion torque. AT displacement was analysed from sagittal B-mode ultrasonography images during VOL, MG_stim and LG_stim. Three-way ANOVA revealed a significant two-way interaction of contraction type*location on the tendon displacement (F(10-815)=3.72, p<0.001). The subsequent two-way analysis revealed a significant contraction type*location interaction for tendon displacement (F(10-410)=3.79, p<0.001) in the un-injured limb only, where LGstim displacement pattern was significantly different from MG_stim (p=0.008) and VOL (p=0.005). When comparing contraction types between limbs the there were no difference in the displacement patterns, but displacement amplitudes differed. There was no significant difference in the location of maximum or minimum displacement between limbs. The displacement pattern was not different in non-surgically treated compared to un-injured tendons one-year post rupture. Our results suggest that near the calcaneus, LG subtendon is located in the most anterior region adjacent to medial gastrocnemius. However, free tendon stiffness seems to be lower in the injured AT, leading to more displacement during electrically-induced contractions compared to the un-injured.

Engineered jumpers overcome biological limits via work multiplication

For centuries, scientists have explored the limits of biological jump height^1,2, and for decades, engineers have designed jumping machines^3-18 that often mimicked or took inspiration from biological jumpers. Despite these efforts, general analyses are missing that compare the energetics of biological and engineered jumpers across scale. Here we show how biological and engineered jumpers have key differences in their jump energetics. The jump height of a biological jumper is limited by the work its linear motor (muscle) can produce in a single stroke. By contrast, the jump height of an engineered device can be far greater because its ratcheted or rotary motor can 'multiply work' during repeated strokes or rotations. As a consequence of these differences in energy production, biological and engineered jumpers should have divergent designs for maximizing jump height. Following these insights, we created a device that can jump over 30 metres high, to our knowledge far higher than previous engineered jumpers and over an order of magnitude higher than the best biological jumpers. Our work advances the understanding of jumping, shows a new level of performance, and underscores the importance of considering the differences between engineered and biological systems.

Flexor digitorum brevis utilises elastic strain energy to contribute to both work generation and energy absorption at the foot

The central nervous system utilizes tendon compliance of the intrinsic foot muscles to aid the foot's arch spring, storing and returning energy in its tendinous tissues. Recently, the intrinsic foot muscles have been shown to adapt their energetic contributions during a variety of locomotor tasks to fulfil centre of mass work demands. However, the mechanism by which the small intrinsic foot muscles are able to make versatile energetic contributions remains unknown. Therefore, we examined the muscle–tendon dynamics of the flexor digitorum brevis during stepping, jumping and landing tasks to see whether the central nervous system regulates muscle activation magnitude and timing to enable energy storage and return to enhance energetic contributions. In step-ups and jumps, energy was stored in the tendinous tissue during arch compression; during arch recoil, the fascicles shortened at a slower rate than the tendinous tissues while the foot generated energy. In step-downs and landings, the tendinous tissues elongated more and at greater rates than the fascicles during arch compression while the foot absorbed energy. These results indicate that the central nervous system utilizes arch compression to store elastic energy in the tendinous tissues of the intrinsic foot muscles to add or remove mechanical energy when the body accelerates or decelerates. This study provides evidence for an adaptive mechanism to enable the foot's energetic versatility and further indicates the value of tendon compliance in distal lower limb muscle–tendon units in locomotion.

Summary: Demonstration of an adaptive mechanism that enables the intrinsic foot muscles to make versatile contributions to whole-body accelerations and decelerations.

BirdBot achieves energy-efficient gait with minimal control using avian-inspired leg clutching

Designers of legged robots are challenged with creating mechanisms that allow energy-efficient locomotion with robust and minimalistic control. Sources of high energy costs in legged robots include the rapid loading and high forces required to support the robot's mass during stance and the rapid cycling of the leg's state between stance and swing phases. Here, we demonstrate an avian-inspired robot leg design, BirdBot, that challenges the reliance on rapid feedback control for joint coordination and replaces active control with intrinsic, mechanical coupling, reminiscent of a self-engaging and disengaging clutch. A spring tendon network rapidly switches the leg's slack segments into a loadable state at touchdown, distributes load among joints, enables rapid disengagement at toe-off through elastically stored energy, and coordinates swing leg flexion. A bistable joint mediates the spring tendon network's disengagement at the end of stance, powered by stance phase leg angle progression. We show reduced knee-flexing torque to a 10th of what is required for a nonclutching, parallel-elastic leg design with the same kinematics, whereas spring-based compliance extends the leg in stance phase. These mechanisms enable bipedal locomotion with four robot actuators under feedforward control, with high energy efficiency. The robot offers a physical model demonstration of an avian-inspired, multiarticular elastic coupling mechanism that can achieve self-stable, robust, and economic legged locomotion with simple control and no sensory feedback. The proposed design is scalable, allowing the design of large legged robots. BirdBot demonstrates a mechanism for self-engaging and disengaging parallel elastic legs that are contact-triggered by the foot's own lever-arm action.

Homing tasks and distance matching tasks reveal different types of perceptual variables associated with perceiving self-motion during over-ground locomotion

Self-motion perception refers to the ability to perceive how the body is moving through the environment. Perception of self-motion has been shown to depend upon the locomotor action patterns used to move the body through the environment. Two separate lines of enquiry have led to the establishment of two distinct theories regarding this effect. One theory has proposed that distances travelled during locomotion are perceived via higher order perceptual variables detected by the haptic perceptual system. This theory proposes that two higher order haptic perceptual variables exist, and that the implication of one of these variables depends upon the type of gait pattern that is used. A second theory proposes that self-motion is perceived via a higher order perceptual variable termed multimodally specified energy expenditure (MSEE). This theory proposes that the effect of locomotor actions patterns upon self-motion perception is related to changes in the metabolic cost of locomotion per unit of perceptually specified traversed distance. Here, we test the hypothesis that the development of these distinct theories is the result of different choices in methodology. The theory of gait type has been developed based largely on the results of homing tasks, whereas the effect of MSEE has been developed based on the results of distance matching tasks. Here we test the hypothesis that the seemly innocuous change in experimental design from using a homing task to using a distance matching task changes the type of perceptual variables implicated in self-motion perception. To test this hypothesis, we closely replicated a recent study of the effect of gait type in all details bar one-we investigated a distance matching task rather than a homing task. As hypothesized, this change yielded results consistent with the predictions of MSEE, and distinct from gait type. We further show that, unlike the effect of gait type, the effect of MSEE is unaffected by the availability of vision. In sum, our findings support the existence of two distinct types of higher order perceptual variables in self-motion perception. We discuss the roles of these two types of perceptual variables in supporting effective human wayfinding.

The influence of muscle-belly and tendon gearing on the energy cost of human walking

This study combines metabolic and kinematic measurements at the whole‐body level, with EMG and ultrasound measurements to investigate the influence of muscle‐tendon mechanical behavior on the energy cost (C_net) of walking (from 2 to 8 km·h⁻¹). Belly gearing (Gb = Δmuscle‐belly length/Δfascicles length) and tendon gearing (Gt = ∆muscle‐tendon unit length/∆muscle‐belly length) of vastus lateralis (VL) and gastrocnemius medialis (GM) were calculated based on ultrasound data. Pendular energy recovery (%R) was calculated based on kinematic data, whereas the cumulative activity per distance travelled (CMAPD) was calculated for the VL, GM, tibialis anterior, and biceps femoris as the ratio between their EMG activity and walking speed. Finally, total CAMPD (CMAPD_TOT) was calculated as the sum of the CMAPD of all the investigate muscles. C_net and CMAPD_TOT showed a U‐shaped behavior with a minimum at 4.2 and 4.1 km·h⁻¹, respectively; while %R, VL, and GM belly gearing showed an opposite trend, reaching a maximum (60% ± 5%, 1.1 ± 0.1 and 1.5 ± 0.1, respectively), between 4.7 and 5 km·h⁻¹. Gt was unaffected by speed in GM (3.5 ± 0.1) and decreased as a function of it in VL. A multiple stepwise linear regression indicated that %R has the greatest influence on C_net, followed by CMAPD_TOT and GM belly gearing. The role of Gb on C_net could be attributed to its role in determining muscle work: when Gb increases, fascicles shortening decreases compared with that of the muscle‐belly, thereby reducing the energy cost of contraction.

Use of compliant actuators for throwing rigid projectiles

Muscles and tendons, actuators in robotics, and various sports implements are examples that exploit elasticity to accelerate objects. Tuning the mechanical properties of elastic elements connecting objects can greatly enhance the transfer of mechanical energy between the objects. Here, we study experimentally the throw of rigid projectiles by an actuator, which has a soft elastic element added to the distal end. We vary the thickness of the elastic layer and suggest a simple mass-spring chain model to find the properties of the elastic layer, which will maximize the energy transfer from the actuator to the projectile. The insertion of a soft layer, impedance matched to the ejection frequency of the projectile mass, can increase the throwing efficiency by over 400%. Finally, we identify that very thick and very soft compliant layers could potentially lead to high efficiency and flexibility simultaneously.

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.

Triceps Surae Muscle-Tendon Properties as Determinants of the Metabolic Cost in Trained Long-Distance Runners

Purpose: This study aimed to determine whether triceps surae's muscle architecture and Achilles tendon parameters are related to running metabolic cost (C) in trained long-distance runners. Methods: Seventeen trained male recreational long-distance runners (mean age = 34 years) participated in this study. C was measured during submaximal steady-state running (5 min) at 12 and 16 km h-1 on a treadmill. Ultrasound was used to determine the gastrocnemius medialis (GM), gastrocnemius lateralis (GL), and soleus (SO) muscle architecture, including fascicle length (FL) and pennation angle (PA), and the Achilles tendon cross-sectional area (CSA), resting length and elongation as a function of plantar flexion torque during maximal voluntary plantar flexion. Achilles tendon mechanical (force, elongation, and stiffness) and material (stress, strain, and Young's modulus) properties were determined. Stepwise multiple linear regressions were used to determine the relationship between independent variables (tendon resting length, CSA, force, elongation, stiffness, stress, strain, Young's modulus, and FL and PA of triceps surae muscles) and C (J kg-1m-1) at 12 and 16 km h-1. Results: SO PA and Achilles tendon CSA were negatively associated with C (r 2 = 0.69; p < 0.001) at 12 km h-1, whereas SO PA was negatively and Achilles tendon stress was positively associated with C (r 2 = 0.63; p = 0.001) at 16 km h-1, respectively. Our results presented a small power, and the multiple linear regression's cause-effect relation was limited due to the low sample size. Conclusion: For a given muscle length, greater SO PA, probably related to short muscle fibers and to a large physiological cross-sectional area, may be beneficial to C. Larger Achilles tendon CSA may determine a better force distribution per tendon area, thereby reducing tendon stress and C at submaximal speeds (12 and 16 km h-1). Furthermore, Achilles tendon morphological and mechanical properties (CSA, stress, and Young's modulus) and triceps surae muscle architecture (GM PA, GM FL, SO PA, and SO FL) presented large correlations with C.