Modulation of joint moments and work in the goat hindlimb with locomotor speed and surface grade

Quantifying demands on the hamstrings during high-speed running: A systematic review and meta-analysis

INTRODUCTION

Hamstring strain injury (HSI) remains a performance, economic, and player availability burden in sport. High-speed running (HSR) is cited as a common mechanism for HSI. While evidence exists regarding the high physical demands on the hamstring muscles in HSR, meta-analytical synthesis of related activation and kinetic variables is lacking.

METHODS

A systematic search of Medline, Embase, Scopus, CINAHL, SportDiscus, and Cochrane library databases was conducted in accordance with the PRISMA 2020 guidelines. Studies reporting hamstring activation (electromyographic [EMG]) or hamstring muscle/related joint kinetics were included where healthy adult participants ran at or beyond 60% of maximum speed (activation studies) or 4 m per second (m/s) (kinetic studies).

RESULTS

A total of 96 studies met the inclusion criteria. Run intensities were categorized as "slow," "moderate," or "fast" in both activation and kinetic based studies with appropriate relative, and raw measures, respectively. Meta-analysis revealed pooled mean lateral hamstring muscle activation levels of 108.1% (95% CI: 84.4%-131.7%) of maximal voluntary isometric contraction (MVIC) during "fast" running. Meta-analysis found swing phase peak knee flexion internal moment and power at 2.2 Newton meters/kilogram (Nm/kg) (95% CI: 1.9-2.5) and 40.3 Watts/kilogram (W/kg) (95% CI: 31.4-49.2), respectively. Hip extension peak moment and power was estimated as 4.8 Nm/kg (95% CI: 3.9-5.7) and 33.1 W/kg (95% CI: 17.4-48.9), respectively.

CONCLUSIONS

As run intensity/speed increases, so do the activation and kinetic demands on the hamstrings. The presented data will enable clinicians to incorporate more objective measures into the design of injury prevention and return-to-play decision-making strategies.

Modulation of limb mechanics in alligators moving across varying grades

Graded substrates require legged animals to modulate their limb mechanics to meet locomotor demands. Previous work has elucidated strategies used by cursorial animals with upright limb posture, but it remains unclear how sprawling species such as alligators transition between grades. We measured individual limb forces and 3D kinematics as alligators walked steadily across level, 15 deg incline and 15 deg decline conditions. We compared our results with the literature to determine how limb posture alters strategies for managing the energetic variation that accompanies shifts in grade. We found that juvenile alligators maintain spatiotemporal characteristics of gait and locomotor speed while selectively modulating craniocaudal impulses (relative to level) when transitioning between grades. Alligators seem to accomplish this using a variety of kinematic strategies, but consistently sprawl both limb pairs outside of the parasagittal plane during decline walking. This latter result suggests alligators and other sprawling species may use movements outside of the parasagittal plane as an axis of variation to modulate limb mechanics when transitioning between graded substrates. We conclude that limb mechanics during graded locomotion are fairly predictable across quadrupedal species, regardless of body plan and limb posture, with hindlimbs playing a more propulsive role and forelimbs functioning to dissipate energy. Future work will elucidate how shifts in muscle properties or function underlie such shifts in limb kinematics.

Speed-Related Energy Flow and Joint Function Change During Human Walking

During human walking, mechanical energy transfers between segments via joints. Joint mechanics of the human body are coordinated with each other to adapt to speed change. The aim of this study is to analyze the functional behaviors of major joints during walking, and how joints and segments alter walking speed during different periods (collision, rebound, preload, and push-off) of stance phase. In this study, gait experiment was performed with three different self-selected speeds. Mechanical works of joints and segments were determined with collected data. Joint function indices were calculated based on net joint work. The results show that the primary functional behaviors of joints would not change with altering walking speed, but the function indices might be changed slightly (e.g., strut functions decrease with increasing walking speed). Waist acts as strut during stance phase and contributes to keep stability during collision when walking faster. Knee of stance leg does not contribute to altering walking speed. Hip and ankle absorb more mechanical energy to buffer the strike during collision with increasing walking speed. What is more, hip and ankle generate more energy during push-off with greater motion to push distal segments forward with increasing walking speed. Ankle also produces more mechanical energy during push-off to compensate the increased heel-strike collision of contralateral leg during faster walking. Thus, human may utilize the cooperation of hip and ankle during collision and push-off to alter walking speed. These findings indicate that speed change in walking leads to fundamental changes to joint mechanics.

Forelimb joints contribute to locomotor performance in reindeer (Rangifer tarandus) by maintaining stability and storing energy

Reindeer (Rangifer tarandus) have lengthy seasonal migrations on land and their feet possess excellent locomotor characteristics that can adapt to complex terrains. In this study, the kinematics and vertical ground reaction force (GRF) of reindeer forelimb joints (interphalangeal joint b, metacarpophalangeal joint c, and wrist joint d) under walk, trot 1, and trot 2 were measured using a motion tracking system and Footscan pressure plates. Significant differences among different locomotor activities were observed in the joint angles, but not in changes of the joint angles (α_b, α_c, α_d) during the stance phase. Peak vertical GRF increased as locomotor speed increased. Net joint moment, power, and work at the forelimb joints were calculated via inverse dynamics. The peak joint moment and net joint power related to the vertical GRF increased as locomotor speed increased. The feet absorbed and generated more energy at the joints. During different locomotor activities, the contribution of work of the forelimbs changed with both gait and speed. In the stance phase, the metacarpophalangeal joint absorbed more energy than the other two joints while trotting and thus performed better in elastic energy storage. The joint angles changed very little (∼5°) from 0 to 75% of the stance phase, which reflected the stability of reindeer wrist joints. Compared to typical ungulates, reindeer toe joints are more stable and the stability and energy storage of forelimb joints contribute to locomotor performance in reindeer.

The Passive Contact Stability of Blue Sheep Hoof Based on Structure, Mechanical Properties, and Surface Morphology

As the only component that contacts the ground and rock, the hooves of blue sheep may play a crucial role in their excellent climbing abilities. In this study, we used a combination of techniques, including scanning electron microscopy, infrared spectroscopy and nanoindentation, to characterize the surface morphology, structure, material composition, and mechanical properties of blue sheep hoof and investigate the potential contributions of these properties to the establishment of passive contact stability. Straight and curled microscopic lamellar morphology were found on the hoof surfaces. The cross section of the hoof revealed four layers, and each layer had a unique structure. Finite element analysis was employed to verify that the surface morphology and microstructure effectively contributed to the slip resistance and impact cushioning, respectively. Analyses of the energy and infrared spectra showed that the organic and inorganic substances in different regions of the hoof had similar components but different contents of those components. The hoof was mainly composed of keratin. From the outside to the inside, gradients in both the modulus and hardness were observed. These factors help the hoof alleviate high impact strengths and increase contact stability. These findings further our understanding of the unique mechanism of blue sheep hoof and may help in the development of novel biomimetic materials and mechanical components with enhanced friction and contact stability properties.

Coordination amongst quadriceps muscles suggests neural regulation of internal joint stresses, not simplification of task performance

Many studies have demonstrated covariation between muscle activations during behavior, suggesting that muscles are not controlled independently. According to one common proposal, this covariation reflects simplification of task performance by the nervous system so that muscles with similar contributions to task variables are controlled together. Alternatively, this covariation might reflect regulation of low-level aspects of movements that are common across tasks, such as stresses within joints. We examined these issues by analyzing covariation patterns in quadriceps muscle activity during locomotion in rats. The three monoarticular quadriceps muscles (vastus medialis [VM], vastus lateralis [VL], and vastus intermedius [VI]) produce knee extension and so have identical contributions to task performance; the biarticular rectus femoris (RF) produces an additional hip flexion. Consistent with the proposal that muscle covariation is related to similarity of muscle actions on task variables, we found that the covariation between VM and VL was stronger than their covariations with RF. However, covariation between VM and VL was also stronger than their covariations with VI. Since all vastii have identical actions on task variables, this finding suggests that covariation between muscle activity is not solely driven by simplification of overt task performance. Instead, the preferentially strong covariation between VM and VL is consistent with the control of internal joint stresses: Since VM and VL produce opposing mediolateral forces on the patella, the high positive correlation between their activation minimizes the net mediolateral patellar force. These results provide important insights into the interpretation of muscle covariations and their role in movement control.

Lower extremity joints and muscle groups in the human locomotor system alter mechanical functions to meet task demand

To facilitate movement through mechanically complex environments, terrestrial animals have evolved locomotor systems capable of flexibly altering internal mechanics to meet external demands. They do this by shifting imposed workloads between joints/muscle groups (central mechanical flexibility) and/or by altering the function of individual joints/muscle groups (local mechanical flexibility). In human locomotion research, central mechanical flexibility is well established and regularly reported. Local mechanical flexibility at major lower extremity joints and muscle groups, however, has received relatively less attention. We used an emerging biomechanical analysis known as functional indexing to test the hypothesis that lower extremity joints and muscle groups within the human locomotor system alter their mechanical function to meet altered locomotor demands. Thirteen healthy adults walked across a range of speeds (0.8, 1.2, 1.6, 2.0 m s^-1) and slopes (0 deg, +5 deg, +10 deg) to determine whether hip, knee and ankle joints and their extensors and flexors altered their mechanical function in response to increased speed and slope. As walking speed increased, the knee and its extensors altered their function to behave more like mechanical springs while the ankle and its extensors altered their function to behave more like motors. As slope increased, all three joints and their extensors decreased spring- and damper-like behavior and increased motor-like behavior. Our results indicate that humans - similarly to many other terrestrial animals - utilize local mechanical flexibility to meet the demands of the locomotor task at hand.

Goats decrease hindlimb stiffness when walking over compliant surfaces

Leg stiffness, commonly estimated as the 'compression' of a defined leg element in response to a load, has long been used to characterize terrestrial locomotion. This study investigated how goats adjust the stiffness of their hindlimbs to accommodate surfaces of different stiffness. Goats provide a compelling animal model for studying leg stiffness modulation, because they skillfully ambulate over a range of substrates that vary in compliance. To investigate the adjustments that goats make when walking over such substrates, ground reaction forces and three-dimensional trajectories of hindlimb markers were recorded as goats walked on rigid, rubber and foam surfaces. Net joint moments, power and work at the hip, knee, ankle and metatarsophalangeal joints were estimated throughout stance via inverse dynamics. Hindlimb stiffness was estimated from plots of total leg force versus total leg length, and individual joint stiffness was estimated from plots of joint moment versus joint angle. Our results support the hypothesis that goats modulate hindlimb stiffness in response to surface stiffness; specifically, hindlimb stiffness decreased on the more compliant surfaces (P<0.002). Estimates of joint stiffness identified hip and ankle muscles as the primary drivers of these adjustments. When humans run on compliant surfaces, they generally increase leg stiffness to preserve their center-of-mass mechanics. We did not estimate center-of-mass mechanics in this study; nevertheless, our estimates of hindlimb stiffness suggest that goats exhibit a different behavior. This study offers new insight into mechanisms that allow quadrupeds to modulate their gait mechanics when walking on surfaces of variable compliance.

Limb bone scaling in hopping macropods and quadrupedal artiodactyls

Bone adaptation is modulated by the timing, direction, rate and magnitude of mechanical loads. To investigate whether frequent slow, or infrequent fast, gaits could dominate bone adaptation to load, we compared scaling of the limb bones from two mammalian herbivore clades that use radically different high-speed gaits, bipedal hopping (suborder Macropodiformes; kangaroos and kin) and quadrupedal galloping (order Artiodactyla; goats, deer and kin). Forelimb and hindlimb bones were collected from 20 artiodactyl and 15 macropod species (body mass M 1.05-1536 kg) and scanned in computed tomography or X-ray microtomography. Second moment of area (I _max) and bone length (l) were measured. Scaling relations (y = ax^b ) were calculated for l versus M for each bone and for I _max versus M and I _max versus l for every 5% of length. I _max versus M scaling relationships were broadly similar between clades despite the macropod forelimb being nearly unloaded, and the hindlimb highly loaded, during bipedal hopping. I _max versus l and l versus M scaling were related to locomotor and behavioural specializations. Low-intensity loads may be sufficient to maintain bone mass across a wide range of species. Occasional high-intensity gaits might not break through the load sensitivity saturation engendered by frequent low-intensity gaits.

Investigation of feet functions of large ruminants with a decoupled model of equivalent mechanism

Cloven hooves of ruminants adapt to diverse terrain, provide propulsive force and support the whole body during movement in natural environments. To reveal how the feet ensure terrain adaptability by choosing the proper configurations and terrain conditions, we model the feet of ruminants as an equivalent mechanism with flexion-extension and lateral movement decoupled. The upper part of the equivalent mechanism can flex and extend, while the lower part performs the lateral movement. Combination of the two parts can adapt to longitudinal slope (anterior-posterior) and transverse slope (medial-lateral), respectively. When one of two digits closes laterally, the workspace of the other decreases. The distal interdigital ligament between two digits limits their motion by elastic force and stores energy during movement. Differences in elastic energy variation of the ligament on different transverse slopes are characterized based on the configurations of two digits and the elastic energy between them. If the upper one of two symmetric digits is fixed, the foot landing on the grade surface (2°) shows greater capacity for absorbing energy; otherwise, level ground is the best choice for ruminants. As for the asymmetric digits, longer lateral digits enhance the optimal adaptive lateral angle. The asymmetry predisposes the feet to damage on the hard ground, which indicates soft ground is more suitable.

Summary: This study shows that level and soft grounds are best for symmetric and asymmetric digits, respectively, as revealed by kinematic analysis using a decoupled equivalent mechanism of the foot of ruminants.

Modulation of leg joint function to produce emulated acceleration during walking and running in humans

Understanding how humans adapt gait mechanics for a wide variety of locomotor tasks is important for inspiring the design of robotic, prosthetic and wearable assistive devices. We aimed to elicit the mechanical adjustments made to leg joint functions that are required to generate accelerative walking and running, using metrics with direct relevance to device design. Twelve healthy male participants completed constant speed (CS) walking and running and emulated acceleration (ACC) trials on an instrumented treadmill. External force and motion capture data were combined in an inverse dynamics analysis. Ankle, knee and hip joint mechanics were described and compared using angles, moments, powers and normalized functional indexes that described each joint as relatively more: spring, motor, damper or strut-like. To accelerate using a walking gait, the ankle joint was switched from predominantly spring-like to motor-like, while the hip joint was maintained as a motor, with an increase in hip motor-like function. Accelerating while running involved no change in the primary function of any leg joint, but involved high levels of spring and motor-like function at the hip and ankle joints. Mechanical adjustments for ACC walking were achieved primarily via altered limb positioning, but ACC running needed greater joint moments.

Modulation of upper limb joint work and power during sculling while ballasted with varying loads

The human musculoskeletal system must modulate work and power output in response to substantial alterations in mechanical demands associated with different tasks. In particular, in water, upper limb muscles must perform net positive work to replace the energy lost against the dissipative fluid load. Where in the upper limb are work and power developed? Is mechanical output modulated similarly at all joints, or are certain muscle groups favored? This study examined, for the first time, how work and power per stroke are distributed at the upper limb joints in seven male participants sculling while ballasted with 4, 6, 8, 10 and 12 kg. Upper limb kinematics was captured and used to animate body virtual geometry. Net wrist, elbow and shoulder joint work and power were subsequently computed through a novel approach integrating unsteady numerical fluid flow simulations and inverse dynamics modeling. Across a threefold increase in load, total work and power significantly increased from 0.38±0.09 to 0.67±0.13 J kg^-1, and 0.47±0.06 to 1.14±0.16 W kg^-1, respectively. Shoulder and elbow equally supplied >97% of the upper limb total work and power, coherent with the proximo-distal gradient of work performance in the limbs of terrestrial animals. Individual joint relative contributions remained constant, as observed on land during tasks necessitating no net work. The apportionment of higher work and power simultaneously at all joints in water suggests a general motor strategy of power modulation consistent across physical environments, limbs and tasks, regardless of whether or not they demand positive net work.

A descriptive analysis of the climbing mechanics of a mountain goat (Oreamnos americanus)

The mountain goat (Oreamnos americanus) is one of the most extraordinary mountaineers in the animal kingdom. While observational descriptions exist to indicate factors that may influence their climbing ability, these have never been assessed biomechanically. Here, we describe whole-body motion of a mountain goat during ascent of a 45° incline based on a video recording in the Canadian Rocky Mountains, and discuss the results in a mechanical context. During the push-off phase, the hindlimb extended and the forelimb was tucked close to the torso. During the pull-up phase, the hindlimb was raised near to the torso, while the forelimb humerus seemed to "lock" in a constant position relative to the torso, allowing the elbow to be held in close proximity to the whole-body center of mass. Extension of the elbow and carpal joints resulted in a vertical translation of the center of mass up the mountain slope. Based on the observations from this naturalistic study, hypotheses for future controlled studies of mountain goat climbing mechanics are proposed.

Integrating gastrocnemius force-length properties, in vivo activation, and operating lengths reveals how Anolis deal with ecological challenges

A central question in biology is how animals successfully behave under complex natural conditions. Although changes in locomotor behaviour, motor control, and force production in relation to incline are commonly examined, a wide range of other factors, including a range of perch diameters, pervades arboreal habitats. Moving on different substrate diameters requires considerable alteration of body and limb posture, likely causing significant shifts in the lengths of the muscle-tendon units powering locomotion. Thus, how substrate shape impacts in vivo muscle function remains an important, but neglected question in ecophysiology. Here, we used high-speed videography, electromyography, in situ contractile experiments, and morphology to examine gastrocnemius muscle function during arboreal locomotion in the Cuban knight anole, (Anolis equestris). The gastrocnemius contributes more to the propulsive effort on broad surfaces than on narrow surfaces. Surprisingly, substrate inclination affected the relationship between the maximum potential force and fibre recruitment; the trade-off that was present between these variables on horizontal conditions became a positive relationship on inclined surfaces. Finally, the biarticular nature of the gastrocnemius allows it to generate force isometrically, regardless of condition, despite the fact that the tendons are incapable of stretching during cyclical locomotion. Our results emphasize the importance of considering ecology and muscle function together, and the necessity of examining both mechanical and physiological properties of muscles to understand how animals move in their environment.

Modulation of work and power by the human lower-limb joints with increasing steady-state locomotion speed

We investigated how the human lower-limb joints modulate work and power during walking and running on level ground. Experimental data were recorded from seven participants for a broad range of steady-state locomotion speeds (walking at 1.59±0.09 m s(-1) to sprinting at 8.95±0.70 m s(-1)). We calculated hip, knee and ankle work and average power (i.e. over time), along with the relative contribution from each joint towards the total (sum of hip, knee and ankle) amount of work and average power produced by the lower limb. Irrespective of locomotion speed, ankle positive work was greatest during stance, whereas hip positive work was greatest during swing. Ankle positive work increased with faster locomotion until a running speed of 5.01±0.11 m s(-1), where it plateaued at ∼1.3 J kg(-1). In contrast, hip positive work during stance and swing, as well as knee negative work during swing, all increased when running speed progressed beyond 5.01±0.11 m s(-1). When switching from walking to running at the same speed (∼2.0 m s(-1)), the ankle's contribution to the average power generated (and positive work done) by the lower limb during stance significantly increased from 52.7±10.4% to 65.3±7.5% (P=0.001), whereas the hip's contribution significantly decreased from 23.0±9.7% to 5.5±4.6% (P=0.004). With faster running, the hip's contribution to the average power generated (and positive work done) by the lower limb significantly increased during stance (P<0.001) and swing (P=0.003). Our results suggest that changing locomotion mode and faster steady-state running speeds are not simply achieved via proportional increases in work and average power at the lower-limb joints.

Terrain Adaptability Mechanism of Large Ruminants' Feet on the Kinematics View

Ruminants live in various parts of land. Similar cloven hooves assist ruminants in adapting to different ground environment during locomotion. This paper analyzes the general terrain adaptability of the feet of ruminants using kinematics of the equivalent mechanism model based on screw theory. Cloven hooves could adjust attitude by changing relative positions between two digits in swing phase. This function helps to choose better landing orientation. "Grasping" or "holding" a rock or other object on the ground passively provides extra adhesion force in stance phase. Ruminants could adjust the position of the metacarpophalangeal joint or metatarsophalangeal joint (MTP or MCP) with no relative motion between the tip of feet and the ground, which ensures the adhesion and dexterity in stance phase. These functions are derived from an example from chamois' feet and several assumptions, which are believed to demonstrate the foundation of adaptation of ruminants and ensure a stable and continuous movement.

Modeling fall propensity in Parkinson's disease: deficits in the attentional control of complex movements in rats with cortical-cholinergic and striatal-dopaminergic deafferentation

Cognitive symptoms, complex movement deficits, and increased propensity for falls are interrelated and levodopa-unresponsive symptoms in patients with Parkinson's disease (PD). We developed a test system for the assessment of fall propensity in rats and tested the hypothesis that interactions between loss of cortical cholinergic and striatal dopaminergic afferents increase fall propensity. Rats were trained to traverse stationary and rotating rods, placed horizontally or at inclines, and while exposed to distractors. Rats also performed an operant Sustained Attention Task (SAT). Partial cortical cholinergic and/or caudate dopaminergic deafferentation were produced by bilateral infusions of 192 IgG-saporin (SAP) into the basal forebrain and/or 6-hydroxydopamine (6-OHDA) into the caudate nucleus, respectively, modeling the lesions seen in early PD. Rats with dual cholinergic-dopaminergic lesions (DL) fell more frequently than SAP or 6-OHDA rats. Falls in DL rats were associated with incomplete rebalancing after slips and low traversal speed. Ladder rung walking and pasta handling performance did not indicate sensorimotor deficits. SAT performance was impaired in DL and SAP rats; however, SAT performance and falls were correlated only in DL rats. Furthermore, in DL rats, but not in rats with only dopaminergic lesions, the placement and size of dopaminergic lesion correlated significantly with fall rates. The results support the hypothesis that after dual cholinergic-dopaminergic lesions, attentional resources can no longer be recruited to compensate for diminished striatal control of complex movement, thereby "unmasking" impaired striatal control of complex movements and yielding falls.