Hindlimb interarticular coordinations in Microcebus murinus in maximal leaping

Impact of hindlimb length variation on jumping dynamics in the Longshanks mouse

Distantly related mammals (e.g. jerboa, tarsiers, kangaroos) have convergently evolved elongated hindlimbs relative to body size. Limb elongation is hypothesized to make these species more effective jumpers by increasing their kinetic energy output (through greater forces or acceleration distances), thereby increasing take-off velocity and jump distance. This hypothesis, however, has rarely been tested at the population level, where natural selection operates. We examined the relationship between limb length, muscular traits and dynamics using Longshanks mice, which were selectively bred over 22 generations for longer tibiae. Longshanks mice have approximately 15% longer tibiae and 10% longer femora compared with random-bred Control mice from the same genetic background. We collected in vivo measures of locomotor kinematics and force production, in combination with behavioral data and muscle morphology, to examine how changes in bone and muscle structure observed in Longshanks mice affect their hindlimb dynamics during jumping and clambering. Longshanks mice achieved higher mean and maximum lunge-jump heights than Control mice. When jumping to a standardized height (14 cm), Longshanks mice had lower maximum ground reaction forces, prolonged contact times and greater impulses, without significant differences in average force, power or whole-body velocity. While Longshanks mice have longer plantarflexor muscle bodies and tendons than Control mice, there were no consistent differences in muscular cross-sectional area or overall muscle volume; improved lunge-jumping performance in Longshanks mice is not accomplished by simply possessing larger muscles. Independent of other morphological or behavioral changes, our results point to the benefit of longer hindlimbs for performing dynamic locomotion.

Jumping performance in tree squirrels: Insights into primate evolution

Morphological traits suggesting powerful jumping abilities are characteristic of early crown primate fossils. Because tree squirrels lack certain 'primatelike' grasping features but frequently travel on the narrow terminal branches of trees, they make a viable extant model for an early stage of primate evolution. Here, we explore biomechanical determinants of jumping performance in the arboreal Eastern gray squirrel (Sciurus carolinensis, n = 3) as a greater understanding of the biomechanical strategies that squirrels use to modulate jumping performance could inform theories of selection for increased jumping ability during early primate evolution. We assessed vertical jumping performance by using instrumented force platforms upon which were mounted launching supports of various sizes, allowing us to test the influence of substrate diameter on jumping kinetics and performance. We used standard ergometric methods to quantify jumping parameters (e.g., takeoff velocity, total displacement, peak mechanical power) from force platform data during push-off. We found that tree squirrels display divergent mechanical strategies according to the type of substrate, prioritizing force production on flat ground versus center of mass displacement on narrower poles. As jumping represents a significant part of the locomotor behavior of most primates, we suggest that jumping from small arboreal substrates may have acted as a potential driver of the selection for elongated hindlimb segments in primates, allowing the center of mass to be accelerated over a longer distance-and thereby reducing the need for high substrate reaction forces.

Predictive Simulations of Musculoskeletal Function and Jumping Performance in a Generalized Bird

Jumping is a common, but demanding, behavior that many animals employ during everyday activity. In contrast to jump-specialists such as anurans and some primates, jumping biomechanics and the factors that influence performance remains little studied for generalized species that lack marked adaptations for jumping. Computational biomechanical modeling approaches offer a way of addressing this in a rigorous, mechanistic fashion. Here, optimal control theory and musculoskeletal modeling are integrated to generate predictive simulations of maximal height jumping in a small ground-dwelling bird, a tinamou. A three-dimensional musculoskeletal model with 36 actuators per leg is used, and direct collocation is employed to formulate a rapidly solvable optimal control problem involving both liftoff and landing phases. The resulting simulation raises the whole-body center of mass to over double its standing height, and key aspects of the simulated behavior qualitatively replicate empirical observations for other jumping birds. However, quantitative performance is lower, with reduced ground forces, jump heights, and muscle–tendon power. A pronounced countermovement maneuver is used during launch. The use of a countermovement is demonstrated to be critical to the achievement of greater jump heights, and this phenomenon may only need to exploit physical principles alone to be successful; amplification of muscle performance may not necessarily be a proximate reason for the use of this maneuver. Increasing muscle strength or contractile velocity above nominal values greatly improves jump performance, and interestingly has the greatest effect on more distal limb extensor muscles (i.e., those of the ankle), suggesting that the distal limb may be a critical link for jumping behavior. These results warrant a re-evaluation of previous inferences of jumping ability in some extinct species with foreshortened distal limb segments, such as dromaeosaurid dinosaurs.

Simulations prédictives de la fonction musculo-squelettique et des performances de saut chez un oiseau généralisé Sauter est un comportement commun, mais exigeant, que de nombreux animaux utilisent au cours de leurs activités quotidiennes. Contrairement aux spécialistes du saut tels que les anoures et certains primates, la biomécanique du saut et les facteurs qui influencent la performance restent peu étudiés pour les espèces généralisées qui n’ont pas d’adaptations marquées pour le saut. Les approches de modélisation biomécanique computationnelle offrent un moyen d’aborder cette question de manière rigoureuse et mécaniste. Ici, la théorie du contrôle optimal et la modélisation musculo-squelettique sont intégrées pour générer des simulations prédictives du saut en hauteur maximal chez un petit oiseau terrestre, le tinamou. Un modèle musculo-squelettique tridimensionnel avec 36 actionneurs par patte est utilisé, et une méthode numérique nommée “direct collocation” est employée pour formuler un problème de contrôle optimal rapidement résoluble impliquant les phases de décollage et d’atterrissage. La simulation qui en résulte élève le centre de masse du corps entier à plus du double de sa hauteur debout, et les aspects clés du comportement simulé reproduisent qualitativement les observations empiriques d’autres oiseaux sauteurs. Cependant, les performances quantitatives sont moindres, avec une réduction des forces au sol, des hauteurs de saut et de la puissance musculo-tendineuse. Une manœuvre de contre-mouvement prononcée est utilisée pendant le lancement. Il a été démontré que l’utilisation d’un contre-mouvement est essentielle à l’obtention de hauteurs de saut plus importantes, et il se peut que ce phénomène doive exploiter uniquement des principes physiques pour réussir; l’amplification de la performance musculaire n’est pas nécessairement une raison immédiate de l’utilisation de cette manœuvre. L’augmentation de la force musculaire ou de la vitesse de contraction au-dessus des valeurs nominales améliore grandement la performance de saut et, fait intéressant, a le plus grand effet sur les muscles extenseurs des membres plus distaux (c'est-à-dire ceux de la cheville), ce qui suggère que le membre distal peut être un lien critique pour le comportement de saut. Ces résultats justifient une réévaluation des déductions précédentes de la capacité de sauter chez certaines espèces éteintes avec des segments de membres distaux raccourcis, comme les dinosaures droméosauridés.

Voorspellende simulaties van musculoskeletale functie en springprestaties bij een gegeneraliseerde vogel Springen is een veel voorkomend, maar veeleisend, gedrag dat veel dieren toepassen tijdens hun dagelijkse bezigheden. In tegenstelling tot de springspecialisten zoals de anura en sommige primaten, is de biomechanica van het springen en de factoren die de prestaties beïnvloeden nog weinig bestudeerd voor algemene soorten die geen uitgesproken adaptaties voor het springen hebben. Computationele biomechanische modelbenaderingen bieden een manier om dit op een rigoureuze, mechanistische manier aan te pakken. Hier worden optimale controle theorie en musculoskeletale modellering geïntegreerd om voorspellende simulaties te genereren van maximale hoogtesprong bij een kleine grondbewonende vogel, een tinamou. Een driedimensionaal musculoskeletaal model met 36 actuatoren per poot wordt gebruikt, en directe collocatie wordt toegepast om een snel oplosbaar optimaal controleprobleem te formuleren dat zowel de opstijg-als de landingsfase omvat. De resulterende simulatie verhoogt het lichaamszwaartepunt tot meer dan het dubbele van de stahoogte, en belangrijke aspecten van het gesimuleerde gedrag komen kwalitatief overeen met empirische waarnemingen voor andere springende vogels. De kwantitatieve prestaties zijn echter minder, met verminderde grondkrachten, spronghoogtes en spierpeeskracht. Tijdens de lancering wordt een uitgesproken tegenbewegingsmanoeuvre gebruikt. Aangetoond is dat het gebruik van een tegenbeweging van cruciaal belang is voor het bereiken van grotere spronghoogten, en dit fenomeen hoeft alleen op fysische principes te berusten om succesvol te zijn; versterking van de spierprestaties hoeft niet noodzakelijk een proximate reden te zijn voor het gebruik van deze manoeuvre. Het verhogen van de spierkracht of van de contractiesnelheid boven de nominale waarden verbetert de sprongprestatie aanzienlijk, en heeft interessant genoeg het grootste effect op de meer distale extensoren van de ledematen (d.w.z. die van de enkel), wat suggereert dat de distale ledematen een kritieke schakel kunnen zijn voor het springgedrag. Deze resultaten rechtvaardigen een herevaluatie van eerdere conclusies over springvermogen bij sommige uitgestorven soorten met voorgekorte distale ledematen, zoals dromaeosauride dinosauriërs.

Prädiktive Simulationen der muskuloskelettalen Funktion und Sprungleistung bei einem generalisierten Vogel Springen ist ein übliches jedoch anstrengendes Verhalten, das viele Tiere bei ihren täglichen Aktivitäten einsetzen. Im Gegensatz zu Springspezialisten, wie Fröschen und einigen Primaten, sind bei allgemeinen Arten, welche keine ausgeprägten Anpassung für Sprungverhalten aufweisen, die Biomechanik beim Springen und die Faktoren, welche die Leistungsfähigkeit beeinflussen, noch wenig untersucht. Computergestützte biomechanische Modellierungsverfahren bieten hier eine Möglichkeit, dies in einer gründlichen, mechanistischen Weise anzugehen. In dieser Arbeit werden die optimale Steuerungstheorie und Muskel-Skelett-Modellierung zusammen eingesetzt, um die maximale Sprunghöhe eines kleinen bodenlebenden Vogels, eines Perlsteisshuhns, zu simulieren und zu prognostizieren. Es wird ein dreidimensionales Muskel-Skelett-Modell mit 36 Aktuatoren pro Bein verwendet, und durch direkte Kollokation wird ein schnell lösbares optimales Steuerungsproblem formuliert, das sowohl die Abstoss- als auch die Landephase umfasst. Die daraus folgende Simulation bringt den Ganzkörperschwerpunkt auf mehr als das Doppelte seiner Standhöhe und entscheidende Aspekte des simulierten Verhaltens entsprechen qualitativ empirischen Beobachtungen für andere springende Vögel. Allerdings ist die quantitative Leistungsfähigkeit geringer, mit reduzierten Bodenkräften, Sprunghöhen und Muskel-Sehnen-Kräften. Beim Abstossen wird ein ausgeprägtes Gegenbewegungsmanöver durchgeführt. Die Durchführung einer Gegenbewegung ist nachweislich entscheidend für das Erreichen grösserer Sprunghöhen, wobei dieses Phänomen möglicherweise nur physikalische Prinzipien auszuschöpfen braucht, um erfolgreich zu sein. Die Verstärkung der Muskelleistung ist daher möglicherweise nicht zwingend ein unmittelbarer Grund für die Verwendung dieses Manövers. Eine Erhöhung der Muskelkraft oder der Kontraktionsgeschwindigkeit über die Nominalwerte hinaus führt zu einer erheblichen Zunahme der Sprungleistung und hat interessanterweise den grössten Effekt bei den weiter distal gelegenen Streckmuskeln der Beine (d.h. bei denjenigen des Sprunggelenks), was darauf hindeutet, dass die distale Gliedmasse ein entscheidendes Element für das Sprungverhalten sein könnte. Diese Ergebnisse geben Anlass zur Überprüfung früherer Schlussfolgerungen hinsichtlich der Sprungfähigkeit einiger ausgestorbener Arten mit verkürzten distalen Gliedmassen, wie beispielsweise bei dromaeosauriden Dinosauriern.

Ecomorphological specialization leads to loss of evolvability in primate limbs

Primate limb morphology is often described as either generalized, that is, suited to a range of locomotor and positional behaviors, or specialized for unique locomotor behaviors such as brachiation or bipedalism. The evolution of highly specialized limb morphology may result in loss of evolvability, that is, in a decreased capacity of the locomotor skeleton to evolve in response to selection towards alternative ecomorphological niches. Using evolutionary simulations, I show that the highly specialized limb anatomy of hominoids is associated with a significant loss of evolvability, defined as the number of generations to reach alternative adaptive peaks, and in parallel an increased risk of extinction, particularly in simulated evolution toward generalized quadrupedal limb proportions. Loss of evolvability in apes and humans correlates with three factors: (1) decreased correlation among limb bone lengths (i.e., integration), which slows the rate of change along lines of least evolutionary resistance; (2) limb specialization, which places apes and humans in relatively remote areas of morphospace; and (3) increased skeletal size as a proxy for body size. Thus, locomotor over-specialization can lead to evolutionary dead-ends that significantly increase the probability of hominoid populations going extinct before evolving new adaptive morphologies.

Robotic vertical jumping agility via series-elastic power modulation

Several arboreal mammals have the ability to rapidly and repeatedly jump vertical distances of 2 m, starting from rest. We characterize this performance by a metric we call vertical jumping agility. Through basic kinetic relations, we show that this agility metric is fundamentally constrained by available actuator power. Although rapid high jumping is an important performance characteristic, the ability to control forces during stance also appears critical for sophisticated behaviors. The animal with the highest vertical jumping agility, the galago (Galago senegalensis), is known to use a power-modulating strategy to obtain higher peak power than that of muscle alone. Few previous robots have used series-elastic power modulation (achieved by combining series-elastic actuation with variable mechanical advantage), and because of motor power limits, the best current robot has a vertical jumping agility of only 55% of a galago. Through use of a specialized leg mechanism designed to enhance power modulation, we constructed a jumping robot that achieved 78% of the vertical jumping agility of a galago. Agile robots can explore venues of locomotion that were not previously attainable. We demonstrate this with a wall jump, where the robot leaps from the floor to a wall and then springs off the wall to reach a net height that is greater than that accessible by a single jump. Our results show that series-elastic power modulation is an actuation strategy that enables a clade of vertically agile robots.

Contralateral limb deficit seven months after ACL-reconstruction: an analysis of single-leg hop tests

BACKGROUND

Following ACL-reconstruction, the non-injured leg (NIL) is used as a reference to assess injured leg (IL) recovery. However, deficits have been reported in the NIL questioning its use as a reference. The aim of this study is to assess whether NIL deficits are present while jumping after ACL-reconstruction.

METHODS

Thirteen males who had undergone ACL-reconstruction and 16 healthy subjects took part in the experiment. Jumping performance was assessed during a single and a triple hop for distance. Jumping performance, kinematic and kinetic data were recorded during single leg squat jumps. Values for both the NIL and the IL were compared to those of a control group (CG).

RESULTS

Jumping performance for single and triple hop for distance and single leg squat jump was lower in the NIL than in the CG (p=0.004, p=0.002, and p=0.016, respectively). During the squat jump, the knee joint was more extended and the ankle plantar-flexion was greater at take-off while the peak total moment was 15% lower in the NIL than in the CG (p=0.002, p=0.002, and p=0.009, respectively). We found consistent evolutions in the NIL and the IL compared to the CG for jumping performance, initial joint angles, and peak total moment during the squat jump, but the opposite was found for the ankle and knee joint angles at squat jump take-off.

CONCLUSIONS

Jumping strategies are impaired in the NIL after ACL-R during jump tasks with some deficits matching those observed in the IL and some specific to the NIL.

LEVEL OF EVIDENCE

III, Case control study.

Muscle contractile properties as an explanation of the higher mean power output in marmosets than humans during jumping

The muscle mass-specific mean power output (PMMS,mean) during push-off in jumping in marmosets (Callithrix jacchus) is more than twice that in humans. In the present study it was tested whether this is attributable to differences in muscle contractile properties. In biopsies of marmoset m. vastus lateralis (VL) and m. gastrocnemius medialis (GM) (N=4), fibre-type distribution was assessed using fluorescent immunohistochemistry. In single fibres from four marmoset and nine human VL biopsies, the force-velocity characteristics were determined. Marmoset VL contained almost exclusively fast muscle fibres (>99.0%), of which 63% were type IIB and 37% were hybrid fibres, fibres containing multiple myosin heavy chains. GM contained 9% type I fibres, 44% type IIB and 47% hybrid muscle fibres. The proportions of fast muscle fibres in marmoset VL and GM were substantially larger than those reported in the corresponding human muscles. The curvature of the force-velocity relationships of marmoset type IIB and hybrid fibres was substantially flatter than that of human type I, IIA, IIX and hybrid fibres, resulting in substantially higher muscle fibre mass-specific peak power (PFMS,peak). Muscle mass-specific peak power output (PMMS,peak) values of marmoset whole VL and GM, estimated from their fibre-type distributions and force-velocity characteristics, were more than twice the estimates for the corresponding human muscles. As the relative difference in estimated PMMS,peak between marmosets and humans is similar to that of PMMS,mean during push-off in jumping, it is likely that the difference in in vivo mechanical output between humans and marmosets is attributable to differences in muscle contractile properties.

Asymmetries in joint work during multi-joint movement after anterior cruciate ligament reconstruction: a pilot study

After anterior cruciate ligament reconstruction (ACL-R), many studies have reported a deficit of performance on the injured leg during multi-joint tasks. However, the total mechanical joint work (WTotal ), parameter best related to the vertical displacement of the body mass center during vertical jumping, has not yet been studied. The aim of this research was to compare asymmetries between ACL-R subjects and healthy matched subjects, through the analysis of the kinematics and kinetics during a single-leg squat jump. Asymmetries are defined by the Limb Symmetry Index (LSI). A greater LSI was observed for WTotal in the ACL-R group than in the healthy group. There was no difference in LSI for knee joint work between the two groups, while the LSI for hip and ankle joint work was significantly larger in the ACL-R group. This was explained by greater LSI for the hip and ankle joint range of motion in the ACL-R group than in the healthy group. After ACL-R, patients exhibited greater asymmetries than healthy subjects during single-leg squat jump. Physiotherapists should focus on quality execution of multi-joint movement, especially on hip and ankle joints range of motion in order to reduce asymmetries and to improve vertical jumping performance.

Effects of isometric scaling on vertical jumping performance

Jump height, defined as vertical displacement in the airborne phase, depends on vertical takeoff velocity. For centuries, researchers have speculated on how jump height is affected by body size and many have adhered to what has come to be known as Borelli’s law, which states that jump height does not depend on body size per se. The underlying assumption is that the amount of work produced per kg body mass during the push-off is independent of size. However, if a big body is isometrically downscaled to a small body, the latter requires higher joint angular velocities to achieve a given takeoff velocity and work production will be more impaired by the force-velocity relationship of muscle. In the present study, the effects of pure isometric scaling on vertical jumping performance were investigated using a biologically realistic model of the human musculoskeletal system. The input of the model, muscle stimulation over time, was optimized using jump height as criterion. It was found that when the human model was miniaturized to the size of a mouse lemur, with a mass of about one-thousandth that of a human, jump height dropped from 40 cm to only 6 cm, mainly because of the force-velocity relationship. In reality, mouse lemurs achieve jump heights of about 33 cm. By implication, the unfavourable effects of the small body size of mouse lemurs on jumping performance must be counteracted by favourable effects of morphological and physiological adaptations. The same holds true for other small jumping animals. The simulations for the first time expose and explain the sheer magnitude of the isolated effects of isometric downscaling on jumping performance, to be counteracted by morphological and physiological adaptations.

Movement in a gravitational field: The question of limb interarticular coordination in terrestrial vertebrates

In this paper, we demonstrated that interarticular coordination of terrestrial tetrapods emerges from an environment highly constrained by friction and the gravitational field. We briefly review recent works on the jumping behavior in squamates, lemurs and amphibians. We then explore previously published work as well as some unpublished experimental data on human jumping. Finally, we end by inferring locomotion in some of the first limbed vertebrates using a simulation procedure. All these data show that despite changes in shape, structure, and motor controls of taxa, the same spatio-temporal sequence of joint displacements always occurs when the movement is executed in a terrestrial environment. Comparison with aquatic locomotion argues for the hypothesis that this pattern emerged in early terrestrial tetrapods as a response to the gravitational constraint and the terrestrial frictional environment.

Measurement of pelvic motion is a prerequisite for accurate estimation of hip joint work in maximum height squat jumping

In experiments investigating vertical squat jumping, the HAT segment is typically defined as a line drawn from the hip to some point proximally on the upper body (eg, the neck, the acromion), and the hip joint as the angle between this line and the upper legs (θUL-HAT). In reality, the hip joint is the angle between the pelvis and the upper legs (θUL-pelvis). This study aimed to estimate to what extent hip joint definition affects hip joint work in maximal squat jumping. Moreover, the initial pelvic tilt was manipulated to maximize the difference in hip joint work as a function of hip joint definition. Twenty-two male athletes performed maximum effort squat jumps in three different initial pelvic tilt conditions: backward (pelvisB), neutral (pelvisN), and forward (pelvisF). Hip joint work was calculated by integrating the hip net joint torque with respect to θUL-HAT (WUL-HAT) or with respect to θUL-pelvis (WUL-pelvis). θUL-HAT was greater than θUL-pelvis in all conditions. WUL-HAT overestimated WULpelvis by 33%, 39%, and 49% in conditions pelvisF, pelvisN, and pelvisB, respectively. It was concluded that θUL-pelvis should be measured when the mechanical output of hip extensor muscles is estimated.