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Andrada E, Mothes O, Stark H, Tresch MC, Denzler J, Fischer MS, Blickhan R. Limb, joint and pelvic kinematic control in the quail coping with steps upwards and downwards. Sci Rep 2022; 12:15901. [PMID: 36151454 PMCID: PMC9508109 DOI: 10.1038/s41598-022-20247-y] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/27/2022] [Accepted: 09/12/2022] [Indexed: 11/09/2022] Open
Abstract
Small cursorial birds display remarkable walking skills and can negotiate complex and unstructured terrains with ease. The neuromechanical control strategies necessary to adapt to these challenging terrains are still not well understood. Here, we analyzed the 2D- and 3D pelvic and leg kinematic strategies employed by the common quail to negotiate visible steps (upwards and downwards) of about 10%, and 50% of their leg length. We used biplanar fluoroscopy to accurately describe joint positions in three dimensions and performed semi-automatic landmark localization using deep learning. Quails negotiated the vertical obstacles without major problems and rapidly regained steady-state locomotion. When coping with step upwards, the quail mostly adapted the trailing limb to permit the leading leg to step on the elevated substrate similarly as it did during level locomotion. When negotiated steps downwards, both legs showed significant adaptations. For those small and moderate step heights that did not induce aerial running, the quail kept the kinematic pattern of the distal joints largely unchanged during uneven locomotion, and most changes occurred in proximal joints. The hip regulated leg length, while the distal joints maintained the spring-damped limb patterns. However, to negotiate the largest visible steps, more dramatic kinematic alterations were observed. There all joints contributed to leg lengthening/shortening in the trailing leg, and both the trailing and leading legs stepped more vertically and less abducted. In addition, locomotion speed was decreased. We hypothesize a shift from a dynamic walking program to more goal-directed motions that might be focused on maximizing safety.
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Affiliation(s)
- Emanuel Andrada
- Institute of Zoology and Evolutionary Research, Friedrich-Schiller-University Jena, Jena, Germany.
| | - Oliver Mothes
- Computer Vision Group, Friedrich-Schiller-University Jena, Jena, Germany
| | - Heiko Stark
- Institute of Zoology and Evolutionary Research, Friedrich-Schiller-University Jena, Jena, Germany
| | - Matthew C Tresch
- Department of Physiology, Northwestern University, Chicago, IL, USA
| | - Joachim Denzler
- Computer Vision Group, Friedrich-Schiller-University Jena, Jena, Germany
| | - Martin S Fischer
- Institute of Zoology and Evolutionary Research, Friedrich-Schiller-University Jena, Jena, Germany
| | - Reinhard Blickhan
- Science of Motion, Friedrich-Schiller-University Jena, Jena, Germany
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Blickhan R, Andrada E, Hirasaki E, Ogihara N. Trunk and leg kinematics of grounded and aerial running in bipedal macaques. J Exp Biol 2021; 224:jeb225532. [PMID: 33288531 DOI: 10.1242/jeb.225532] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/21/2020] [Accepted: 11/27/2020] [Indexed: 11/20/2022]
Abstract
Across a wide range of Froude speeds, non-human primates such as macaques prefer to use grounded and aerial running when locomoting bipedally. Both gaits are characterized by bouncing kinetics of the center of mass. In contrast, a discontinuous change from pendular to bouncing kinetics occurs in human locomotion. To clarify the mechanism underlying these differences in bipedal gait mechanics between humans and non-human primates, we investigated the influence of gait on joint kinematics in the legs and trunk of three macaques crossing an experimental track. The coordination of movement was compared with observations available for primates. Compared with human running, macaque leg retraction cannot merely be produced by hip extension, but needs to be supported by substantial knee flexion. As a result, despite quasi-elastic whole-leg operation, the macaque's knee showed only minor rebound behavior. Ankle extension resembled that observed during human running. Unlike human running and independent of gait, torsion of the trunk represents a rather conservative feature in primates, and pelvic axial rotation added to step length. Pelvic lateral lean during grounded running by macaques (compliant leg) and human walking (stiff leg) depends on gait dynamics at the same Froude speed. The different coordination between the thorax and pelvis in the sagittal plane as compared with human runners indicates different bending modes of the spine. Morphological adaptations in non-human primates to quadrupedal locomotion may prevent human-like operation of the leg and limit exploitation of quasi-elastic leg operation despite running dynamics.
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Affiliation(s)
- Reinhard Blickhan
- Science of Motion, Friedrich-Schiller-University, Jena 07749, Germany
| | - Emanuel Andrada
- Institute of Zoology and Evolutionary Research, Jena 07743, Germany
| | - Eishi Hirasaki
- Primate Research Institute, Kyoto University, Inuyama, Aichi 484-8506, Japan
| | - Naomichi Ogihara
- Department of Mechanical Engineering, Keio University, 3-14-1 Hiyoshi Kohoku-ku, Yokohama 223-8522, Japan
- Department of Biological Science, Graduate School of Science, The University of Tokyo, 7-3-1 Hongo Bunkyo-ku, Tokyo 113-0033, Japan
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Usherwood JR, Granatosky MC. Limb work and joint work minimization reveal an energetic benefit to the elbows-back, knees-forward limb design in parasagittal quadrupeds. Proc Biol Sci 2020; 287:20201517. [PMID: 33290670 PMCID: PMC7739919 DOI: 10.1098/rspb.2020.1517] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/26/2020] [Accepted: 11/13/2020] [Indexed: 11/28/2022] Open
Abstract
Quadrupedal animal locomotion is energetically costly. We explore two forms of mechanical work that may be relevant in imposing these physiological demands. Limb work, due to the forces and velocities between the stance foot and the centre of mass, could theoretically be zero given vertical limb forces and horizontal centre of mass path. To prevent pitching, skewed vertical force profiles would then be required, with forelimb forces high in late stance and hindlimb forces high in early stance. By contrast, joint work-the positive mechanical work performed by the limb joints-would be reduced with forces directed through the hip or shoulder joints. Measured quadruped kinetics show features consistent with compromised reduction of both forms of work, suggesting some degree of, but not perfect, inter-joint energy transfer. The elbows-back, knees-forward design reduces the joint work demand of a low limb-work, skewed, vertical force profile. This geometry allows periods of high force to be supported when the distal segment is near vertical, imposing low moments about the elbow or knee, while the shoulder or hip avoids high joint power despite high moments because the proximal segment barely rotates-translation over this period is due to rotation of the distal segment.
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Affiliation(s)
- James R. Usherwood
- Structure and Motion Lab., The Royal Veterinary College, North Mymms, Hatfield, Herts AL9 7TA, UK
| | - Michael C. Granatosky
- Department of Anatomy, New York Institute of Technology, Old Westbury, New York, NY 11568, USA
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Andrada E, Blickhan R, Ogihara N, Rode C. Low leg compliance permits grounded running at speeds where the inverted pendulum model gets airborne. J Theor Biol 2020; 494:110227. [PMID: 32142807 DOI: 10.1016/j.jtbi.2020.110227] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/10/2019] [Revised: 02/05/2020] [Accepted: 02/28/2020] [Indexed: 11/29/2022]
Abstract
Animals typically switch from grounded (no flight phases) to aerial running at dimensionless speeds u^ < 1. But some birds use grounded running far above u^ = 1, which puzzles biologists because the inverted pendulum becomes airborne at this speed. Here, we combine computer experiments using the spring-mass model with locomotion data from small birds, macaques and humans to understand the relationship between leg function (stiffness, angle of attack), locomotion speed and gait. With our model, we found three-humped ground reaction force profiles for slow grounded running speeds. The minimal single-humped grounded running speed is u^ = 0.4. This speed value roughly coincides with the transition speed from vaulting to bouncing mechanics in bipeds. Maximal grounded running speed in the model is not limited. In experiments, animals changed from grounded to aerial running at dimensionless contact time around 1. Considering these real-world contact times reduces the solution space drastically, but experimental data fit well. The model still predicts maximal grounded running speed u^ > 1 for low stiffness values used by birds but decreases below u^ = 1 for increasing stiffness. For stiffer legs used in human walking and running, periodic grounded running vanishes. At speeds at which birds and macaques change to aerial running, we found periodic aerial running to intersect grounded running. This could explain why animals can alternate between grounded and aerial running at the same speed and identical leg parameters. Compliant legs enable different gaits and speeds with similar leg parameters, stiff legs require parameter adaptations.
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Affiliation(s)
- Emanuel Andrada
- Institute of Zoology and Evolutionary Research, Friedrich-Schiller-University Jena, Germany.
| | | | - Naomichi Ogihara
- Department of Biological Sciences, The University of Tokyo, Japan
| | - Christian Rode
- Institute of Zoology and Evolutionary Research, Friedrich-Schiller-University Jena, Germany; Department of Sports and Motion Science, University of Stuttgart, Germany
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Bishop PJ, Clemente CJ, Weems RE, Graham DF, Lamas LP, Hutchinson JR, Rubenson J, Wilson RS, Hocknull SA, Barrett RS, Lloyd DG. Using step width to compare locomotor biomechanics between extinct, non-avian theropod dinosaurs and modern obligate bipeds. J R Soc Interface 2018; 14:rsif.2017.0276. [PMID: 28724627 DOI: 10.1098/rsif.2017.0276] [Citation(s) in RCA: 13] [Impact Index Per Article: 2.2] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/11/2017] [Accepted: 06/22/2017] [Indexed: 12/13/2022] Open
Abstract
How extinct, non-avian theropod dinosaurs locomoted is a subject of considerable interest, as is the manner in which it evolved on the line leading to birds. Fossil footprints provide the most direct evidence for answering these questions. In this study, step width-the mediolateral (transverse) distance between successive footfalls-was investigated with respect to speed (stride length) in non-avian theropod trackways of Late Triassic age. Comparable kinematic data were also collected for humans and 11 species of ground-dwelling birds. Permutation tests of the slope on a plot of step width against stride length showed that step width decreased continuously with increasing speed in the extinct theropods (p < 0.001), as well as the five tallest bird species studied (p < 0.01). Humans, by contrast, showed an abrupt decrease in step width at the walk-run transition. In the modern bipeds, these patterns reflect the use of either a discontinuous locomotor repertoire, characterized by distinct gaits (humans), or a continuous locomotor repertoire, where walking smoothly transitions into running (birds). The non-avian theropods are consequently inferred to have had a continuous locomotor repertoire, possibly including grounded running. Thus, features that characterize avian terrestrial locomotion had begun to evolve early in theropod history.
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Affiliation(s)
- P J Bishop
- Geosciences Program, Queensland Museum, Brisbane, Australia .,School of Allied Health Sciences, Griffith University, Gold Coast, Australia.,Innovations in Health Technology, Menzies Health Institute Queensland, Southport, Queensland, Australia
| | - C J Clemente
- School of Science and Engineering, University of the Sunshine Coast, Maroochydore, Australia.,School of Biological Sciences, University of Queensland, Brisbane, Australia
| | - R E Weems
- Calvert Marine Museum, Solomons, USA.,Paleo Quest, Gainesville, FL, USA
| | - D F Graham
- School of Allied Health Sciences, Griffith University, Gold Coast, Australia.,Innovations in Health Technology, Menzies Health Institute Queensland, Southport, Queensland, Australia
| | - L P Lamas
- Structure and Motion Laboratory, Royal Veterinary College, Hatfield, UK.,Faculdade de Medicina Veterinária, Universidade de Lisboa, Lisbon, Portugal
| | - J R Hutchinson
- Structure and Motion Laboratory, Royal Veterinary College, Hatfield, UK
| | - J Rubenson
- College of Health and Human Development, Pennsylvania State University, University Park, PA, USA.,School of Human Sciences, University of Western Australia, Crawley, Australia
| | - R S Wilson
- School of Biological Sciences, University of Queensland, Brisbane, Australia
| | - S A Hocknull
- Geosciences Program, Queensland Museum, Brisbane, Australia.,School of Allied Health Sciences, Griffith University, Gold Coast, Australia.,Innovations in Health Technology, Menzies Health Institute Queensland, Southport, Queensland, Australia
| | - R S Barrett
- School of Allied Health Sciences, Griffith University, Gold Coast, Australia.,Innovations in Health Technology, Menzies Health Institute Queensland, Southport, Queensland, Australia
| | - D G Lloyd
- School of Allied Health Sciences, Griffith University, Gold Coast, Australia.,Innovations in Health Technology, Menzies Health Institute Queensland, Southport, Queensland, Australia.,School of Human Sciences, University of Western Australia, Crawley, Australia
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Bishop PJ, Graham DF, Lamas LP, Hutchinson JR, Rubenson J, Hancock JA, Wilson RS, Hocknull SA, Barrett RS, Lloyd DG, Clemente CJ. The influence of speed and size on avian terrestrial locomotor biomechanics: Predicting locomotion in extinct theropod dinosaurs. PLoS One 2018; 13:e0192172. [PMID: 29466362 PMCID: PMC5821450 DOI: 10.1371/journal.pone.0192172] [Citation(s) in RCA: 26] [Impact Index Per Article: 4.3] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/28/2017] [Accepted: 01/17/2018] [Indexed: 12/05/2022] Open
Abstract
How extinct, non-avian theropod dinosaurs moved is a subject of considerable interest and controversy. A better understanding of non-avian theropod locomotion can be achieved by better understanding terrestrial locomotor biomechanics in their modern descendants, birds. Despite much research on the subject, avian terrestrial locomotion remains little explored in regards to how kinematic and kinetic factors vary together with speed and body size. Here, terrestrial locomotion was investigated in twelve species of ground-dwelling bird, spanning a 1,780-fold range in body mass, across almost their entire speed range. Particular attention was devoted to the ground reaction force (GRF), the force that the feet exert upon the ground. Comparable data for the only other extant obligate, striding biped, humans, were also collected and studied. In birds, all kinematic and kinetic parameters examined changed continuously with increasing speed, while in humans all but one of those same parameters changed abruptly at the walk-run transition. This result supports previous studies that show birds to have a highly continuous locomotor repertoire compared to humans, where discrete 'walking' and 'running' gaits are not easily distinguished based on kinematic patterns alone. The influences of speed and body size on kinematic and kinetic factors in birds are developed into a set of predictive relationships that may be applied to extinct, non-avian theropods. The resulting predictive model is able to explain 79-93% of the observed variation in kinematics and 69-83% of the observed variation in GRFs, and also performs well in extrapolation tests. However, this study also found that the location of the whole-body centre of mass may exert an important influence on the nature of the GRF, and hence some caution is warranted, in lieu of further investigation.
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Affiliation(s)
- P. J. Bishop
- Geosciences Program, Queensland Museum, Brisbane, Queensland, Australia
- School of Allied Health Sciences, Griffith University, Gold Coast, Queensland, Australia
- Innovations in Health Technology, Menzies Health Institute Queensland, Gold Coast, Queensland, Australia
| | - D. F. Graham
- School of Allied Health Sciences, Griffith University, Gold Coast, Queensland, Australia
- Innovations in Health Technology, Menzies Health Institute Queensland, Gold Coast, Queensland, Australia
| | - L. P. Lamas
- Structure and Motion Laboratory, Department of Comparative Biomedical Sciences, Royal Veterinary College, Hatfield, Hertfordshire, United Kingdom
- Faculdade de Medicina Veterinária, Universidade de Lisboa, Lisbon, Portugal
| | - J. R. Hutchinson
- Structure and Motion Laboratory, Department of Comparative Biomedical Sciences, Royal Veterinary College, Hatfield, Hertfordshire, United Kingdom
| | - J. Rubenson
- Biomechanics Laboratory, Department of Kinesiology, Pennsylvania State University, University Park, Pennsylvania, United States of America
- School of Human Sciences, University of Western Australia, Crawley, Australia
| | - J. A. Hancock
- Murphy Deming College of Health Sciences, Mary Baldwin University, Staunton, Virginia, United States of America
| | - R. S. Wilson
- School of Biological Sciences, The University of Queensland, Brisbane, Queensland, Australia
| | - S. A. Hocknull
- Geosciences Program, Queensland Museum, Brisbane, Queensland, Australia
- School of Allied Health Sciences, Griffith University, Gold Coast, Queensland, Australia
- Innovations in Health Technology, Menzies Health Institute Queensland, Gold Coast, Queensland, Australia
| | - R. S. Barrett
- School of Allied Health Sciences, Griffith University, Gold Coast, Queensland, Australia
- Innovations in Health Technology, Menzies Health Institute Queensland, Gold Coast, Queensland, Australia
| | - D. G. Lloyd
- School of Allied Health Sciences, Griffith University, Gold Coast, Queensland, Australia
- Innovations in Health Technology, Menzies Health Institute Queensland, Gold Coast, Queensland, Australia
- School of Human Sciences, University of Western Australia, Crawley, Australia
| | - C. J. Clemente
- School of Biological Sciences, The University of Queensland, Brisbane, Queensland, Australia
- School of Science and Engineering, University of the Sunshine Coast, Maroochydore, Queensland, Australia
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Funato T, Sato Y, Fujiki S, Sato Y, Aoi S, Tsuchiya K, Yanagihara D. Postural control during quiet bipedal standing in rats. PLoS One 2017; 12:e0189248. [PMID: 29244818 PMCID: PMC5731682 DOI: 10.1371/journal.pone.0189248] [Citation(s) in RCA: 10] [Impact Index Per Article: 1.4] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/25/2017] [Accepted: 11/24/2017] [Indexed: 02/07/2023] Open
Abstract
The control of bipedal posture in humans is subject to non-ideal conditions such as delayed sensation and heartbeat noise. However, the controller achieves a high level of functionality by utilizing body dynamics dexterously. In order to elucidate the neural mechanism responsible for postural control, the present study made use of an experimental setup involving rats because they have more accessible neural structures. The experimental design requires rats to stand bipedally in order to obtain a water reward placed in a water supplier above them. Their motions can be measured in detail using a motion capture system and a force plate. Rats have the ability to stand bipedally for long durations (over 200 s), allowing for the construction of an experimental environment in which the steady standing motion of rats could be measured. The characteristics of the measured motion were evaluated based on aspects of the rats’ intersegmental coordination and power spectrum density (PSD). These characteristics were compared with those of the human bipedal posture. The intersegmental coordination of the standing rats included two components that were similar to that of standing humans: center of mass and trunk motion. The rats’ PSD showed a peak at approximately 1.8 Hz and the pattern of the PSD under the peak frequency was similar to that of the human PSD. However, the frequencies were five times higher in rats than in humans. Based on the analysis of the rats’ bipedal standing motion, there were some common characteristics between rat and human standing motions. Thus, using standing rats is expected to be a powerful tool to reveal the neural basis of postural control.
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Affiliation(s)
- Tetsuro Funato
- Department of Mechanical Engineering and Intelligent Systems, The University of Electro-communications, Chofu, Tokyo, Japan
- * E-mail:
| | - Yota Sato
- Department of Mechanical Engineering and Intelligent Systems, The University of Electro-communications, Chofu, Tokyo, Japan
| | - Soichiro Fujiki
- Department of Life Sciences, The University of Tokyo, Meguro-ku, Tokyo, Japan
| | - Yamato Sato
- Department of General Education, Chiba Institute of Technology, Narashino, Chiba, Japan
| | - Shinya Aoi
- Department of Aeronautics and Astronautics, Kyoto University, Kyoto, Japan
| | - Kazuo Tsuchiya
- Department of Aeronautics and Astronautics, Kyoto University, Kyoto, Japan
| | - Dai Yanagihara
- Department of Life Sciences, The University of Tokyo, Meguro-ku, Tokyo, Japan
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Voice Improvement in Patients with Functional Dysphonia Treated with the Proprioceptive-Elastic (PROEL) Method. J Voice 2017; 32:209-215. [PMID: 28732751 DOI: 10.1016/j.jvoice.2017.05.018] [Citation(s) in RCA: 16] [Impact Index Per Article: 2.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/30/2017] [Revised: 05/19/2017] [Accepted: 05/23/2017] [Indexed: 11/20/2022]
Abstract
The objective of the study was to analyze the outcome of the proprioceptive-elastic (PROEL) voice therapy method in patients with functional dysphonia (FD). Fifty-two patients with FD were involved in the study; they were composed of three subgroups of patients with (1) FD without glottal insufficiency (n = 28), (2) FD and glottal insufficiency (n = 9), and (3) FD, glottal insufficiency, and vocal nodules (n = 15). A multidimensional assessment protocol including videolaryngostroboscopy; maximum phonation time; perceptual evaluation of dysphonia with the Grade, Instability, Roughness, Breathiness, Asthenia, and Strain (GIRBAS) scale; and 10-item version of the Voice Handicap Index was conducted before and after 15 sessions of voice therapy. All voice therapy sessions were conducted by the same speech-language pathologist. The comparison between voice assessment before and after voice therapy with the PROEL method in patients with FD, in all the three subgroups, revealed a statistically significant improvement in periodicity and the mucosal wave in the laryngostroboscopy, maximum phonation time, GIRBAS scale scores, and VHI-10. Voice of patients with FD improved after treatment with the PROEL method. Further studies are needed to analyze the efficacy of the PROEL method with randomized double-blind clinical trials using different methods for voice therapy. At present, the PROEL method represents an alternative tool for the speech pathologist to improve voice in patients with FD.
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Andrada E, Müller R, Blickhan R. Stability in skipping gaits. ROYAL SOCIETY OPEN SCIENCE 2016; 3:160602. [PMID: 28018651 PMCID: PMC5180149 DOI: 10.1098/rsos.160602] [Citation(s) in RCA: 6] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 08/16/2016] [Accepted: 10/05/2016] [Indexed: 06/06/2023]
Abstract
As an alternative to walking and running, humans are able to skip. However, adult humans avoid it. This fact seems to be related to the higher energetic costs associated with skipping. Still, children, some birds, lemurs and lizards use skipping gaits during daily locomotion. We combined experimental data on humans with numerical simulations to test whether stability and robustness motivate this choice. Parameters for modelling were obtained from 10 male subjects. They locomoted using unilateral skipping along a 12 m runway. We used a bipedal spring loaded inverted pendulum to model and to describe the dynamics of skipping. The subjects displayed higher peak ground reaction forces and leg stiffness in the first landing leg (trailing leg) compared to the second landing leg (leading leg). In numerical simulations, we found that skipping is stable across an amazing speed range from skipping on the spot to fast running speeds. Higher leg stiffness in the trailing leg permits longer strides at same system energy. However, this strategy is at the same time less robust to sudden drop perturbations than skipping with a stiffer leading leg. A slightly higher stiffness in the leading leg is most robust, but might be costlier.
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Affiliation(s)
- Emanuel Andrada
- Science of Motion, Friedrich Schiller University Jena, Jena, Thüringen, Germany
- Institut für Spezielle Zoologie und Evolutionsbiologie mit Phyletischem Museum, Friedrich Schiller University Jena, Jena, Thüringen, Germany
| | - Roy Müller
- Science of Motion, Friedrich Schiller University Jena, Jena, Thüringen, Germany
| | - Reinhard Blickhan
- Science of Motion, Friedrich Schiller University Jena, Jena, Thüringen, Germany
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