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A cyclist's performance depends critically on the generated average mechanical power output (AMPO). The instantaneous mechanical power output equals the product of crank angular velocity, crank length, and the tangential pedal force. Radial pedal forces do not contribute to mechanical power. It has been suggested that radial pedal forces arise from suboptimal pedaling technique and that limiting these would increase AMPO and efficiency. Here, we presented an optimal control musculoskeletal model of a cyclist (consisting of five segments driven by nine Hill-type muscle-tendon units) to predict maximal AMPO during sprint cycling at different levels of allowed radial pedal forces. Our findings showed that limiting radial pedal forces has a detrimental effect on maximal AMPO; it dropped from 1,115 W without a limit on radial forces to 528 W when no radial forces were allowed (both at 110 rpm). We explained that avoiding radial pedal forces causes ineffective use of muscles: muscles deliver less positive power and have a higher muscle power dissipation ratio (average mechanical power dissipated per unit of average positive power delivered). We concluded that radial pedal forces are an unavoidable by-product when optimizing for maximal AMPO and that limiting these leads to a performance decrease.NEW & NOTEWORTHY In the literature, but also in the "cycling field" [e.g., trainers, coaches, and (professional) cyclists], it is often suggested that trying to limit/avoid radial pedal forces enhances cycling technique and with that maximal average power output and efficiency. In this paper, we introduce an optimal control model of a human cyclists (consisting of five segments and driven by nine Hill-type muscle-tendon complex models). With that we not only show, but also explain why limiting radial forces is a bad idea: it will decrease maximal attainable AMPO and will decrease efficiency.

Purpose The purpose of this study was to determine whether net metabolic cost of walking is affected by age per se. Methods We selected 10 healthy, active older adults (mean age 75 years) and 10 young adults (mean age 26 years), and determined their preferred overground walking speed. On the same day, in a morning and afternoon session, we had them walk at that speed overground and on a treadmill while we measured oxygen consumption rate. From the latter we subtracted the rate in sitting and calculated net metabolic cost. Results Anthropometrics were not different between the groups nor was preferred walking speed (1.27 m s−1 both groups). There was no difference in net metabolic cost of overground walking between older and young adults (e.g., in the morning 2.64 and 2.56 J kg−1 m−1, respectively, p > 0.05). In the morning session, net metabolic cost of walking was higher on the treadmill than overground in our older adults by 0.6 J kg−1 m−1 (p Conclusion First, there is no effect of age per se on metabolic cost of overground walking. Second, older adults tend to have higher metabolic cost of walking on a treadmill than walking overground at preferred speed, and adaptation may take a long time. The commonly reported age-related elevation of metabolic cost of walking may be due to confounding factors causing preferred walking speed to be lower in older adults, and/or due to older adults reacting differently to treadmill walking than young adults.

Fascicle length of m. vastus lateralis in cyclists has been shown to correlate positively with peak sprint cycling power normalized for lean body mass. We investigated whether vasti morphology affects sprint cycling power via force-length and force-velocity relationships. We simulated isokinetic sprint cycling at pedaling rates ranging from 40 to 150 rpm with a forward dynamic model of the human musculoskeletal system actuated by eight leg muscles. Input of the model was muscle stimulation over time, which was optimized to maximize the average power output over a pedal cycle. This was done for a reference model and for models in which the vasti had equal volume but different morphology. It was found that models with longer muscle fibers but a reduced physiological cross-sectional area of the vasti produced a higher sprint cycling power. This was partly explained by better alignment of the peak power-pedaling rate curve of the vasti with the corresponding curves of the other leg muscles. The highest sprint cycling power was achieved in a model in which the increase in muscle fiber length of the vasti was accompanied by a concomitant shift in optimum knee angle. It was concluded that muscle mechanics can partly explain the positive correlations between fascicle length of m. vastus lateralis and normalized peak sprint cycling power. It should be investigated whether muscle fiber length of the vasti and optimum knee angle are suitable training targets for athletes who want to concurrently improve their sprint and endurance cycling performance. NEW & NOTEWORTHY We simulated isokinetic sprint cycling at pedaling rates ranging from 40 to 150 rpm with a forward dynamic model of the human musculoskeletal system actuated by eight leg muscles. We selectively modified vasti morphology: we lengthened the muscle fibers and reduced the physiological cross-sectional area. The modified model was able to produce a higher sprint cycling power.

Trunk motion is related to the performance and risk of injuries during dynamic sports motions. Optical motion capture is traditionally used to measure trunk motion during dynamic sports motions, but these systems are typically constrained to a laboratory environment. Inertial measurement units (IMUs) might provide a suitable alternative for measuring the trunk orientation during dynamic sports motions. The objective of the present study was to assess the accuracy of the three-dimensional trunk orientation measured using IMUs during dynamic sports motions and isolated anatomical trunk motions. The motions were recorded with two IMUs and an optical motion capture system (gold standard). Ten participants performed a total of 71 sports motions (19 golf swings, 15 one-handed ball throws, 19 tennis serves, and 18 baseball swings) and 125 anatomical trunk motions (42, 41, and 42 trials of lateral flexion, axial rotation, and flexion/extension, respectively). The root-mean-square differences between the IMU- and optical motion capture-based trunk angles were less than 5 degrees, and the similarity between the methods was on average across all trials “very good” to “excellent” (R ≥ 0.85; R2 ≥ 0.80). Across the dynamic sports motions, even higher measures of similarity were found (R ≥ 0.90; R2 ≥ 0.82). When aligned to the relevant segment, the current IMUs are a promising alternative to optical motion capture and previous presented IMU-based systems for the field-based measurement of the three-dimensional trunk orientation during dynamic sports motions and the anatomical trunk motions.

Background Previous research has shown that the mechanics of walking on a treadmill is similar to walking overground. However it might be true that the energetics of walking is not similar between overground and treadmill, especially for older adults. We hypothesized that a lack of or inadequate familiarization on a treadmill would increase the Metabolic Cost of Transport (MCoT) in older adults due to increased levels of anxiety and the novelty of the locomotor task. Methods 10 healthy elderly (5 males and 5 females, mean age of 75.3 SD(6.3) years) were recruited and they walked first at their overground Preferred Walking Speed (PWS) for 8 min to reach a steady state of oxygen consumption in the morning. After that the same speed was imposed on a dual-belt treadmill and they walked for 15 min to properly familiarize themselves with the treadmill. This was called the familiarization session (Session 1). In the afternoon they repeated both the overground and treadmill walking again in the same order and with the same protocol. This session was called the post-familiarization session (Session 2). Results The group average of the overground PWS was 1.28 SD(0.11) m/s (4.61 SD(0.40) km/hr). During the familiarization session, the group average of the Gross Cost of Transport (GCoT) was 3.47 SD(0.35) J/kg/m while walking overground and 4 SD(0.65) J/kg/m while walking on a treadmill. The Net Cost of Transport (NCoT) was 2.64 SD(0.37) J/kg/m while walking overground and 3.14 SD(0.64) J/kg/m while walking on a treadmill. During the post-familiarization session, the group average of the GCoT was 3.84 SD(0.35) J/kg/m while walking overground and 3.94 SD(0.67) J/kg/m while walking on a treadmill. The NCoT was 2.76 SD(0.39) J/kg/m while walking overground and 2.90 SD(0.68) J/kg/m while walking on a treadmill. Both the GCoT and NCoT were statistically significantly higher on a treadmill than overground during the familiarization session. This elevation was not present during the post-familiarization session. There were also no statistically significant differences in the Resting Metabolic Rate (RMR) between before walking overground and before walking on a treadmill in either the familiarization or the post-familiarization session. Discussion and Conclusion This shows that the energetics of walking can be different for even healthy elderly on a treadmill if they are not or inadequately familiarized to it. This underlines the importance of adequate familiarization to treadmill walking for elderly in trying to understand the MCoT in this population.

Contains fulltext : 191305.pdf (Publisher’s version ) (Closed access) Walking is one of the preferred exercises among elderly, but could a prolonged walking increase gait variability, a risk factor for a fall in the elderly? Here we determine whether 30 min of treadmill walking increases coefficient of variation of gait in elderly. Because gait responses to exercise depend on fitness level, we included 15 sedentary and 15 active elderly. Sedentary participants preferred a lower gait speed and made smaller steps than the actives. Step length coefficient of variation decreased ~16.9% by the end of the exercise in both the groups. Stride length coefficient of variation decreased ~9% after 10 minutes of walking, and sedentary elderly showed a slightly larger step width coefficient of variation (~2%) at 10 min than active elderly. Active elderly showed higher walk ratio (step length/cadence) than sedentary in all times of walking, but the times did not differ in both the groups. In conclusion, treadmill gait kinematics differ between sedentary and active elderly, but changes over time are similar in sedentary and active elderly. As a practical implication, 30 min of walking might be a good strategy of exercise for elderly, independently of the fitness level, because it did not increase variability in step and stride kinematics, which is considered a risk of fall in this population.

Background:In negotiating stairs, low foot clearance increases the risk of tripping and a fall. Foot clearance may be related to physical fitness, which differs between active and sedentary participants, and be acutely affected by exercise. Impaired stair negotiation could be an acute response to exercise. Here we determined acute changes in foot clearances during stair walking in sedentary (n = 15) and physically active older adults (n = 15) after prolonged exercise.Methods:Kinematic data were acquired during negotiation with a 3-steps staircase while participants walked at preferred speed, before and after 30 min walking at preferred speed and using a treadmill. Foot clearances were compared before and after exercise and between the groups.Results:Sedentary older adults presented larger (0.5 cm for lead and 2 cm for trail leg) toe clearances in ascent, smaller (0.7 cm) heel clearance in the leading foot in descent, and larger (1 cm) heel clearance in the trailing foot in descent than physically active.Conclusion:Sedentary older adults negotiate stairs in a slightly different way than active older adults, and 30 min walking at preferred speed does not affect clearance in stair negotiation.

Purpose. Many falls in older people occur after tripping or slipping, mainly due to unsuccessful vertical clearances or horizontal distances. A first fall may be explained by several factors related to aging and can be a trigger to subsequent falls. It is unclear if a history of fall changes the kinematics of obstacle crossing, increasing the risk of trips. Here, we determined whether older women reporting a fall history showed different spatial-temporal kinematic parameters during obstacle crossing than non-fallers. In addition, we investigated the presence of asymmetries between the preferred and non-preferred lower limb during obstacle crossing in fallers and non-fallers. Methods. This cross-sectional study recruited older women with a history of fall (n = 10) and without falls (n = 10). They had their kinematic parameters evaluated when walking at self-selected speed along an 8-m walkway, crossing an obstacle positioned in the middle of the walkway, with both preferred and non-preferred limb as the lead limb. The groups were compared, and effects of lower limb preference were also determined in both groups. Results. No main effects of group were observed regarding the kinematic variables. An effect of leg preference was found for post-obstacle horizontal distance, which was greater for the preferred limb in both groups. Conclusions. In conclusion, the kinematics of gait with obstacle crossing does not differentiate between older women with or without a history of recent fall.

Background The sit-to-stand task, which involves rising unassisted from sitting on a chair to standing, is important in daily life. Many people with muscle weakness, reduced range of motion or loading-related pain in a particular joint have difficulty performing the task. How should a person suffering from such impairment best perform the sit-to-stand task and, in the case of pain in a particular joint, with reduced loading of that joint? Methods We developed a musculoskeletal model with reference parameter values based on properties of healthy strong subjects. The model's muscle stimulation-time input was optimized using direct collocation to find strategies that yielded successful sit-to-stand task performance with minimum ‘control effort’ for the reference set and modified sets of parameter values, and with constraints on tibiofemoral compression force. Findings The sit-to-stand task could be performed successfully and realistically by the reference model, by a model with isometric knee extensor forces reduced to 40% of reference, by a model with isometric forces of all muscles reduced to 45% of reference, and by the reference model with the tibiofemoral compression force constrained during optimization to 65% of the peak value in the reference condition. Interpretation The strategies found by the model in conditions other than reference could be interpreted well on the basis of cost function and task biomechanics. The question remains whether it is feasible to teach patients with musculoskeletal impairments or joint pain to perform the sit-to-stand task according to strategies that are optimal according to the simulation model.

Purpose: To document the magnitude and time course of human Achilles tendon adaptations (i.e. changes in tendon morphological and mechanical properties) during a 12-week high-load plantar flexion training program. Methods: Ultrasound was used to determine Achilles tendon cross-sectional area (CSA), length and elongation as a function of plantar flexion torque during voluntary plantar flexion. Tendon force–elongation and stress–strain relationships were determined before the start of training (pre-training) and after 4 (post-4), 8 (post-8) and 12 (post-12) training weeks. Results: At the end of the training program, maximum isometric force had increased by 49% and tendon CSA by 17%, but tendon length, maximal tendon elongation and maximal strain were unchanged. Hence, tendon stiffness had increased by 82%, and so had Young’s modulus, by 86%. Significant changes were first detected at post-4 in stiffness (51% increase) and Young’s modulus (87% increase), and at post-8 in CSA (15% increase). Conclusions: Achilles tendon material properties already improved after 4 weeks of high-load training: stiffness increased while CSA remained unchanged. Tendon hypertrophy (increased CSA) was observed after 8 training weeks and contributed to a further increase in Achilles tendon stiffness, but tendon stiffness increases were mostly caused by adaptations in tissue properties.

We examined the effect of boundary conditions in imitation ski jumping on movement dynamics and coordination. We compared imitation ski jumps with – and without – the possibility to generate shear propulsion forces. Six elite ski jumpers performed imitation jumps by jumping from a fixed surface and from a rolling platform. The ground reaction force vector, kinematics of body segments, and EMG of eight lower limb muscles were recorded. Net joint dynamics were calculated using inverse dynamics. The two imitation jumps differed considerably from each other with regard to the dynamics (moments, forces), whereas the kinematics were very similar. Knee power was higher and hip power was lower on the rolling platform than on the fixed surface. Mean EMG levels were very similar for both conditions, but differences in the development of muscle activity were indicated for seven of eight muscles. These differences are reflected in a subtle difference of the alignment of ground reaction force with centre of mass: the ground reaction force runs continuously close to but behind the centre of mass on the rolling platform and fluctuates around it on the fixed surface. This likely reflects a different strategy for controlling angular momentum.

The muscle mass specific mean power output (PMMS,mean) during push-off in jumping is in marmosets (Callithrix jacchus) more than twice that in humans. In the present study it was tested whether this is attributable to differences in muscle contractile properties. In biopsies of marmoset m. vastus lateralis (VL) and m. gastrocnemius medialis (GM) (n=4) fiber type distribution was assessed using fluorescent immunohistochemistry. In single fibers from four marmoset and nine human VL biopsies the force-velocity characteristics were determined. Marmoset VL contained almost exclusively fast muscle fibers (>99.0%), of which 63% were type IIB and 37% hybrid fibers, fibers containing multiple myosin heavy chains. GM contained 9% type I fibers, 44% type IIB and 47% hybrid muscle fibers. The proportions of fast muscle fibers in marmoset VL and GM were substantially larger than those reported in the corresponding human muscles. The curvature of the force-velocity relationships of marmoset type IIB and hybrid fibers was substantially flatter than that of human type I, IIA, IIX and hybrid fibers resulting in substantially higher muscle fiber mass specific peak powers (PFMS,peak). Muscle mass specific peak power output (PMMS,peak) of marmoset whole VL and GM, estimated from their fiber type distributions and force-velocity characteristics were more than twice the estimates for the corresponding human muscles. Since the relative difference in estimated PMMS,peak between marmoset and human is similar to that PMMS,mean during push-off in jumping, it is likely that the difference in in vivo mechanical output between humans and marmosets is attributable to differences in muscle contractile properties.

Summary In this study we determined the mechanical output of marmosets during jumping. Vertical ground reaction forces were measured in 18 common marmosets (Callithrix jacchus) while they jumped from an instrumented crossbar to a crossbar located 70 cm higher. From the vertical force time histories, we calculated the rate of change of mechanical energy of the centre of mass (dE/dt). The mean value of dE/dt during the push-off amounted to 51.8 (6.2) W/kg body mass, and the peak value to 116.4 (17.6) W/kg body mass. We used these values in combination with masses of leg muscles, determined in two specimens, to estimate mean and peak values of dE/dt of 430 W/kg muscle and 970 W/kg muscle, respectively. These values are higher than values reported in the literature for jumps of humans and bonobos, but smaller than those of jumps of bushbabies. Surprisingly, the mean value of dE/dt of 430 W/kg muscle was close to the maximal power output of 516 W/kg muscle reported in the literature for isokinetic contractions of rat medial gastrocnemius, one of the fastest mammalian muscles. Further study of the force-velocity relationship of muscle tissue of small primates seems indicated.

In a recent paper, Kanstad & Kononoff ( Proc. R. Soc. A 471 , 20150287. ( doi:10.1098/rspa.2015.0287 )) presented a theoretical analysis of the mechanical energetics of a particular style of human walking and running. According to their analysis, the force of gravity provides energy when this style of horizontal walking/running is adopted. Furthermore, Kanstad & Kononoff suggested that uphill walking at zero energy cost is possible when the suggested style of walking is adopted. In this commentary, we argue that these claims violate the basic laws of thermodynamics, and are based on erroneous application of the basic laws of classical mechanics.

We investigated adjustments of control to initial posture in squat jumping. Eleven male subjects jumped from three initial postures: preferred initial posture (PP), a posture in which the trunk was rotated 18° more backward (BP) and a posture in which it was rotated 15° more forward (FP) than in PP. Kinematics, ground reaction forces and electromyograms (EMG) were collected. EMG was rectified and smoothed to obtain smoothed rectified EMG ( srEMG ). Subjects showed adjustments in srEMG histories, most conspicuously a shift in srEMG -onset of rectus femoris (REC): from early in BP to late in FP. Jumps from the subjects’ initial postures were simulated with a musculoskeletal model comprising four segments and six Hill-type muscles, which had muscle stimulation ( STIM ) over time as input. STIM of each muscle changed from initial to maximal at STIM -onset, and STIM -onsets were optimized using jump height as criterion. Optimal simulated jumps from BP, PP and FP were similar to jumps of the subjects. Optimal solutions primarily differed in STIM -onset of REC: from early in BP to late in FP. Because the subjects’ adjustments in srEMG -onsets were similar to adjustments of the model’s optimal STIM -onsets, it was concluded that the former were near-optimal. With the model we also showed that near-maximum jumps from BP, PP and FP could be achieved when STIM -onset of REC depended on initial hip joint angle and STIM -onsets of the other muscles were posture-independent. A control theory that relies on a mapping from initial posture to STIM -onsets seems a parsimonious alternative to theories relying on internal optimal control models.

The purpose of this study was to understand how humans regulate their ‘leg stiffness’ in hopping, and to determine whether this regulation is intended to minimize energy expenditure. ‘Leg stiffness’ is the slope of the relationship between ground reaction force and displacement of the centre of mass (CM). Variations in leg stiffness were achieved in six subjects by having them hop at maximum and submaximum heights at a frequency of 1.7 Hz. Kinematics, ground reaction forces and electromyograms were measured. Leg stiffness decreased with hopping height, from 350 N m−1kg−1at 26 cm to 150 N m−1kg−1at 14 cm. Subjects reduced hopping height primarily by reducing the amplitude of muscle activation. Experimental results were reproduced with a model of the musculoskeletal system comprising four body segments and nine Hill-type muscles, with muscle stimulation STIM(t) as only input. Correspondence between simulated hops and experimental hops was poor when STIM(t) was optimized to minimize mechanical energy expenditure, but good when an objective function was used that penalized jerk of CM motion, suggesting that hopping subjects are not minimizing energy expenditure. Instead, we speculated, subjects are using a simple control strategy that results in smooth movements and a decrease in leg stiffness with hopping height.

Tendon injuries are an important problem in athletic horses and are probably caused by excessive loading of the tendons during demanding activities. As a first step towards understanding these injuries, the tendon loading was quantified during jump landings. Kinematics and ground reaction forces were collected from the leading and trailing forelimbs of 6 experienced jumping horses. Joint moments were calculated using inverse dynamic analysis. It was found that the variation of movement and loading patterns was small, both within and between horses. The peak flexor joint moments in the coffin and fetlock joints were larger in the trailing limb (-0.62 and -2.44 Nm/kg bwt, respectively) than in the leading limb (-0.44 and -1.93 Nm/kg bwt, respectively) and exceeded literature values for trot by 82 and 45%. Additionally, there was an extensor coffin joint moment in the first half of the stance phase of the leading limb (peak value 0.26+/-0.18 Nm/kg bwt). From these results, it was concluded that the loading of the flexor tendons during landing was higher in the trailing than in the leading limb and that there was an unexpected loading of the extensor tendon in the leading limb.

When human hoppers are surprised by a change in surface stiffness, they adapt almost instantly by changing leg stiffness, implying that neural feedback is not necessary. The goal of this simulation study was first to investigate whether leg stiffness can change without neural control adjustment when landing on an unexpected hard or unexpected compliant (soft) surface, and second to determine what underlying mechanisms are responsible for this change in leg stiffness. The muscle stimulation pattern of a forward dynamic musculoskeletal model was optimized to make the model match experimental hopping kinematics on hard and soft surfaces. Next, only surface stiffness was changed to determine how the mechanical interaction of the musculoskeletal model with the unexpected surface affected leg stiffness. It was found that leg stiffness adapted passively to both unexpected surfaces. On the unexpected hard surface, leg stiffness was lower than on the soft surface, resulting in close-to-normal center of mass displacement. This reduction in leg stiffness was a result of reduced joint stiffness caused by lower effective muscle stiffness. Faster flexion of the joints due to the interaction with the hard surface led to larger changes in muscle length, while the prescribed increase in active state and resulting muscle force remained nearly constant in time. Opposite effects were found on the unexpected soft surface, demonstrating the bidirectional stabilizing properties of passive dynamics. These passive adaptations to unexpected surfaces may be critical when negotiating disturbances during locomotion across variable terrain. Copyright © 2009 the American Physiological Society.

This paper presents a simulation study that was conducted to investigate whether the stereotyped motion pattern observed in human sub-maximal jumping can be interpreted from the perspective of energy expenditure. Human sub-maximal vertical countermovement jumps were compared to jumps simulated with a forward dynamic musculo-skeletal model. This model consisted of four interconnected rigid segments, actuated by six Hill-type muscle actuators. The only independent input of the model was the stimulation of muscles as a function of time. This input was optimized using an objective function, in which targeting a specific sub-maximal height value was combined with minimizing the amount of muscle work produced. The characteristic changes in motion pattern observed in humans jumping to different target heights were reproduced by the model. As the target height was lowered, two major changes occurred in the motion pattern. First, the countermovement amplitude was reduced; this helped to save energy because of reduced dissipation and regeneration of energy in the contractile elements. Second, the contribution of rotation of the heavy proximal segments of the lower limbs to the vertical velocity of the centre of gravity at take-off was less; this helped to save energy because of reduced ineffective rotational energies at take-off. The simulations also revealed that, with the observed movement adaptations, muscle work was reduced through improved relative use of the muscle's elastic properties in sub-maximal jumping. According to the results of the simulations, the stereotyped motion pattern observed in sub-maximal jumping is consistent with the idea that in sub-maximal jumping, subjects are trying to achieve the targeted jump height with minimal energy expenditure. © 2006 Elsevier Ltd. All rights reserved.

A goal of biomechanics and motor control is to understand the design of the human musculoskeletal system. Here we investigated human functional morphology by making predictions about the muscle volume distribution that is optimal for a specific motor task. We examined a well-studied and relatively simple human movement, vertical jumping. We investigated how high a human could jump if muscle volume were optimized for jumping, and determined how the optimal parameters improve performance. We used a four-link inverted pendulum model of human vertical jumping actuated by Hill-type muscles, that well-approximates skilled human performance. We optimized muscle volume by allowing the cross-sectional area and muscle fiber optimum length to be changed for each muscle, while maintaining constant total muscle volume. We observed, perhaps surprisingly, that the reference model, based on human anthropometric data, is relatively good for vertical jumping; it achieves 90% of the jump height predicted by a model with muscles designed specifically for jumping. Alteration of cross-sectional areas-which determine the maximum force deliverable by the muscles-constitutes the majority of improvement to jump height. The optimal distribution results in large vastus, gastrocnemius and hamstrings muscles that deliver more work, while producing a kinematic pattern essentially identical to the reference model. Work output is increased by removing muscle from rectus femoris, which cannot do work on the skeleton given its moment arm at the hip and the joint excursions during push-off. The gluteus composes a disproportionate amount of muscle volume and jump height is improved by moving it to other muscles. This approach represents a way to test hypotheses about optimal human functional morphology. Future studies may extend this approach to address other morphological questions in ethological tasks such as locomotion, and feature other sets of parameters such as properties of the skeletal segments.

Reasons for performing study: Lameness has often been suggested to result in altered movement of the back, but there are no detailed studies describing such a relationship in quantitative terms. Objectives: To quantify the effect of induced subtle forelimb lameness on thoracolumbar kinematics in the horse. Methods: Kinematics of 6 riding horses was measured at walk and at trot on a treadmill before and after the induction of reversible forelimb lameness grade 2 (AAEP scale 1-5). Ground reaction forces (GRF) for individual limbs were calculated from kinematics. Results: The horses significantly unloaded the painful limb by 11.5% at trot, while unloading at walk was not significant. The overall flexion-extension range of back motion decreased on average by 0.2° at walk and increased by 3.3° at trot (P

SUMMARY The purpose of this study was to determine whether individual limb forces could be calculated accurately from kinematics of trotting and walking horses. We collected kinematic data and measured vertical ground reaction forces on the individual limbs of seven Warmblood dressage horses, trotting at 3.4 m s–1 and walking at 1.6 m s–1 on a treadmill. First, using a segmental model, we calculated from kinematics the total ground reaction force vector and its moment arm relative to each of the hoofs. Second, for phases in which the body was supported by only two limbs, we calculated the individual reaction forces on these limbs. Third, we assumed that the distal limbs operated as linear springs, and determined their force–length relationships using calculated individual limb forces at trot. Finally, we calculated individual limb force–time histories from distal limb lengths. A good correspondence was obtained between calculated and measured individual limb forces. At trot, the average peak vertical reaction force on the forelimb was calculated to be 11.5±0.9 N kg–1 and measured to be 11.7±0.9 N kg–1, and for the hindlimb these values were 9.8±0.7 N kg–1 and 10.0±0.6 N kg–1,respectively. At walk, the average peak vertical reaction force on the forelimb was calculated to be 6.9±0.5 N kg–1 and measured to be 7.1±0.3 N kg–1, and for the hindlimb these values were 4.8±0.5 N kg–1 and 4.7±0.3 N kg–1, respectively. It was concluded that the proposed method of calculating individual limb reaction forces is sufficiently accurate to detect changes in loading reported in the literature for mild to moderate lameness at trot.

AB Purpose: Relationships between tangential pedal force and crank angular velocity in sprint cycling tend to be linear. We set out to understand why they are not hyperbolic, like the intrinsic force-velocity relationship of muscles. Methods: We simulated isokinetic sprint cycling at crank angular velocities ranging from 30 to 150 rpm with a forward dynamic model of the human musculoskeletal system actuated by eight lower extremity muscle groups. The input of the model was muscle stimulation over time, which we optimized to maximize average power output over a cycle. Results: Peak tangential pedal force was found to drop more with crank angular velocity than expected based on intrinsic muscle properties. This linearizing effect was not due to segmental dynamics but rather due to active state dynamics. Maximizing average power in cycling requires muscles to bring their active state from as high as possible during shortening to as low as possible during lengthening. Reducing the active state is a relatively slow process, and hence must be initiated a certain amount of time before lengthening starts. As crank angular velocity goes up, this amount of time corresponds to a greater angular displacement, so the instant of switching off extensor muscle stimulation must occur earlier relative to the angle at which pedal force was extracted for the force-velocity relationship. Conclusion: Relationships between pedal force and crank angular velocity in sprint cycling do not reflect solely the intrinsic force-velocity relationship of muscles but also the consequences of activation dynamics.

There are several ways to quantify jumping performance, a common definition being the height gained by the body's centre of mass (CM) in the airborne phase. Under this definition, jump height is determined by take-off velocity. According to the existing literature on jumping and scaling, take-off velocity, and hence jumping performance is independent of size because the energy that differently sized geometrically scaled jumpers can generate with their muscles is proportional to their mass. In this article it is shown, based on a simple energy balance, that it is incorrect to presume that jump height does not depend on size. Contrary to common belief, size as such has does have an effect on take-off velocity, putting small jumpers at a mechanical advantage, as is shown analytically. To quantify the effect of size on take-off velocity, a generic jumper model was scaled geometrically and evaluated numerically. While a 70-kg jumper took off at 2.65 m/s and raised its CM by 0.36 m after take-off, a perfectly geometrically similar jumper of 0.7 g reached a take-off velocity of 3.46 m/s and raised its CM by 0.61 m. The reason for the better performance of small jumpers is their higher efficacy in transforming the energy generated by the actuators into energy due to vertical velocity of the CM. Considering the ecological and evolutionary relevance of different definitions of jump height, size-dependent efficacy might explain why habitual jumping is especially prominent among small animals such as insects. © 2005 Elsevier Ltd. All rights reserved.

Vertical jumping was used to assess muscle mechanical output in bonobos and comparisons were drawn to human jumping. Jump height, defined as the vertical displacement of the body centre of mass during the airborne phase, was determined for three bonobos of varying age and sex. All bonobos reached jump heights above 0.7 m, which greatly exceeds typical human maximal performance (0.3–0.4 m). Jumps by one male bonobo (34 kg) and one human male (61.5 kg) were analysed using an inverse dynamics approach. Despite the difference in size, the mechanical output delivered by the bonobo and the human jumper during the push-off was similar: about 450 J, with a peak power output close to 3000 W. In the bonobo, most of the mechanical output was generated at the hips. To account for the mechanical output, the muscles actuating the bonobo's hips (directly and indirectly) must deliver muscle-mass-specific power and work output of 615 W kg−1and 92 J kg−1, respectively. This was twice the output expected on the basis of muscle mass specific work and power in other jumping animals but seems physiologically possible. We suggest that the difference is due to a higher specific force (force per unit of cross-sectional area) in the bonobo.

Objective—To investigate the effects of early training for jumping by comparing the jumping technique of horses that had received early training with that of horses raised conventionally. Animals—40 Dutch Warmblood horses. Procedure—The horses were analyzed kinematically during free jumping at 6 months of age. Subsequently, they were allocated into a control group that was raised conventionally and an experimental group that received 30 months of early training starting at 6 months of age. At 4 years of age, after a period of rest in pasture and a short period of training with a rider, both groups were analyzed kinematically during free jumping. Subsequently, both groups started a 1-year intensive training for jumping, and at 5 years of age, they were again analyzed kinematically during free jumping. In addition, the horses competed in a puissance competition to test maximal performance. Results—Whereas there were no differences in jumping technique between experimental and control horses at 6 months of age, at 4 years, the experimental horses jumped in a more effective manner than the control horses; they raised their center of gravity less yet cleared more fences successfully than the control horses. However, at 5 years of age, these differences were not detected. Furthermore, the experimental horses did not perform better than the control horses in the puissance competition. Conclusions and Clinical Relevance—Specific training for jumping of horses at an early age is unnecessary because the effects on jumping technique and jumping capacity are not permanent. (Am J Vet Res 2005;66:418–424)

Prediction of speed skating performance with a power balance model requires assumptions about the kinetics of energy production, skating efficiency, and skating technique. The purpose of this study was to evaluate these parameters during competitive imitations for the purpose of improving model predictions. Elite speed skaters ( n = 8) performed races and submaximal efficiency tests. External power output (Po) was calculated from movement analysis and aerodynamic models and ice friction measurements. Aerobic kinetics was calculated from breath-by-breath oxygen uptake (V̇o2). Aerobic power (Paer) was calculated from measured skating efficiency. Anaerobic power (Pan) kinetics was determined by subtracting Paer from Po. We found gross skating efficiency to be 15.8% (1.8%). In the 1,500-m event, the kinetics of Pan was characterized by a first-order system as Pan = 88 + 556 e−0.0494 t (in W, where t is time). The rate constant for the increase in Paer was −0.153 s−1, the time delay was 8.7 s, and the peak Paer was 234 W; Paer was equal to 234[1 − e−0.153(t−8.7)] (in W). Skating position changed with preextension knee angle increasing and trunk angle decreasing throughout the event. We concluded the pattern of Paer to be quite similar to that reported during other competitive imitations, with the exception that the increase in Paer was more rapid. The pattern of Pan does not appear to fit an “all-out” pattern, with near zero values during the last portion of the event, as assumed in our previous model (De Koning JJ, de Groot G, and van Ingen Schenau GJ. J Biomech 25: 573–580, 1992). Skating position changed in ways different from those assumed in our previous model. In addition to allowing improved predictions, the results demonstrate the importance of observations in unique subjects to the process of model construction.

This paper reviews the literature to determine directions for prevention of falls among the elderly by establishing causal factors for falls resulting from a trip. The literature on risk factors for falls is briefly reviewed, but the main emphasis is on experimental studies to complement observational studies with more detailed insight into factors determining fall risk. Changes in gait pattern, reduced vision, and cognitive impairments appear to increase the probability of tripping in the elderly and can in part be targeted in interventions. Recovery of balance after a trip is limited in the elderly probably because forward placement of the recovery leg is slower, likely due to neural factors. Furthermore, balance recovery is impaired in the elderly because joints moments in the stance leg are generated more slowly and reach lower peak values, likely due to a combination of muscular and neural factors. These results suggest that coordination and strength training can contribute to fall prevention among the elderly. © 2005 Elsevier Ltd. All rights reserved.

A ski jumper tries to maintain an aerodynamic position in the in-run during changing environmental forces. The purpose of this study was to analyze the mechanical demands on a ski jumper taking the in-run in a static position. We simulated the in-run in ski jumping with a 4-segment forward dynamic model (foot, leg, thigh, and upper body). The curved path of the in-run was used as kinematic constraint, and drag, lift, and snow friction were incorporated. Drag and snow friction created a forward rotating moment that had to be counteracted by a plantar flexion moment and caused the line of action of the normal force to pass anteriorly to the center of mass continuously. The normal force increased from 0.88G on the first straight to 1.65G in the curve. The required knee joint moment increased more because of an altered center of pressure. During the transition from the straight to the curve there was a rapid forward shift of the center of pressure under the foot, reflecting a short but high angular acceleration. Because unrealistically high rates of change of moment are required, an athlete cannot do this without changing body configuration which reduces the required rate of moment changes.

SUMMARY The purpose of the present study was to gain more insight into the contribution of the forelimbs and hindlimbs of the horse to energy changes during the push-off for a jump. For this purpose, we collected kinematic data at 240 Hz from 23 5-year-old Warmbloods (average mass: 595 kg) performing free jumps over a 1.15 m high fence. From these data, we calculated the changes in mechanical energy and the changes in limb length and joint angles. The force carried by the forelimbs and the amount of energy stored was estimated from the distance between elbow and hoof, assuming that this part of the leg behaved as a linear spring. During the forelimb push, the total energy first decreased by 3.2 J kg-1 and then increased again by 4.2 J kg-1 to the end of the forelimb push. At the end of the forelimb push, the kinetic energy due to horizontal velocity of the centre of mass was 1.6 J kg-1 less than at the start, while the effective energy(energy contributing to jump height) was 2.3 J kg-1 greater. It was investigated to what extent these changes could involve passive spring-like behaviour of the forelimbs. The amount of energy stored and re-utilized in the distal tendons during the forelimb push was estimated to be on average 0.4 J kg-1 in the trailing forelimb and 0.23 J kg-1 in the leading forelimb. This means that a considerable amount of energy was first dissipated and subsequently regenerated by muscles, with triceps brachii probably being the most important contributor. During the hindlimb push, the muscles of the leg were primarily producing energy. The total increase in energy was 2.5 J kg-1 and the peak power output amounted to 71 W kg-1.

It is well documented that muscle fibers become more sensitive for [Ca2+] with increasing sarcomere length. In mechanical terms this length-dependent [Ca2+] sensitivity (LDCS) adds to the stiffness of muscle fibers, because muscle force, normalized for the force–length relationship at maximal stimulation, increases with contractile element (CE) length. Although LDCS is well-documented in the physiological literature, it is ignored in most motor control studies. The aim of the present study was to investigate the importance of LDCS as a contributor to the stiffness of a muscle. Comparison of experimental data with predictions derived from the model of activation dynamics proposed by Hatze (Myocybernetic Control Models of Skeletal Muscle, University of South Africa, Pretoria, 1981, pp. 31–42) indicated that this model captures the main characteristics of LDCS well. It was shown that LDCS accounts for the experimentally observed shifts in optimum length at sub-maximal stimulation levels. Furthermore, it was shown that in conditions with low-to-medium muscle stimulation, the contribution of LDCS to the total amount of stiffness provided by the muscle is substantial. It was concluded that LDCS is an important muscle property and should be taken into account in studies concerning motor control.

Older people fall more often after tripping than young people due to a slower development of mechanical responses. This might be due to age-related changes in muscle properties, but also to changes in motor control. The purpose of the present study was to determine whether (a) timing and sequencing of muscle activation and (b) the magnitude and rate of development of muscle activation in recovery after a trip differs between young and older subjects. We focused on the support limb, as it contributes to recovery after tripping by counteracting the forward angular momentum. Ten young (25 years) and seven older (68 years) men and women walked over a platform and were tripped several times at different points in the gait cycle. Kinematics and EMG of the support limb muscles were measured. After tripping, rapid EMG responses (60-80 ms) were observed in hamstring and triceps surae muscles in both young and older subjects. A slightly increased delay (11 ms) was found only in the soleus muscle of the older subjects. The muscle activity patterns (timing and sequencing) were similar in young and older subjects, but the magnitude and rate of development of muscle activity were significantly lower in older subjects. Especially the lower rate of development of muscle activation in the support limb of older subjects is likely to reduce the rate of force generation, which can contribute to inadequate recovery responses and falls. © Springer-Verlag 2004.

Concepts of how athletes should expend their aerobic and anaerobic energetic reserves are generally based on results of tests where an "all out" strategy is imposed on/required from the athlete. We sought to determine how athletes spontaneously expend their energetic reserves when the only instruction was to finish the event in minimal time, as in competition. Well trained, and task habituated, road cyclists (N = 14) completed randomly ordered laboratory time trials of 500 m, 1000 m, 1500 m and 3000 m on a windload braked cycle ergometer. The pattern of aerobic and anaerobic energy use was calculated from total work accomplished and V.O (2) during the trials. The events were completed in 40.3 +/- 0.6 s, 87.4 +/- 4.1 s, 133.8 +/- 6.6 s and 296.0 +/- 7.2 s. The peak V.O (2) during the terminal 200 m of all events was similar (2.72 +/- 0.22, 3.01 +/- 0.34, 3.23 +/- 0.44 and 3.12 +/- 0.13 l x min (-1)). In all events, the initial power output and anaerobic energy use was high, and decreased to a more or less constant value over the remainder of the event. However, the subjects seemed to reserve some ability to expend energy anaerobically for a terminal acceleration which is contrary to predictions of an "all out" starting strategy. Although the total work accomplished increased with distance (23.14 +/- 4.24, 34.14 +/- 6.37, 43.54 +/- 6.12 and 78.22 +/- 8.28 kJ), the energy attributable to anaerobic sources was not significantly different between the rides (17.29 +/- 3.82, 18.68 +/- 8.51, 20.60 +/- 6.99 and 23.28 +/- 9.04 kJ). The results are consistent with the concept that athletes monitor their energetic resources and regulate their energetic output over time in a manner designed to optimize performance.

Mathematical modeling and computer simulation play an increasingly important role in the search for answers to questions that cannot be addressed experimentally. One of the biggest challenges in forward simulation of the movements of the musculoskeletal system is finding an optimal control strategy. It is not uncommon for this type of optimization problem that the segment dynamics need to be calculated millions of times. In addition, these calculations typically consume a large part of the CPU time during forward movement simulations. As numerous human movements are two-dimensional (2-D) to a reasonable approximation, it is extremely convenient to have a dedicated, computational efficient method for 2-D movements. In this paper we shall present such a method. The main goal is to show that a systematic approach can be adopted which allows for both automatic formulation and solution of the equations of kinematics and dynamics, and to provide some fundamental insight in the mechanical theory behind forward dynamics problems in general. To illustrate matters, we provide for download an example implementation of the main segment dynamics algorithm, as well as a complete implementation of a model of human sprint cycling. The ability of human beings to control their movements to meet specific goals is truly remarkable. In controlling movements, two systems are involved: the nervous system and the musculoskeletal system. The nervous system sends electrical signals to the muscles referred to as muscle stimulation, whereupon muscles produce forces that actuate the skeleton. Generally the resulting movement produces feedback, allowing the nervous system to adapt the muscle stimulation. Figure 1 depicts the course of action schematically. For some movements it is straightforward to define an objective performance criterion, such as the maximum height reached in vertical jumping or the highest

Objective—To quantify variation in the jumping technique within and among young horses with little jumping experience, establish relationships between kinetic and kinematic variables, and identify a limited set of variables characteristic for detecting differences in jumping performance among horses. Animals—Fifteen 4-year-old Dutch Warmblood horses. Procedure—The horses were raised under standardized conditions and trained in accordance with a fixed protocol for a short period. Subsequently, horses were analyzed kinematically during free jumping over a fence with a height of 1.05 m. Results—Within-horse variation in all variables that quantified jumping technique was smaller than variation among horses. However, some horses had less variation than others. Height of the center of gravity (CG) at the apex of the jump ranged from 1.80 to 2.01 m among horses; this variation could be explained by the variation in vertical velocity of the CG at takeoff ( r, 0.78). Horses that had higher vertical velocity at takeoff left the ground and landed again farther from the fence, had shorter push-off phases for the forelimbs and hind limbs, and generated greater vertical acceleration of the CG primarily during the hind limb pushoff. However, all horses cleared the fence successfully, independent of jumping technique. Conclusions and Clinical Relevance—Each horse had its own jumping technique. Differences among techniques were characterized by variations in the vertical velocity of the CG at takeoff. It must be determined whether jumping performance later in life can be predicted from observing free jumps of young horses. ( Am J Vet Res 2004;65:938–944)

In speed skating, the conventional skate has been replaced by the klapskate, in which the shoe can rotate around a hinge between shoe and blade. It has been hypothesized that the improved performance with klapskates vs. conventional skates can be attributed to the difference in the anterior/posterior position of the foot’s center of rotation relative to the ice. This study investigated the effect of the position of the foot’s center of rotation on push-off mechanics in speed skating. Eight elite speed skaters skated four 2000-m trials on instrumented klapskates at a fixed velocity. In each trial the hinge was placed at a different position between the 5th metatarso-phalangeal joint and the tip of the toes. 3-D kinematics and pushoff forces were measured to analyze push-off kinematics and kinetics. Shifting the hinge from the most posterior to the more anterior positions resulted in a delayed onset of foot rotation and longer duration of push-off. This delay coincided with an increase in angular displacement and peak angular velocity of the knee and hip joint, an increase in the flexing knee joint moment at the end of the push-off, and a reduction in work generated at the knee joint. Total work per stroke was similar for the various hinge positions. Besides the similar work per stroke, the observed effects are in accordance with the differences between klapskating and conventional skating. It was concluded that the position of the foot’s center of rotation affects the timing of foot rotation, and therefore the balanced pattern of segmental rotations. Although it could not be proven in this study, it was shown that this constraint could affect work per stroke and might explain the difference between klapskates and conventional skates.

To gain a better understanding of push-off mechanics in speed skating, forward simulations were performed with a model comprising four body segments and six muscles. We started with a simulated maximum height one-legged jump, obtained by optimization of muscle stimulation time histories. The simulated jump was very similar to one-legged jumps produced by a human, indicating that the model was realistic. We subsequently studied how performance was affected by introducing four conditions characteristic of speed skating: (a) We changed the initial position from that in jumping to that at the start of the push-off phase in skating. This change was accommodated by a delay in stimulation onset of the plantar flexors in the optimal solution. (b) The friction between foot and ground was reduced to zero. As a result, maximum jump height decreased by 1.2 cm and performance became more sensitive to errors in muscle stimulation. The reason is that without surface friction, the foot had to be prevented from slipping away, which constrained the solution space and reduced the tolerance to errors in stimulation. (c) We introduced the requirement to maintain the upper body in a more or less horizontal position. This change could be accommodated by a delay in stimulation onset of the hamstrings, which inevitably caused a reduction in maximum jump height by 11.6 cm. (d) We increased the effective foot length from 16.5 cm, representative of jumping, to 20.5 cm, representative of skating with klapskates. At the 20.5-cm foot length, rotation of the foot did not start during the buildup of plantar flexion moment as it did at smaller foot lengths, but was delayed until hip and knee extension moments decreased. This caused an unbalanced increase in segment angular velocities and muscle shortening velocities, leading to a decrease in muscle force and muscle work and a further decrease in maximum jump height by approximately 5 cm. Qualitatively, these findings help clarify why and how performance of speed skaters depends on the location of the hinge of their skate.

Length changes of the muscle-tendon complex (MTC) during activity are in part the result of length changes of the active muscle fibres, the contractile component (CC), and also in part the result of stretch of elastic structures [series-elastic component (SEC)]. We used a force platform and kinematic measurements to determine force and length of the human calf muscle during walking, running and squat jumping. The force-length relation of the SEC was determined in dynamometer experiments on the same four subjects. Length of the CC was calculated as total muscle-tendon length minus the force dependent length of the SEC. The measured relations between force and length or velocity were compared with the individually determined force-length and force-velocity relations of the CC. In walking or running the negative work performed in the eccentric phase was completely stored as elastic energy. This elastic energy was released in the concentric phase, at speeds well exceeding the maximum shortening speed predicted by the Hill force-velocity relation. Speed of the CC, in contrast, was positive and low, well within the range predicted by the measured force-velocity properties and compatible with a favourable muscular efficiency. These effects were also present in purely concentric contractions, like the squatted jump. Contractile component length usually started at the far end of the force-length relation. Inter-individual differences in series-elastic stiffness were reflected in the force and length recordings during natural activity.

It has been shown in previous research that the initial phase of EMG for a punching movement remained almost unchanged regardless of whether an external force was applied to the arm. The purpose of the present study was to explain this finding with the help of simulations. A two-dimensional model of me arm actuated by 6 Hill-type muscles was used to simulate a punching movement in the horizontal plane from a prescribed starting position with 90° elbow flexion. Input to the model was the stimulation of me muscles, and output were, among others, muscle forces and segmental accelerations. A genetic algorithm was used to determine the muscle onset times mat minimized movement duration and targeting error. In a subsequent forward simulation, the optimized muscle onset times for an unloaded punching movement were superimposed on the isometric stimulation necessary to hold me arm in the starting position while an external force was applied to the arm. The resulting movement was only slightly different from the unloaded movement. It appeared that because of the low level of isometric muscle force prior to the movement, and the high level of stimulation during the movement, muscle force was increased at a rate mat was almost independent of the prior force level. These results confirmed the suggestion that the initial phase of EMG in ballistic movements is more related to the rate of change of force than to the absolute force level. It is hypothesized mat this may simplify the task of the nervous system in the choice of initial muscle activity in ballistic arm movements because no adjustments to varying external forces are required.