The energetic benefits of tendon springs in running: is the reduction of muscle work important?

A Conceptual Exploration of Hamstring Muscle-Tendon Functioning during the Late-Swing Phase of Sprinting: The Importance of Evidence-Based Hamstring Training Frameworks

An eccentrically lengthening, energy-absorbing, brake-driven model of hamstring function during the late-swing phase of sprinting has been widely touted within the existing literature. In contrast, an isometrically contracting, spring-driven model of hamstring function has recently been proposed. This theory has gained substantial traction within the applied sporting world, influencing understandings of hamstring function while sprinting, as well as the development and adoption of certain types of hamstring-specific exercises. Across the animal kingdom, both spring- and motor-driven muscle-tendon unit (MTU) functioning are frequently observed, with both models of locomotive functioning commonly utilising some degree of active muscle lengthening to draw upon force enhancement mechanisms. However, a method to accurately assess hamstring muscle-tendon functioning when sprinting does not exist. Accordingly, the aims of this review article are three-fold: (1) to comprehensively explore current terminology, theories and models surrounding muscle-tendon functioning during locomotion, (2) to relate these models to potential hamstring function when sprinting by examining a variety of hamstring-specific research and (3) to highlight the importance of developing and utilising evidence-based frameworks to guide hamstring training in athletes required to sprint. Due to the intensity of movement, large musculotendinous stretches and high mechanical loads experienced in the hamstrings when sprinting, it is anticipated that the hamstring MTUs adopt a model of functioning that has some reliance upon active muscle lengthening and muscle actuators during this particular task. However, each individual hamstring MTU is expected to adopt various combinations of spring-, brake- and motor-driven functioning when sprinting, in accordance with their architectural arrangement and activation patterns. Muscle function is intricate and dependent upon complex interactions between musculoskeletal kinematics and kinetics, muscle activation patterns and the neuromechanical regulation of tensions and stiffness, and loads applied by the environment, among other important variables. Accordingly, hamstring function when sprinting is anticipated to be unique to this particular activity. It is therefore proposed that the adoption of hamstring-specific exercises should not be founded on unvalidated claims of replicating hamstring function when sprinting, as has been suggested in the literature. Adaptive benefits may potentially be derived from a range of hamstring-specific exercises that vary in the stimuli they provide. Therefore, a more rigorous approach is to select hamstring-specific exercises based on thoroughly constructed evidence-based frameworks surrounding the specific stimulus provided by the exercise, the accompanying adaptations elicited by the exercise, and the effects of these adaptations on hamstring functioning and injury risk mitigation when sprinting.

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.

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

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

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 (r² = 0.69; p < 0.001) at 12 km h^–1, whereas SO PA was negatively and Achilles tendon stress was positively associated with C (r² = 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.

What is an artificial muscle? A comparison of soft actuators to biological muscles

Interest in emulating the properties of biological muscles that allow for fast adaptability and control in unstructured environments has motivated researchers to develop new soft actuators, often referred to as 'artificial muscles'. The field of soft robotics is evolving rapidly as new soft actuator designs are published every year. In parallel, recent studies have also provided new insights for understanding biological muscles as 'active' materials whose tunable properties allow them to adapt rapidly to external perturbations. This work presents a comparative study of biological muscles and soft actuators, focusing on those properties that make biological muscles highly adaptable systems. In doing so, we briefly review the latest soft actuation technologies, their actuation mechanisms, and advantages and disadvantages from an operational perspective. Next, we review the latest advances in understanding biological muscles. This presents insight into muscle architecture, the actuation mechanism, and modeling, but more importantly, it provides an understanding of the properties that contribute to adaptability and control. Finally, we conduct a comparative study of biological muscles and soft actuators. Here, we present the accomplishments of each soft actuation technology, the remaining challenges, and future directions. Additionally, this comparative study contributes to providing further insight on soft robotic terms, such as biomimetic actuators, artificial muscles, and conceptualizing a higher level of performance actuator named artificial supermuscle. In conclusion, while soft actuators often have performance metrics such as specific power, efficiency, response time, and others similar to those in muscles, significant challenges remain when finding suitable substitutes for biological muscles, in terms of other factors such as control strategies, onboard energy integration, and thermoregulation.

Deep Reinforcement Learning with Gait Mode Specification for Quadrupedal Trot-Gallop Energetic Analysis

Quadruped system is an animal-like model which has long been analyzed in terms of energy efficiency during its various gait locomotion. The generation of certain gait modes on these systems has been achieved by classical controllers which demand highly specific domain-knowledge and empirical parameter tuning. In this paper, we propose to use deep reinforcement learning (DRL) as an alternative approach to generate certain gait modes on quadrupeds, allowing potentially the same energetic analysis without the difficulty of designing an ad hoc controller. We show that by specifying a gait mode in the process of learning, it allows faster convergence of the learning process while at the same time imposing a certain gait type on the systems as opposed to the case without any gait specification. We demonstrate the advantages of using DRL as it can exploit automatically the physical condition of the robots such as the passive spring effect between the joints during the learning process, similar to the adaptation skills of an animal. The proposed system would provide a framework for quadrupedal trot-gallop energetic analysis for different body structures, body mass distributions and joint characteristics using DRL.

Deceleration Training in Team Sports: Another Potential 'Vaccine' for Sports-Related Injury?

High-intensity horizontal decelerations occur frequently in team sports and are typically performed to facilitate a reduction in momentum preceding a change of direction manoeuvre or following a sprinting action. The mechanical underpinnings of horizontal deceleration are unique compared to other high-intensity locomotive patterns (e.g., acceleration, maximal sprinting speed), and are characterised by a ground reaction force profile of high impact peaks and loading rates. The high mechanical loading conditions observed when performing rapid horizontal decelerations can lead to tissue damage and neuromuscular fatigue, which may diminish co-ordinative proficiency and an individual’s ability to skilfully dissipate braking loads. Furthermore, repetitive long-term deceleration loading cycles if not managed appropriately may propagate damage accumulation and offer an explanation for chronic aetiological consequences of the ‘mechanical fatigue failure’ phenomenon. Training strategies should look to enhance an athlete’s ability to skilfully dissipate braking loads, develop mechanically robust musculoskeletal structures, and ensure frequent high-intensity horizontal deceleration exposure in order to accustom individuals to the potentially damaging effects of intense decelerations that athletes will frequently perform in competition. Given the apparent importance of horizontal decelerations, in this Current Opinion article we provide considerations for sport science and medicine practitioners around the assessment, training and monitoring of horizontal deceleration. We feel these considerations could lead to new developments in injury-mitigation and physical development strategies in team sports.

Power Amplification Increases With Contraction Velocity During Stretch-Shortening Cycles of Skinned Muscle Fibers

Muscle force, work, and power output during concentric contractions (active muscle shortening) are increased immediately following an eccentric contraction (active muscle lengthening). This increase in performance is known as the stretch-shortening cycle (SSC)-effect. Recent findings demonstrate that the SSC-effect is present in the sarcomere itself. More recently, it has been suggested that cross-bridge (XB) kinetics and non-cross-bridge (non-XB) structures (e.g., titin and nebulin) contribute to the SSC-effect. As XBs and non-XB structures are characterized by a velocity dependence, we investigated the impact of stretch-shortening velocity on the SSC-effect. Accordingly, we performed in vitro isovelocity ramp experiments with varying ramp velocities (30, 60, and 85% of maximum contraction velocity for both stretch and shortening) and constant stretch-shortening magnitudes (17% of the optimum sarcomere length) using single skinned fibers of rat soleus muscles. The different contributions of XB and non-XB structures to force production were identified using the XB-inhibitor Blebbistatin. We show that (i) the SSC-effect is velocity-dependent-since the power output increases with increasing SSC-velocity. (ii) The energy recovery (ratio of elastic energy storage and release in the SSC) is higher in the Blebbistatin condition compared with the control condition. The stored and released energy in the Blebbistatin condition can be explained by the viscoelastic properties of the non-XB structure titin. Consequently, our experimental findings suggest that the energy stored in titin during the eccentric phase contributes to the SSC-effect in a velocity-dependent manner.

Cyclically producing the same average muscle-tendon force with a smaller duty increases metabolic rate

Ground contact duration and stride frequency each affect muscle metabolism and help scientists link walking and running biomechanics to metabolic energy expenditure. While these parameters are often used independently, the product of ground contact duration and stride frequency (i.e. duty factor) may affect muscle contractile mechanics. Here, we sought to separate the metabolic influence of the duration of active force production, cycle frequency and duty factor. Human participants produced cyclic contractions using their soleus (which has a relatively homogeneous fibre type composition) at prescribed cycle-average ankle moments on a fixed dynamometer. Participants produced these ankle moments over short, medium and long durations while maintaining a constant cycle frequency. Overall, decreased duty factor did not affect cycle-average fascicle force (p ≥ 0.252) but did increase net metabolic power (p ≤ 0.022). Mechanistically, smaller duty factors increased maximum muscle-tendon force (p < 0.001), further stretching in-series tendons and shifting soleus fascicles to shorter lengths and faster velocities, thereby increasing soleus total active muscle volume (p < 0.001). Participant soleus total active muscle volume well-explained net metabolic power (r = 0.845; p < 0.001). Therefore, cyclically producing the same cycle-average muscle-tendon force using a decreased duty factor increases metabolic energy expenditure by eliciting less economical muscle contractile mechanics.

Impact of elastic ankle exoskeleton stiffness on neuromechanics and energetics of human walking across multiple speeds

BACKGROUND

Elastic ankle exoskeletons with intermediate stiffness springs in parallel with the human plantarflexors can reduce the metabolic cost of walking by ~ 7% at 1.25 m s- 1. In a move toward 'real-world' application, we examined whether the unpowered approach has metabolic benefit across a range of walking speeds, and if so, whether the optimal exoskeleton stiffness was speed dependent. We hypothesized that, for any walking speed, there would be an optimal ankle exoskeleton stiffness - not too compliant and not too stiff - that minimizes the user's metabolic cost. In addition, we expected the optimal stiffness to increase with walking speed.

METHODS

Eleven participants walked on a level treadmill at 1.25, 1.50, and 1.75 m s- 1 while we used a state-of-the-art exoskeleton emulator to apply bilateral ankle exoskeleton assistance at five controlled rotational stiffnesses (kexo = 0, 50, 100, 150, 250 Nm rad- 1). We measured metabolic cost, lower-limb joint mechanics, and EMG of muscles crossing the ankle, knee, and hip.

RESULTS

Metabolic cost was significantly reduced at the lowest exoskeleton stiffness (50 Nm rad- 1) for assisted walking at both 1.25 (4.2%; p = 0.0162) and 1.75 m s- 1 (4.7%; p = 0.0045). At these speeds, the metabolically optimal exoskeleton stiffness provided peak assistive torques of ~ 0.20 Nm kg- 1 that resulted in reduced biological ankle moment of ~ 12% and reduced soleus muscle activity of ~ 10%. We found no stiffness that could reduce the metabolic cost of walking at 1.5 m s- 1. Across all speeds, the non-weighted sum of soleus and tibialis anterior activation rate explained the change in metabolic rate due to exoskeleton assistance (p < 0.05; R2 > 0.56).

CONCLUSIONS

Elastic ankle exoskeletons with low rotational stiffness reduce users' metabolic cost of walking at slow and fast but not intermediate walking speed. The relationship between the non-weighted sum of soleus and tibialis activation rate and metabolic cost (R2 > 0.56) indicates that muscle activation may drive metabolic demand. Future work using simulations and ultrasound imaging will get 'under the skin' and examine the interaction between exoskeleton stiffness and plantarflexor muscle dynamics to better inform stiffness selection in human-machine systems.

In vivo force-length and activation dynamics of two distal rat hindlimb muscles in relation to gait and grade

Muscle function changes to meet the varying mechanical demands of locomotion across different gait and grade conditions. A muscle's work output is determined by time-varying patterns of neuromuscular activation, muscle force and muscle length change, but how these patterns change under different conditions in small animals is not well defined. Here, we report the first integrated in vivo force-length and activation patterns in rats, a commonly used small animal model, to evaluate the dynamics of two distal hindlimb muscles (medial gastrocnemius and plantaris) across a range of gait (walk, trot and gallop) and grade (level and incline) conditions. We use these data to explore how the pattern of force production, muscle activation and muscle length changes across conditions in a small quadrupedal mammal. As hypothesized, we found that the rat muscles show limited fascicle strains during active force generation in stance across gaits and grades, indicating that these distal rat muscles generate force economically but perform little work, similar to patterns observed in larger animals during level locomotion. Additionally, given differences in fiber type composition and variation in motor unit recruitment across the gait and grade conditions examined here for these muscles, the in vivo force-length behavior and neuromuscular activation data reported here can be used to validate improved two-element Hill-type muscle models.

Habitual foot strike pattern does not affect simulated triceps surae muscle metabolic energy consumption during running

Foot strike pattern affects ankle joint work and triceps surae muscle-tendon dynamics during running. Whether these changes in muscle-tendon dynamics also affect triceps surae muscle energy consumption is still unknown. In addition, as the triceps surae muscle accounts for a substantial amount of the whole-body metabolic energy consumption, changes in triceps surae energy consumption may affect whole-body metabolic energy consumption. However, direct measurements of muscle metabolic energy consumption during dynamic movements is difficult. Model-based approaches can be used to estimate individual muscle and whole-body metabolic energy consumption based on Hill type muscle models. In this study, we use an integrated experimental and dynamic optimization approach to compute muscle states (muscle forces, lengths, velocities, excitations and activations) of 10 habitual midfoot/forefoot striking and nine habitual rearfoot striking runners while running at 10 and 14 km h^-1 The Achilles tendon stiffness of the musculoskeletal model was adapted to fit experimental ultrasound data of the gastrocnemius medialis muscle during ground contact. Next, we calculated triceps surae muscle and whole-body metabolic energy consumption using four different metabolic energy models provided in the literature. Neither triceps surae metabolic energy consumption (P>0.35) nor whole-body metabolic energy consumption (P>0.14) was different between foot strike patterns, regardless of the energy model used or running speed tested. Our results provide new evidence that midfoot/forefoot and rearfoot strike patterns are metabolically equivalent.

Some Challenges of Playing with Power: Does Complex Energy Flow Constrain Neuromuscular Performance?

Many studies of the flow of energy between the body, muscles, and elastic elements highlight advantages of the storage and recovery of elastic energy. The spring-like action of structures associated with muscles allows for movements that are less costly, more powerful and safer than would be possible with contractile elements alone. But these actions also present challenges that might not be present if the pattern of energy flow were simpler, for example, if power were always applied directly from muscle to motions of the body. Muscle is under the direct control of the nervous system, and precise modulation of activity can allow for finely controlled displacement and force. Elastic structures deform under load in a predictable way, but are not under direct control, thus both displacement and the flow of energy act at the mercy of the mechanical interaction of muscle and forces associated with movement. Studies on isolated muscle-tendon units highlight the challenges of controlling such systems. A carefully tuned activation pattern is necessary for effective cycling of energy between tendon and the environment; most activation patterns lead to futile cycling of energy between tendon and muscle. In power-amplified systems, "elastic backfire" sometimes occurs, where energy loaded into tendon acts to lengthen active muscles, rather than accelerate the body. Classic models of proprioception that rely on muscle spindle organs for sensing muscle and joint displacement illustrate how elastic structures might influence sensory feedback by decoupling joint movement from muscle fiber displacements. The significance of the complex flow of energy between muscles, elastic elements and the body for neuromotor control is worth exploring.

Biomechanical factors affecting energy cost during running utilising different slopes

This study aimed to examine the characteristics of electromyography (EMG) and kinematics of the supporting leg affecting energy cost while running at incline, level, and decline slopes. Twelve male Japanese middle- and long-distance runners volunteered for this study. The subjects were asked to run at 13.5 km·h^-1 on a treadmill under three slope conditions. Sagittal plane kinematics and the EMG of the lower limb muscles, respiratory gases were recorded. Energy cost differed significantly between slopes, being the lowest in decline slope and the greatest in incline slope. Integrated EMG (iEMG) of leg extensor muscles was greater in the incline slope than in the decline slope, and iEMG of the gastrocnemius and soleus muscles correlated positively with energy cost. The knee and ankle joint kinematics were associated with energy cost during running. In incline slope, the knee and ankle joints were more extended (plantarflexed) to lift the body. These movements may disturb the coordination between the ankle and knee joints. The gastrocnemius muscle would do greater mechanical work to plantarflex the ankle joint rather than transfer mechanical energy as well as greater mechanical work of mono-articular muscles. These muscular activities would increase energy cost.

Ankle Joint Dynamic Stiffness in Long-Distance Runners: Effect of Foot Strike and Shoes Features

Foot strike mode and footwear features are known to affect ankle joint kinematics and loading patterns, but how those factors are related to the ankle dynamic properties is less clear. In our study, two distinct samples of experienced long-distance runners: habitual rearfoot strikers (n = 10) and habitual forefoot strikers (n = 10), were analysed while running at constant speed on an instrumented treadmill in three footwear conditions. The joint dynamic stiffness was analysed for three subphases of the moment–angle plot: early rising, late rising and descending. Habitual rearfoot strikers displayed a statistically (p < 0.05) higher ankle dynamic stiffness in all combinations of shoes and subphases, except in early stance in supportive shoes. In minimal-supportive shoes, both groups had the lowest dynamic stiffness values for early and late rising (initial contact through mid-stance), whilst the highest stiffness values were at late rising in minimal shoes for both rearfoot and forefoot strikers (0.21 ± 0.04, 0.24 ± 0.06 (Nm/kg/°∙100), respectively). In conclusion, habitual forefoot strikers may have access to a wider physiological range of the muscle torque and joint angle. This increased potential may allow forefoot strikers to adapt to different footwear by regulating ankle dynamic stiffness depending upon the motor task.

Energy turnover in mammalian skeletal muscle in contractions mimicking locomotion: effects of stimulus pattern on work, impulse and energetic cost and efficiency

Active muscle performs various mechanical functions during locomotion: work output during shortening, work absorption when resisting (but not preventing) lengthening, and impulse (force-time integral) whenever there is active force. The energetic costs of these functions are important components in the energy budget during locomotion. We investigated how the pattern of stimulation and movement affects the mechanics and energetics of muscle fibre bundles isolated from wild rabbits (Oryctolagus cuniculus). The fibres were from muscles consisting of mainly fast-twitch, type 2 fibres. Fibre length was held constant (isometric) or a sinusoidal pattern of movement was imposed at a frequency similar to the stride frequency of running wild rabbits. Duty cycle (stimulation duration×movement frequency) and phase (timing of stimulation relative to movement) were varied. Work and impulse were measured as well as energy produced as heat. The sum of net work (work output-work input) and heat was taken as a measure of energetic cost. Maximum work output was produced with a long duty cycle and stimulation starting slightly before shortening, and was produced quite efficiently. However, efficiency was even higher with other stimulation patterns that produced less work. The highest impulse (considerably higher than isometric impulse) was produced when stimulation started while the muscle fibres were being lengthened. High impulse was produced very economically because of the low cost of producing force during lengthening. Thus, locomotion demanding high work, high impulse or economical work output or impulse requires a distinct pattern of stimulation and movement.

Red muscle activity in bluegill sunfish Lepomis macrochirus during forward accelerations

Fishes generate force to swim by activating muscles on either side of their flexible bodies. To accelerate, they must produce higher muscle forces, which leads to higher reaction forces back on their bodies from the environment. If their bodies are too flexible, the forces during acceleration could not be transmitted effectively to the environment, but fish can potentially use their muscles to increase the effective stiffness of their body. Here, we quantified red muscle activity during acceleration and steady swimming, looking for patterns that would be consistent with the hypothesis of body stiffening. We used high-speed video, electromyographic recordings, and a new digital inertial measurement unit to quantify body kinematics, red muscle activity, and 3D orientation and centre of mass acceleration during forward accelerations and steady swimming over several speeds. During acceleration, fish co-activated anterior muscle on the left and right side, and activated all muscle sooner and kept it active for a larger fraction of the tail beat cycle. These activity patterns are both known to increase effective stiffness for muscle tissue in vitro, which is consistent with our hypothesis that fish use their red muscle to stiffen their bodies during acceleration. We suggest that during impulsive movements, flexible organisms like fishes can use their muscles not only to generate propulsive power but to tune the effective mechanical properties of their bodies, increasing performance during rapid movements and maintaining flexibility for slow, steady movements.

Muscle Function from Organisms to Molecules

Gaps in our understanding of muscle contraction at the molecular level limit the ability to predict in vivo muscle forces in humans and animals during natural movements. Because muscles function as motors, springs, brakes, or struts, it is not surprising that uncertainties remain as to how sarcomeres produce these different behaviors. Current theories fail to explain why a single extra stimulus, added shortly after the onset of a train of stimuli, doubles the rate of force development. When stretch and doublet stimulation are combined in a work loop, muscle force doubles and work increases by 50% per cycle, yet no theory explains why this occurs. Current theories also fail to predict persistent increases in force after stretch and decreases in force after shortening. Early studies suggested that all of the instantaneous elasticity of muscle resides in the cross-bridges. Subsequent cross-bridge models explained the increase in force during active stretch, but required ad hoc assumptions that are now thought to be unreasonable. Recent estimates suggest that cross-bridges account for only ∼12% of the energy stored by muscles during active stretch. The inability of cross-bridges to account for the increase in force that persists after active stretching led to development of the sarcomere inhomogeneity theory. Nearly all predictions of this theory fail, yet the theory persists. In stretch-shortening cycles, muscles with similar activation and contractile properties function as motors or brakes. A change in the phase of activation relative to the phase of length changes can convert a muscle from a motor into a spring or brake. Based on these considerations, it is apparent that the current paradigm of muscle mechanics is incomplete. Recent advances in our understanding of giant muscle proteins, including twitchin and titin, allow us to expand our vision beyond cross-bridges to understand how muscles contribute to the biomechanics and control of movement.

Dynamic Musculoskeletal Functional Morphology: Integrating diceCT and XROMM

The tradeoff between force and velocity in skeletal muscle is a fundamental constraint on vertebrate musculoskeletal design (form:function relationships). Understanding how and why different lineages address this biomechanical problem is an important goal of vertebrate musculoskeletal functional morphology. Our ability to answer questions about the different solutions to this tradeoff has been significantly improved by recent advances in techniques for quantifying musculoskeletal morphology and movement. Herein, we have three objectives: (1) review the morphological and physiological parameters that affect muscle function and how these parameters interact; (2) discuss the necessity of integrating morphological and physiological lines of evidence to understand muscle function and the new, high resolution imaging technologies that do so; and (3) present a method that integrates high spatiotemporal resolution motion capture (XROMM, including its corollary fluoromicrometry), high resolution soft tissue imaging (diceCT), and electromyography to study musculoskeletal dynamics in vivo. The method is demonstrated using a case study of in vivo primate hyolingual biomechanics during chewing and swallowing. A sensitivity analysis demonstrates that small deviations in reconstructed hyoid muscle attachment site location introduce an average error of 13.2% to in vivo muscle kinematics. The observed hyoid and muscle kinematics suggest that hyoid elevation is produced by multiple muscles and that fascicle rotation and tendon strain decouple fascicle strain from hyoid movement and whole muscle length. Lastly, we highlight current limitations of these techniques, some of which will likely soon be overcome through methodological improvements, and some of which are inherent. Anat Rec, 301:378-406, 2018. © 2018 Wiley Periodicals, Inc.

Skeletal muscle mechanics, energetics and plasticity

The following papers by Richard Lieber (Skeletal Muscle as an Actuator), Thomas Roberts (Elastic Mechanisms and Muscle Function), Silvia Blemker (Skeletal Muscle has a Mind of its Own: a Computational Framework to Model the Complex Process of Muscle Adaptation) and Sabrina Lee (Muscle Properties of Spastic Muscle (Stroke and CP) are summaries of their representative contributions for the session on skeletal muscle mechanics, energetics and plasticity at the 2016 Biomechanics and Neural Control of Movement Conference (BANCOM 2016). Dr. Lieber revisits the topic of sarcomere length as a fundamental property of skeletal muscle contraction. Specifically, problems associated with sarcomere length non-uniformity and the role of sarcomerogenesis in diseases such as cerebral palsy are critically discussed. Dr. Roberts then makes us aware of the (often neglected) role of the passive tissues in muscles and discusses the properties of parallel elasticity and series elasticity, and their role in muscle function. Specifically, he identifies the merits of analyzing muscle deformations in three dimensions (rather than just two), because of the potential decoupling of the parallel elastic element length from the contractile element length, and reviews the associated implications for the architectural gear ratio of skeletal muscle contraction. Dr. Blemker then tackles muscle adaptation using a novel way of looking at adaptive processes and what might drive adaptation. She argues that cells do not have pre-programmed behaviors that are controlled by the nervous system. Rather, the adaptive responses of muscle fibers are determined by sub-cellular signaling pathways that are affected by mechanical and biochemical stimuli; an exciting framework with lots of potential. Finally, Dr. Lee takes on the challenging task of determining human muscle properties in vivo. She identifies the dilemma of how we can demonstrate the effectiveness of a treatment, specifically in cases of muscle spasticity following stroke or in children with cerebral palsy. She then discusses the merits of ultrasound based elastography, and the clinical possibilities this technique might hold. Overall, we are treated to a vast array of basic and clinical problems in skeletal muscle mechanics and physiology, with some solutions, and many suggestions for future research.

The effect of estrogen on tendon and ligament metabolism and function

Tendons and ligaments are crucial structures inside the musculoskeletal system. Still many issues in the treatment of tendon diseases and injuries have yet not been resolved sufficiently. In particular, the role of estrogen-like compound (ELC) in tendon biology has received until now little attention in modern research, despite ELC being a well-studied and important factor in the physiology of other parts of the musculoskeletal system. In this review we attempt to summarize the available information on this topic and to determine many open questions in this field.

Running Economy from a Muscle Energetics Perspective

The economy of running has traditionally been quantified from the mass-specific oxygen uptake; however, because fuel substrate usage varies with exercise intensity, it is more accurate to express running economy in units of metabolic energy. Fundamentally, the understanding of the major factors that influence the energy cost of running (Erun) can be obtained with this approach. Erun is determined by the energy needed for skeletal muscle contraction. Here, we approach the study of Erun from that perspective. The amount of energy needed for skeletal muscle contraction is dependent on the force, duration, shortening, shortening velocity, and length of the muscle. These factors therefore dictate the energy cost of running. It is understood that some determinants of the energy cost of running are not trainable: environmental factors, surface characteristics, and certain anthropometric features. Other factors affecting Erun are altered by training: other anthropometric features, muscle and tendon properties, and running mechanics. Here, the key features that dictate the energy cost during distance running are reviewed in the context of skeletal muscle energetics.

Reduced prosthetic stiffness lowers the metabolic cost of running for athletes with bilateral transtibial amputations

Inspired by the springlike action of biological legs, running-specific prostheses are designed to enable athletes with lower-limb amputations to run. However, manufacturer’s recommendations for prosthetic stiffness and height may not optimize running performance. Therefore, we investigated the effects of using different prosthetic configurations on the metabolic cost and biomechanics of running. Five athletes with bilateral transtibial amputations each performed 15 trials on a force-measuring treadmill at 2.5 or 3.0 m/s. Athletes ran using each of 3 different prosthetic models (Freedom Innovations Catapult FX6, Össur Flex-Run, and Ottobock 1E90 Sprinter) with 5 combinations of stiffness categories (manufacturer’s recommended and ± 1) and heights (International Paralympic Committee’s maximum competition height and ± 2 cm) while we measured metabolic rates and ground reaction forces. Overall, prosthetic stiffness [fixed effect (β) = 0.036; P = 0.008] but not height ( P ≥ 0.089) affected the net metabolic cost of transport; less stiff prostheses reduced metabolic cost. While controlling for prosthetic stiffness (in kilonewtons per meter), using the Flex-Run (β = −0.139; P = 0.044) and 1E90 Sprinter prostheses (β = −0.176; P = 0.009) reduced net metabolic costs by 4.3–4.9% compared with using the Catapult prostheses. The metabolic cost of running improved when athletes used prosthetic configurations that decreased peak horizontal braking ground reaction forces (β = 2.786; P = 0.001), stride frequencies (β = 0.911; P < 0.001), and leg stiffness values (β = 0.053; P = 0.009). Remarkably, athletes did not maintain overall leg stiffness across prosthetic stiffness conditions. Rather, the in-series prosthetic stiffness governed overall leg stiffness. The metabolic cost of running in athletes with bilateral transtibial amputations is influenced by prosthetic model and stiffness but not height.

NEW & NOTEWORTHY We measured the metabolic rates and biomechanics of five athletes with bilateral transtibial amputations while running with different prosthetic configurations. The metabolic cost of running for these athletes is minimized by using an optimal prosthetic model and reducing prosthetic stiffness. The metabolic cost of running was independent of prosthetic height, suggesting that longer legs are not advantageous for distance running. Moreover, the in-series prosthetic stiffness governs the leg stiffness of athletes with bilateral leg amputations.

Effects of a titin mutation on negative work during stretch-shortening cycles in skeletal muscles

Negative work occurs in muscles during braking movements such as downhill walking or landing after a jump. When performing negative work during stretch-shortening cycles, viscoelastic structures within muscles store energy during stretch, return a fraction of this energy during shortening, and dissipate the remaining energy as heat. Because tendons and extracellular matrix are relatively elastic rather than viscoelastic, energy is mainly dissipated by cross bridges and titin. Recent studies demonstrate that titin stiffness increases in active skeletal muscles, suggesting that titin contributions to negative work may have been underestimated in previous studies. The muscular dystrophy with myositis (mdm) mutation in mice results in a deletion in titin that leads to reduced titin stiffness in active muscle, providing an opportunity to investigate the contribution of titin to negative work in stretch-shortening cycles. Using the work loop technique, extensor digitorum longus and soleus muscles from mdm and wild type mice were stimulated during the stretch phase of stretch-shortening cycles to investigate negative work. The results demonstrate that, compared to wild type muscles, negative work is reduced in muscles from mdm mice. We suggest that changes in the viscoelastic properties of mdm titin reduce energy storage by muscles during stretch and energy dissipation during shortening. Maximum isometric stress is also reduced in muscles from mdm mice, possibly due to impaired transmission of cross bridge force, impaired cross bridge function, or both. Functionally, the reduction in negative work could lead to increased muscle damage during eccentric contractions that occur during braking movements.

Contribution of elastic tissues to the mechanics and energetics of muscle function during movement

Muscle force production occurs within an environment of tissues that exhibit spring-like behavior, and this elasticity is a critical determinant of muscle performance during locomotion. Muscle force and power output both depend on the speed of contraction, as described by the isotonic force-velocity curve. By influencing the speed of contractile elements, elastic structures can have a profound effect on muscle force, power and work. In very rapid movements, elastic mechanisms can amplify muscle power by storing the work of muscle contraction slowly and releasing it rapidly. When energy must be dissipated rapidly, such as in landing from a jump, energy stored rapidly in elastic elements can be released more slowly to stretch muscle contractile elements, reducing the power input to muscle and possibly protecting it from damage. Elastic mechanisms identified so far rely primarily on in-series tendons, but many structures within muscles exhibit spring-like properties. Actomyosin cross-bridges, actin and myosin filaments, titin, and the connective tissue scaffolding of the extracellular matrix all have the potential to store and recover elastic energy during muscle contraction. The potential contribution of these elements can be assessed from their stiffness and estimates of the strain they undergo during muscle function. Such calculations provide boundaries for the possible roles these springs might play in locomotion, and may help to direct future studies of the uses of elastic elements in muscle.

Stretching Your Energetic Budget: How Tendon Compliance Affects the Metabolic Cost of Running

Muscles attach to bones via tendons that stretch and recoil, affecting muscle force generation and metabolic energy consumption. In this study, we investigated the effect of tendon compliance on the metabolic cost of running using a full-body musculoskeletal model with a detailed model of muscle energetics. We performed muscle-driven simulations of running at 2–5 m/s with tendon force–strain curves that produced between 1 and 10% strain when the muscles were developing maximum isometric force. We computed the average metabolic power consumed by each muscle when running at each speed and with each tendon compliance. Average whole-body metabolic power consumption increased as running speed increased, regardless of tendon compliance, and was lowest at each speed when tendon strain reached 2–3% as muscles were developing maximum isometric force. When running at 2 m/s, the soleus muscle consumed less metabolic power at high tendon compliance because the strain of the tendon allowed the muscle fibers to operate nearly isometrically during stance. In contrast, the medial and lateral gastrocnemii consumed less metabolic power at low tendon compliance because less compliant tendons allowed the muscle fibers to operate closer to their optimal lengths during stance. The software and simulations used in this study are freely available at simtk.org and enable examination of muscle energetics with unprecedented detail.

Locomotion as an emergent property of muscle contractile dynamics

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

Reducing the energy cost of human walking using an unpowered exoskeleton

With efficiencies derived from evolution, growth and learning, humans are very well-tuned for locomotion. Metabolic energy used during walking can be partly replaced by power input from an exoskeleton, but is it possible to reduce metabolic rate without providing an additional energy source? This would require an improvement in the efficiency of the human-machine system as a whole, and would be remarkable given the apparent optimality of human gait. Here we show that the metabolic rate of human walking can be reduced by an unpowered ankle exoskeleton. We built a lightweight elastic device that acts in parallel with the user's calf muscles, off-loading muscle force and thereby reducing the metabolic energy consumed in contractions. The device uses a mechanical clutch to hold a spring as it is stretched and relaxed by ankle movements when the foot is on the ground, helping to fulfil one function of the calf muscles and Achilles tendon. Unlike muscles, however, the clutch sustains force passively. The exoskeleton consumes no chemical or electrical energy and delivers no net positive mechanical work, yet reduces the metabolic cost of walking by 7.2 ± 2.6% for healthy human users under natural conditions, comparable to savings with powered devices. Improving upon walking economy in this way is analogous to altering the structure of the body such that it is more energy-effective at walking. While strong natural pressures have already shaped human locomotion, improvements in efficiency are still possible. Much remains to be learned about this seemingly simple behaviour.

Energetic benefits and adaptations in mammalian limbs: Scale effects and selective pressures

Differences in limb size and shape are fundamental to mammalian morphological diversity; however, their relevance to locomotor costs has long been subject to debate. In particular, it remains unknown if scale effects in whole limb morphology could partially underlie decreasing mass-specific locomotor costs with increasing limb length. Whole fore- and hindlimb inertial properties reflecting limb size and shape-moment of inertia (MOI), mass, mass distribution, and natural frequency-were regressed against limb length for 44 species of quadrupedal mammals. Limb mass, MOI, and center of mass position are negatively allometric, having a strong potential for lowering mass-specific locomotor costs in large terrestrial mammals. Negative allometry of limb MOI results in a 40% reduction in MOI relative to isometry's prediction for our largest sampled taxa. However, fitting regression residuals to adaptive diversification models reveals that codiversification of limb mass, limb length, and body mass likely results from selection for differing locomotor modes of running, climbing, digging, and swimming. The observed allometric scaling does not result from selection for energetically beneficial whole limb morphology with increasing size. Instead, our data suggest that it is a consequence of differing morphological adaptations and body size distributions among quadrupedal mammals, highlighting the role of differing limb functions in mammalian evolution.

Harvesting biomechanical energy or carrying batteries? An evaluation method based on a comparison of metabolic power

Background

Harvesting energy from human motion is an innovative alternative to using batteries as a source of electrical power for portable devices. Yet there are no guidelines as to whether energy harvesting should be preferred over batteries. This paper introduces an approach to determine which source of energy should be preferred. The proposed approach compares the metabolic power while harvesting energy and while using batteries (or any other power supply, e.g., solar panels), which provide equal amount of energy. Energy harvesting is preferred over batteries if the metabolic power required to harvest the energy is lower than that required to carry the batteries. Metabolic power can be experimentally measured. However, for design purposes, it is essential to assess differences in metabolic power as a function of the device parameters.

The model

To this end, based on the proposed approach, we develop a mathematical model that considers the following parameters: the device’s mass, its location on the human body, the electrical power output, cost of harvesting (COH), walking time, and the specific energy of the battery.

Method

We apply the model in two ways. First, we conduct case studies to examine current ankle, knee, and back energy harvesting devices, and assess the walking times that would make these devices preferable over batteries. Second, we conduct a design scenarios analysis, which examines future device developments.

Results

The case studies reveal that to be preferred over batteries, current harvesting devices located on the ankle, knee, or back would require walking for 227 hours, 98 hours, or 260 hours, respectively. This would replace batteries weighing 6.81 kg (ankle), 5.88 kg (knee), or 2.6 kg (back). The design scenarios analysis suggests that for harvesting devices to be beneficial with less than 25 walking hours, future development should focus on light harvesting devices (less than 0.2 kg) with low COH (equal or lower than 0). Finally, a comparison with portable commercial solar panels reveals that under ideal sun exposure conditions, solar panels outperform the current harvesting devices.

Conclusions

Our model offers a tool for assessing the performance of energy harvesting devices.

Electronic supplementary material

The online version of this article (doi:10.1186/s12984-015-0023-7) contains supplementary material, which is available to authorized users.