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Asymmetrical stiff knee gait is a mechanical pathology that can disrupt lower extremity muscle coordination. A better understanding of this condition can help identify potential complications. This study proposes the use of dynamic musculoskeletal modelling simulation to investigate the effect of induced mechanical perturbation on the kneeand to examine the muscle behaviour without invasive technique. Thirty-eight healthy participants were recruited. Asymmetrical gait was simulated using knee brace. Knee joint angle, joint moment and knee flexor and extensor muscle forces were computed using OpenSim. Differences inmuscle force between normal and abnormal conditions were investigated using ANOVA and Tukey-Kramer multiple comparison test.The results revealed that braced knee experienced limited range of motion with smaller flexion moment occuring at late swing phase. Significant differences were found in all flexormuscle forces and in several extensor muscle forces (p

Accurate estimates of the Achilles tendon (AT) moment arm (ATMA) are necessary for investigating triceps surae muscle-tendon unit loading and function. There are limited reported values of ATMA dur...

K. Miyashita, Y. Masuda, M. Gunji, A. Fukuhara, K. Tadakuma and M. Ishikawa, "Emergence of Swing-to-Stance Transition from Interlocking Mechanism in Horse Hindlimb," 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, USA, 2020, pp. 7860-7865, doi: 10.1109/IROS45743.2020.9341026., The bodies of quadrupeds have very complex muscle-tendon structure. In particular, it is known that in the horse hindlimb, multiple joints in the leg are remarkably interlocked due to the muscle-tendon structure. Although the function of these interlocking mechanisms during standing has been investigated in the field of anatomy, the function related to the emergence of limb trajectory during dynamic walking has not been revealed. To investigate the role of the interlocking mechanism, we developed a robot model imitating the muscle-tendon arrangement and the dynamics of a horse hindlimb. In the walking experiment, the robot autonomously generated a limb trajectory with a smooth transition between the swing phase and the stance phase by simply swinging the hip joint with sinusoidal input. Moreover, we compared the joint angles between successful and failed walking. The compared results indicate that the extension of the fetlock joint after hoof touchdown plays the crucial role in emergence of a function of supporting body.

Nordic Hamstring Exercise (NHE) training improves eccentric hamstring strength and sprint performance. However, detraining causes rapid reductions of achieved adaptations. Furthermore, the transfer of improved hamstring capacity to swing phase mechanics of sprints is unknown. This longitudinal study aimed (a) to quantify NHE-induced adaptations by camera-based isokinetic assessments and sprint analyses, (b) to relate the magnitude of adaptations to the participants' initial performance level, (c) to investigate the transferability to sprints, and (4) to determine strength preservations after 3 months. Twelve sprinters (21 years, 1.81 m, 74 kg) were analyzed throughout 22 weeks. They performed maximal sprints and eccentric knee flexor and concentric knee extensor tests before and after a 4-week NHE training. Sprints and isokinetic tests were captured by ten and four high-speed cameras. The dynamic control ratio at the equilibrium point (DCRe) evaluated thigh muscle balance. High-intensity NHE training elicited significant improvements of hamstring function (P range

Objective Purpose of the study was to compare lower-limb kinematics and interlimb asymmetry during stair ascent in individuals post-medial or lateral unicompartmental knee arthroplasty (UKA). Methods 60 patients (20 medial; 10 lateral) post-UKA and 30 matched healthy controls performed stair ascent. Spatio-temporal, lower-limb kinematics and interlimb asymmetries during stair ascent were compared. Results Medial-UKA group displayed 5° less knee extension of the UKA limb than controls (p = 0.005) and 2° less than the contralateral limb during stance phase. No interlimb asymmetries were found for lateral-UKA. Conclusion Patients post-UKA demonstrate satisfactory lower-limb kinematics and minimal interlimb asymmetry during stair ascent compared to healthy individuals.

In order to successfully hit a baseball, hitters must utilize a series of preparatory movements (swing phases) which include shifting their body weight, stepping, landing, and swinging. The purpose of this study was to examine the differences between start times for swing phases (shifting, stepping, landing, and swinging)for currently active baseball players. Participants (n = 12) were all current collegiate baseball athletes. Retroreflective markers, surface electromyography (EMG) and two force platforms were utilized to complete a swing analysis. Each participant completed five swinging trials off a tee. All dependent variables were compared using a repeated measures 1×4 ANOVA with LSD post hoc comparison (p

The lower limb exoskeleton provides assistance by following the lower limb joints’ desired motion trajectory. However, angle control is not enough to meet the requirements in some special circumstances such as encountering obstacles. In the swing phase of the attached leg with the exoskeleton, there is a different contact force between the sole and the road surface in different road conditions. Therefore, it is particularly important to control the joint angle and contact force simultaneously, that is, it is not only necessary to follow the desired angle but also to minimize the influence of external contact force. In this article, a novel scheme is proposed to adjust the trajectory dynamically in the swing phase. First of all, the physical model is streamlined and the Lagrangian principle is carried out to dynamic analysis and established a model of lower limb exoskeleton in the swing phase. Furthermore, the angle dynamics equation is transformed into a Cartesian coordinate system to calculate the end contact force for the impedance model. Finally, the impedance control strategy together with a disturbance observer is designed which is suitable for nonlinear and strong coupling characteristics. The simulation result shows that the control system can follow the angle accurately in the condition of minimizing external constraints. Hardware experiment shows that lower extremity exoskeleton can adjust motion trajectory actively when encountering obstacles and complete the movement trajectory tracking at the same time.

The knee joint performs a significant amount of positive or negative mechanical work during gradient walking, and targeted assistance during periods of high mechanical work could yield strong human augmentation benefits. This paper explores the biomechanical effects of providing knee extension assistance during the early stance phase of the gait cycle using a powered unilateral knee exoskeleton during gradient walking on able-bodied subjects. Twelve subjects walked on 15% gradient incline and decline surfaces with the exoskeleton providing knee extension assistance during the early stance phase of the gait cycle. For both incline and decline walking, the exoskeleton assistance reduced the muscle activation of the knee extensors on the assisted leg ( ${p} ). However, only approximately half the individuals responded to exoskeleton assistance positively by reducing their metabolic cost of walking for both incline and decline tasks. The results indicate that, unlike the individuals who did respond, the individuals who did not respond to the assistance may have penalized their metabolic cost by their biomechanical compensatory behaviors from the unassisted leg.

Background When stepping over obstacles, analyses have focused on the successful trials to understand adaptive gait. However, examination of the inadvertent trips that occasionally occur in the laboratory can provide a rich source of information regarding the gait characteristics underlying trip-related falls. Research question What gait variables during obstacle crossing are associated with inadvertent obstacle contacts, and are these variables different across the lifespan? Methods Three age groups included: young adults (20–35 years, N = 20), middle-aged adults (50–64 years, N = 15), and older adults (65–79 years, N = 19). A stationary, visible obstacle (26 cm tall) was placed in the middle of a walkway. Foot trajectories and head angles were compared between contact and non-contact trials. Results Twelve participants contacted the obstacle: seven young adults (3.5% of young adult trials), two middle-aged adults (1.3%), and three older adults (1.6%). Young and middle-aged adults contacted primarily with the trail limb, while older adults contacted primarily with the lead limb. Contacts occurred for different reasons: Most young adult contact trials had appropriate foot placement, but inadequate elevation; middle-aged and older adults demonstrated inappropriate foot placement before the obstacle, leading to foot contact during the swing phase. Significance Lower contact rates in the middle-aged and older adults indicates that the cautious strategies adopted during obstacle crossing are effective. Higher contact rates in young adults may indicate trial-and-error exploratory behavior. Inappropriate foot placement in the middle-aged and older adults may indicate impaired ability to gather obstacle position information during the approach phase.

Background: Excessive range of adductory free moment of the ground reaction force may potentially increase the risk of lower extremity injuries by applying a higher torsional load transmitted to the proximal parts. Objective: It was hypothesized that the free moment pattern might be different between hyper-pronated and normal feet subjects. Moreover, a correlation would exist between peak adduction free moment and peak ankle-foot complex abduction at the stance phase of walking. Material and Methods: In this cross sectional study, thirty female participants were divided into two groups of asymptomatic hyper-pronated and normal feet. Kinetic and kinematic data were collected using a single force plate and a six-camera motion analysis system during three successful free speed walking trials. Ensemble average curves were extracted from the time normalized individual trials of the stance phase for both free moment and peak ankle-foot complex abduction parameters. Results: Significant differences in peak adductory free moment, peak ankle-foot complex eversion and peak ankle-foot complex abduction were found between normal and hyper-pronated groups (4.90±0.97 Vs. 5.94±0.88, P < 0.01), (3.30±0.95 Vs. 6.28±1.47, P < 0.01) and (4.52±1.16 Vs. 8.23±2.52, P < 0.01) respectively. A significant positive correlation was found between the peak adduction free moment and peak ankle-foot complex abduction in both groups, which was more strongly positive in hyper-pronated group (r = 0.745, p < 0.01 for normal group and r = 0.900, p < 0.01 for hyper-pronated group). Conclusion: As a good measure of torque which is transmitted to the lower extremity, may free moment be a useful biomechanical indicator for both clinical and research purposes.

Un importante porcentaje de las lesiones de miembros inferiores ha sido vinculado a la técnica de carrera, en particular, al contacto inicial con retropié (RP) o antepié (AP). Sin embargo, existe limitada evidencia de la actividad electromiográfica (EMG) para ambas condiciones. El objetivo de este estudio fue comparar la amplitud EMG en miembros inferiores al utilizar técnicas de RP vs AP durante la carrera. Trece corredores fueron evaluado a una velocidad de trote autoseleccionada en dos condiciones: contacto inicial con RP y AP. Se registró la actividad mioeléctrica del recto femoral (RF), bíceps femoral (BF), tibial anterior (TA), gastrocnemio medial (GM) y lateral (GL). Se consideró la amplitud promedio de la EMG en 10 ciclos de carrera, normalizados a la contracción voluntaria máxima. Los resultados destacan una mayor activación significativa de los músculos GM y GL en el contacto AP durante la fase de apoyo, balanceo y en todo el ciclo de carrera. Adicionalmente, el TA presentó una mayor activación durante la fase de vuelo y el 100% del ciclo de carrera para la condición RP. No se encontraron otras diferencias significativas. En conclusión, el uso de la técnica AP incrementa la actividad muscular de GM y GL, posiblemente asociado a una mayor absorción del impacto durante la fase de apoyo. Por otro lado, el TA incrementa su actividad con RP, lo que podría implicar un mayor control previo al contacto inicial. La técnica de carrera se presenta como una condición modificable según situaciones de rendimiento o patología.Abstract. Running technique has an impact on lower limb injuries, particularly the initial contact pattern such as rearfoot (RF) or forefoot (FF). However, there is limited evidence of the electromyographic (EMG) activity for both conditions. The aim of this study was to compare the lower limb muscles EMG amplitude between RF and FF techniques during running. Thirteen runners were evaluated at a self-selected running speed under two conditions: initial contact with RF and FF. The myoelectric activity of the rectus femoris (RE), biceps femoris (BF), tibialis anterior (TA), medial gastrocnemius (GM) and lateral (GL) were analysed. The EMG amplitudes of 10 running cycles were averaged and normalized to the maximum voluntary contraction. The results included a significantly higher activation of GM and GL muscles for the FF condition during the stance phase, balance and the entire running cycle. In addition, TA showed higher activation during the swing phase and the 100% running cycle for the RP condition. No other significant differences were found. In conclusion, FF technique increases GM and GL myoelectric activity, possibly associated with a higher impact absorption during the stance phase. On the other hand, TA increases its activity for RF condition which may imply a greater neuromuscular control prior to initial contact. Finally, the running technique is presented as a modifiable condition which can be changed to enhance performance or in pathologic circumstances.

The attachment locations of anterior cruciate ligament (ACL) grafts during reconstruction have been reported to influence knee joint function. However, there are controversial opinions on femoral ACL attachment locations for restoring normal knee kinematics. The knee stability and ACL force by different ACL attachment locations could be predicted using the musculoskeletal model simulation. The objectives of this study are to develop a detailed musculoskeletal knee model and to quantify the effect of ACL graft attachment locations on knee kinematics and graft force. Five normal subjects walked at a self-selected speed, and motion data were captured. A detailed knee model including 14 ligaments was developed for dynamics simulation using cadaveric specimen data, which were previously published and are open to public access. The ACL bundles of the model were removed and replaced with ACL grafts to develop anatomical and isometric ACL-reconstructed knee models; the femoral anatomical footprint and isometric locations were used, respectively. After the knee models were embedded in a full-body template model from the AnyBody Managed Model Repository, the full-body musculoskeletal model was simulated using the measured gait data. The isometric reconstruction model had significantly large anterior translation and internal rotation than the intact and anatomical reconstruction model. The average differences between the isometric reconstruction and intact models were 4.5 mm and 3.0° for tibial anterior translation and internal rotation, respectively. The ACL tensional force in the isometric reconstruction model was significantly lower than that in the intact model. Anatomical reconstruction could closely restore the normal knee kinematics.

Key points Goal‐directed arm movements can be adjusted at short latency to target shifts.We tested whether similar adjustments are present during walking on a treadmill with shifting stepping targets.Participants responded at short latency with an adequate gain to small shifts of the stepping targets.Movements of the feet during walking are controlled in a similar way to goal‐directed arm movements if balance is not violated. Abstract It is well‐known that goal‐directed hand movements can be adjusted to small changes in target location with a latency of about 100 ms. We tested whether people make similar fast adjustments when a target location for foot placement changes slightly as they walk over a flat surface. Participants walked at 3 km/h on a treadmill on which stepping stones were projected. The stones were 50 cm apart in the walking direction. Every 5–8 steps, a stepping stone was unexpectedly displaced by 2.5 cm in the medio‐lateral direction. The displacement took place during the first half of the swing phase. We found fast adjustments of the foot trajectory, with a latency of about 155 ms, initiated by changes in muscle activation 123 ms after the perturbation. The responses corrected for about 80% of the perturbation. We conclude that goal‐directed movements of the foot are controlled in a similar way to those of the hand, thus also giving very fast adjustments., Key points Goal‐directed arm movements can be adjusted at short latency to target shifts.We tested whether similar adjustments are present during walking on a treadmill with shifting stepping targets.Participants responded at short latency with an adequate gain to small shifts of the stepping targets.Movements of the feet during walking are controlled in a similar way to goal‐directed arm movements if balance is not violated.

In recent years, total ankle replacements have gained increasing popularity as an alternative to fusion. Preclinical testing of TARs requires reliable in vitro models which, in turn, need thorough knowledge of the kinematics of the tibiotalar joint. Surprisingly few studies have been published to simulate the in vivo kinematics of the tibiotalar joint. Among these studies, there is a wide range of methods and magnitudes of applied loads. The purpose of the present review was to summarize the applied loads, positions that were tested during static simulations, and ranges of motion simulated that have been used in human cadaveric models of the tibiotalar joint. Following Preferred Reporting Items for Systematic Reviews and Meta-Analyses (PRISMA) guidelines, PubMed and Google Scholar were searched for studies pertaining to cadaveric tibiotalar joint kinematics. Our search yielded 12 appropriate articles that were included in the systematic review. While it is well known that loads at the tibiotalar joint are frequently as high as 5 times bodyweight [1], these studies reported applied loads varying from 200N-750N, below average bodyweight. Three studies used dynamic loading of custom apparatuses to drive cadaver limbs along predetermined paths to simulate gait. Conversely, the other nine studies applied static loads (∼300N), performed at discreet points during the stance phase, considerably lower than physiological conditions. The present systematic review calls for an urgent need to establish a consensus for preclinical evaluation of TARs for biomechanical function.

Identifying the current gait phase is a key in the control of ankle-foot orthoses, which assist ankle motion during walking. We address the problem to estimate whether the foot is in a swing or stance phase only from the ankle angle. A recurrent neural network with long-short-term-memory architecture is developed and evaluated with experimental data.

OBJECTIVE: Ankle joint stiffness is known to be modulated by co-contraction of the ankle muscles; however, it is unclear to what extent changes in agonist muscle activation alone affect ankle joint stiffness. This study tested the effects of varying levels of ankle muscle activation on ankle joint mechanical stiffness in standing and during the late stance phase of walking. METHODS: Dorsiflexion perturbations were applied at various levels of ankle muscle activation via a robotic platform in standing and walking conditions. In standing, muscle activation was modulated by having participants perform an EMG target matching task that required varying levels of plantarflexor activation. In walking, muscle activation was modulated by changing walking speeds through metronome-based auditory feedback. Ankle stiffness was evaluated by performing a Least-squares system identification using a parametric model consisting of stiffness, damping, and inertia. The association between ankle muscle activation and joint stiffness was evaluated using correlation analyses. Linear regression models were used to determine the extent to which muscle activation contributed to ankle stiffness. An inclusive statistical approach (both classical and Bayesian analyses) was adopted to measure the statistical significance (p-value) and Bayes Factor (BF(10)). RESULTS: Results indicate that plantarflexor activity was positively correlated with ankle stiffness in both standing and walking (p900), whereas dorsiflexor activity was negatively correlated with ankle stiffness in walking (p=0.014, BF(10)=3.9) but not in standing (p=0.725). Regression analyses indicated that ankle muscle activation predicted about 84% of the variation in ankle stiffness in standing and 45% in walking (p100). CONCLUSION: Ankle muscle activation significantly contributes to ankle stiffness during standing and walking. SIGNIFICANCE: The results highlight the role of muscle activation on maintaining joint stiffness and underscore the importance of accounting for muscle activation when measuring ankle stiffness in healthy as well as patient populations.

Nineteen professional football players (Age: 26±5 years; Height: 1.84±0.08 m; Mass: 83.4±8.9 kg) completed three x 30 m maximal acceleration sprints from a standing start before completing the Yo-Yo intermittent recovery test level 1. Three x 30 m maximal acceleration sprints were then repeated post-fatigue. Light gates recorded sprint times from 0-5 m, 0-10 m, 0-15 m and 0-30 m. Force platforms collected ground reaction force of the first stance phase of the sprint run. Differences between pre- and post-fatigue were observed in the sprint times over 0-15 m (P = 0.015; CI [0.007, 0.110]) and 0-30 m (P = 0.004; CI [0.056, 0.234]). Peak medial-lateral ground reaction force was lower (P = 0.045; CI [-0.146, -0.005]) post- than pre-fatigue. The ratio of force were significantly different between pre- and post-fatigue for the medial-lateral and anterior-posterior comparison (P = 0.017; CI [-0.063, -0.010]), and the medial-lateral and vertical comparison (P = 0.012; CI [-0.036, -0.007]). Football players altered their sprint mechanics to reduce medial-lateral loading and orient the force in an increased anteroposterior and vertical direction in order to maintain 0-10 m sprint performance. Practitioners should observe medial-lateral force contributions and improve sprint technical efficacy.