Effect of Hindlimb Unloading on Hamstring Muscle Activity in Rats

INTRODUCTION

The changes in knee axial rotation play an important role in traumatic and non-traumatic knee disorders. It is known that support afferentation can affect the axial rotator muscles. The condition of innervation of the semitendinosus (ST) and biceps femoris posterior (BFp) has changed in non-terrestrial and terrestrial vertebrates in evolution; thus, we hypothesized this situation might be replayed by hindlimb unloading (HU).

METHODS

In the present study, the EMG activity of two hamstring muscles, m. ST and m. BFp, which are antagonists in axial rotation of the tibia, was examined before and after 7 days of HU.

RESULTS

During locomotion and swimming, the ST flexor burst activity increased in the stance-to-swing transition and in the retraction-protraction transition, respectively, while that of BFp remained unchanged. Both ST and BFp non-burst extensor activity increased during stepping and decreased during swimming.

CONCLUSIONS

Our results show that (1) the flexor burst activity of ST and BFp depends differently on the load-dependent sensory input in the step cycle; (2) shift of the activity gradient towards ST in the stance-to-swing transition could produce excessive internal tibia torque, which can be used as an experimental model of non-traumatic musculoskeletal disorders; and (3) the mechanisms of activity of ST and BFp may be based on reciprocal activity of homologous muscles in primary tetrapodomorph and depend on the increased role of supraspinal control.

Functional Analysis of Anuran Pelvic and Thigh Anatomy Using Musculoskeletal Modelling of Phlyctimantis maculatus

Using their abundant musculature, frogs are able to exhibit outstanding behavioural versatility. However, understanding the dynamic motion of their 30 + hindlimb muscles, with multi-joint action, and curved pathways, is challenging. This is particularly true in walking, a relatively understudied, but complex frog gait. Building on prior musculoskeletal modelling work we construct and analyse a 3D musculoskeletal model of the spine, pelvis, and hindlimb of Phlyctimantis maculatus (previously known as Kassina maculata) to simulate the natural motion of muscle pathways as joints rotate during locomotion. Combining experimental kinematics and DICE-CT scan data we use several simulations conducted in MuJoCo to decouple femur and pelvic motions, generating new insights into the functional mechanics of walking in frogs. Outputs demonstrate pelvic lateral rotation about the iliosacral joint influences moment arm magnitude in the majority of hindlimb muscles. The extent of pelvic influence depends on femoral angle which changes muscle function in some instances. The workflow presented here can be used to help experimentalists predict which muscles to probe with in vivo techniques towards a better understanding of how anuran musculoskeletal mechanics enable multiple behaviours.

Cooperation behavior of fore- And hindlimbs during jumping in Rana dybowskii and Xenopus laevis

Frogs are characterized by their outstanding jumping ability, depending on the rapid extension of hindlimbs to propel their bodies into air. A typical jumping cycle could be broken into four phases: preparation, takeoff, flight, and landing. Considerable research has been performed to discuss the function of hindlimbs of frogs during takeoff phase, whereas the literature of limbs' motion in jumping between different species was limited. To profile the evolution of locomotion in anurans, it is necessary to investigate on the motion of fore- and hindlimbs of frogs within different taxa. In this work, we put forward a detailed description of jumping behavior of two frog species, Rana dybowskii and Xenopus laevis. High-speed cameras were used to explore the movement of different joints in fore- and hindlimbs of these two animals, and kinematic analysis was operated to identify both homologous behaviors and significant differences between them. We found that the Rana dybowskii's fore- and hindlimbs had good cooperation during jumping, while the Xenopus laevis' uncooperative behavior in limbs may give a functional explanation for the deficiency in terrestrial jumping; besides, the R. dybowskii's landing followed the "hands-belly-feet slap" strategy, and Xenopus laevis had clumsy landing with "belly-flops" sequence. The result gained here clarifies the cooperation behavior of anuran limbs and may supply a new insight into our understanding of the anuran's evolution.

On the kinematics of forelimb landing of frog Rana rugulosus

A frog can jump several times higher than its own height and then land smoothly on the ground. During the buffering phase, both forelimbs touch the ground and compact quickly to absorb most of the impact energy. However, the adjustment of the joint angles of the forelimb and the induced cushioning effect during the landing process have not been thoroughly investigated. In this study, we statistically summarized the angular displacements of forelimb joints with respect to landing velocities by using a high-speed motion capture system. It is found many joint angles were linearly influenced by landing velocity at both ground touching moment and maximum compression moment. Moreover, the double-peak pattern of ground reactive force was measured, which attributes to the forelimb landing and the followed abdomen/hindlimb landing. Before the appearance of the first peak, the compression of the forelimb and the reactive force revealed a linear relationship regardless of velocity, implying that the forelimbs act as a constant stiffness spring in landing. Accordingly, a simple spring-mass model was proposed and verified by simulation for forelimb cushioning of the frog. We anticipate our achievements to inspire the design of future landing mechanisms.

In vitro virtual reality: an anatomically explicit musculoskeletal simulation powered by in vitro muscle using closed-loop tissue-software interaction

Muscle force-length dynamics are governed by intrinsic contractile properties, motor stimulation and mechanical load. Although intrinsic properties are well characterised, physiologists lack in vitro instrumentation to account for combined effects of limb inertia, musculoskeletal architecture and contractile dynamics. We introduce in vitro virtual reality (in vitro-VR) which enables in vitro muscle tissue to drive a musculoskeletal jumping simulation. In hardware, muscle force from a frog plantaris was transmitted to a software model where joint torques, inertia and ground reaction forces were computed to advance the simulation at 1 kHz. To close the loop, simulated muscle strain was returned to update in vitro length. We manipulated (1) stimulation timing and (2) the virtual muscle's anatomical origin. This influenced interactions among muscular, inertial, gravitational and contact forces dictating limb kinematics and jump performance. We propose that in vitro-VR can be used to illustrate how neuromuscular control and musculoskeletal anatomy influence muscle dynamics and biomechanical performance.

Energy Flow in Multibody Limb Models: A Case Study in Frogs

A frog jump is both simple and difficult to comprehend. The center-of-mass (COM) follows a two-dimensional (2D) path; it accelerates diagonally upward, then traces a predictable arc in flight. Despite this simplicity, the leg segments trace intricate trajectories to drive the COM both upwards and forwards. Because the frog sits crouched with sprawled legs, segments must pivot, tilt, and twist; they solve a long-recognized problem of converting non-linear 3D motion of the leg segments to linear 2D motion of the COM. I use mathematical approaches borrowed from robotics to address: How do frogs manipulate the flow of kinetic energy through their body to influence jump trajectory? I address (1) transfer of motion through kinematic transmission and (2) transfer of motion through dynamic coupling of segment mass-inertia properties. Using a multi-body simulation, I explore how segment acceleration induces rotations at neighboring segments (even without accounting for bi-articular muscles). During jumps, this inertial coupling mechanism is likely crucial for modulating the direction of travel. The frog case study highlights a useful computational framework for studying how limb joints produce coordinated motion.

Digital dissection of the pelvis and hindlimb of the red-legged running frog, Phlyctimantis maculatus, using Diffusible Iodine Contrast Enhanced computed microtomography (DICE μCT)

Background

The current study applies both traditional and Diffusible Iodine Contrast Enhanced computed microtomography (DICE µCT) techniques to reveal the musculoskeletal anatomy of Phlyctimantis maculatus. DICE µCT has emerged as a powerful tool to visualise intricate musculoskeletal anatomy. By generating 3D digital models, anatomical analyses can be conducted non-destructively, preserving the in situ 3D topography of the system, therefore eliminating some of the drawbacks associated with traditional methods. We aim to describe the musculature of the spine, pelvis, and hindlimb, compare the musculoskeletal anatomy and pelvic morphology of P. maculatus with functionally diverse frogs, and produce 3D digital anatomy reference data.

Method

An adult frog was stained using an aqueous Lugol’s solution and scanned in a SkyScan1176 in vivo µCT scanner. Scan images were reconstructed, resampled, and digitally segmented to produce a 3D model. A further adult female frog was dissected traditionally for visualisation of tendinous insertions.

Results

Our work revealed three main findings: (1) P. maculatus has similar gross muscular anatomy to Rana catesbeiana (bullfrog) but is distinct from those species that exhibit ancestral traits (leopelmids) and those that are highly specialised (pipids), (2) P. maculatus’s pelvic anatomy best fits the description of Emerson’s walking/hopping pelvic morphotype IIA, and (3) a split in the semimembranosus and gracilis major muscles is consistent with the reported myology in other anuran species.

Discussion

While DICE µCT methods were instrumental in characterising the 3D anatomy, traditional dissection was still required to visualise important structures such as the knee aponeurosis, tendinous insertions, and fasciae. Nonetheless, the anatomical data presented here marks the first detailed digital description of an arboreal and terrestrial frog. Further, our digital model presents P. maculatus as a good frog model system and as such has formed a crucial platform for further functional analysis within the anuran pelvis and hindlimb.

The impact of pelvic lateral rotation on hindlimb kinematics and stride length in the red-legged running frog, Kassina maculata

Some frog species, such as Kassina maculata (red-legged running frog), use an asynchronous walking/running gait as their primary locomotor mode. Prior comparative anatomy work has suggested that lateral rotation of the pelvis improves walking performance by increasing hindlimb stride length; however, this hypothesis has never been tested. Using non-invasive methods, experimental high-speed video data collected from eight animals were used to create two three-dimensional kinematic models. These models, each fixed to alternative local anatomical reference frames, were used to investigate the hypothesis that lateral rotation of the mobile ilio-sacral joint in the anuran pelvis plays a propulsive role in walking locomotion by increasing hindlimb stride length. All frogs used a walking gait (duty factor greater than 0.5) despite travelling over a range of speeds (0.04-0.23 m s^-1). The hindlimb joint motions throughout a single stride were temporally synchronized with lateral rotation of the pelvis. The pelvis itself, on average, underwent an angular excursion of 12.71° (±4.39°) with respect to the body midline during lateral rotation. However, comparison between our two kinematic models demonstrated that lateral rotation of the pelvis only increases the cranio-caudal excursion of the hindlimb modestly. Thus, we propose that pelvic lateral rotation is not a stride length augmenting mechanism in K. maculata.

A novel kinematics analysis method using quaternion interpolation-a case study in frog jumping

Spherical Linear Interpolation (SLERP) has long been used in computer animation to interpolate movements between two 3D orientations. We developed a forward kinematics (FK) approach using quaternions and SLERP to predict how frogs modulate jump kinematics between start posture and takeoff. Frog limb kinematics have been studied during various activities, yet the causal link between differences in joint kinematics and locomotor variation remains unknown. We varied 1) takeoff angle from 8 to 60°; 2) turn angle from 0 to 18°; and 3) initial body pitch from 0 to 70°. Simulations were similar to experimentally observed frog kinematics. Findings suggest a fundamental mechanism whereby limb elevation is modulated by thigh and shank adduction. Forward thrust is produced by thigh and proximal foot retraction with little contribution from the shank except to induce asymmetries for turning. Kinematic shifts causing turns were subtle, marked only by slight counter-rotation of the left versus right shank as well as a 10% timing offset in proximal foot adduction. Additionally, inclining initial body tilt influenced the centre of mass trajectory to determine direction of travel at takeoff. Most importantly, our theory suggests firstly that the convergence of leg segment rotation axes toward a common orientation is crucial both for limb extension and for coordinating jump direction; and, secondly, the challenge of simulating 3D kinematics is simplified using SLERP because frog limbs approximately follow linear paths in unit quaternion space. Our methodology can be applied more broadly to study living and fossil frog taxa as well as to inspire new control algorithms for robotic limbs.

Inverse dynamic modelling of jumping in the red-legged running frog, Kassina maculata

Although the red-legged running frog, Kassina maculata, is secondarily a walker/runner, it retains the capacity for multiple locomotor modes, including jumping at a wide range of angles (nearly 70 deg). Using simultaneous hind limb kinematics and single-foot ground reaction forces, we performed inverse dynamics analyses to calculate moment arms and torques about the hind limb joints during jumping at different angles in K. maculata. We show that forward thrust is generated primarily at the hip and ankle, while body elevation is primarily driven by the ankle. Steeper jumps are achieved by increased thrust at the hip and ankle and greater downward rotation of the distal limb segments. Because of its proximity to the GRF vector, knee posture appears to be important in controlling torque directions about this joint and, potentially, torque magnitudes at more distal joints. Other factors correlated with higher jump angles include increased body angle in the preparatory phase, faster joint openings and increased joint excursion, higher ventrally directed force, and greater acceleration and velocity. Finally, we demonstrate that jumping performance in K. maculata does not appear to be compromised by presumed adaptation to walking/running. Our results provide new insights into how frogs engage in a wide range of locomotor behaviours and the multi-functionality of anuran limbs.