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Introduction: Chronic ankle instability (CAI) carries a high risk of progression to talar osteochondral lesions and post-traumatic osteoarthritis. It has been clinically hypothesized the progression is associated with abnormal joint motion and ligament elongation, but there is a lack of scientific evidence.Methods: A total of 12 patients with CAI were assessed during level walking with the use of dynamic biplane radiography (DBR) which can reproduce the in vivo positions of each bone. We evaluated the uninjured and CAI side of the tibiotalar and subtalar joint for three-dimensional kinematics differences. Elongation of the anterior talofibular ligament (ATFL), calcaneofibular ligament (CFL), and posterior talofibular ligament (PTFL) were also calculated bilaterally.Results: For patients with CAI, the dorsiflexion of the tibiotalar joint had reduced (21.73° ± 3.90° to 17.21° ± 4.35°), displacement of the talus increased (2.54 ± 0.64 mm to 3.12 ± 0.55 mm), and the inversion of subtalar joint increased (8.09° ± 2.21° to 11.80° ± 3.41°). Mean ATFL elongation was inversely related to mean dorsiflexion angle (CAI: rho = −0.82, P < 0.001; Control: rho = −0.92, P < 0.001), mean ATFL elongation was related to mean anterior translation (CAI: rho = 0.82, P < 0.001; Control: rho = 0.92, P < 0.001), mean CFL elongation was related to mean dorsiflexion angle (CAI: rho = 0.84, P < 0.001; Control: rho = 0.70, P < 0.001), and mean CFL elongation was inversely related to mean anterior translation (CAI: rho = −0.83, P < 0.001; Control: rho = −0.71, P < 0.001). Furthermore, ATFL elongation was significantly (CAI: rho = −0.82, P < 0.001; Control: rho = −0.78, P < 0.001) inversely correlated with CFL elongation.Discussion: Patients with CAI have significant changes in joint kinematics relative to the contralateral side. Throughout the stance phase of walking, ATFL increases in length during plantarflexion and talar anterior translation whereas the elongation trend of CFL was the opposite. This understanding can inform the development of targeted therapeutic exercises aimed at balancing ligament tension during different phases of gait. The interrelationship between two ligaments is that when one ligament shortens, the other lengthens. The occurrence of CAI didn’t change this trend. Surgeons might consider positioning the ankle in a neutral sagittal plane to ensure optimal outcomes during ATFL and CFL repair.

Inspired by “crimped” collagen fiber, which induce a low-level load region within the hierarchical structures of ligaments and tendons, this study introduces a braiding technology aiming at characterizing nonlinear mechanical behavior. Samples of the developed artificial ligament with a multilayer braided structure were fabricated and tested. Alterations in the number of braiding layers, wales, and courses significantly affect the mechanical properties of the artificial ligaments. Specifically, the toe length exhibited an increase of up to 104.58 %, while the linear stiffness exhibited variations concomitant with changes in these parameters. Additionally, a mathematical model to describe the relationship between the toe length and linear stiffness was developed based on the braiding parameters and material properties of the fibers. Alternative fibers were employed and tested to demonstrate a consistency with the mathematical model. The correlation coefficients were calculated as 0.9644 for the toe length and 0.9203 for the linear stiffness. Lastly, this study mimics the mechanical behavior of the human medial collateral ligament (MCL) by integrating the artificial ligament into a bio-fidelity knee model with a joint stiffness of 1.77 Nm/deg, resulting in a high degree of similarity with human knee in valgus-varus, further affirming the utility and applicability of this study.

The current literature studied the median nerve (MN) at specific locations during joint motions. As only a few particular parts of the nerve are depicted, the relevant information available is limited. This experiment investigated the morphological and biomechanical properties of the MN. The effects of the shoulder and wrist motions on MN were explored as well. Eight young healthy female individuals were tested with two-dimensional ultrasound and shear wave elastography (SWE). The morphological and biomechanical properties were examined in limb position 1, with the wrist at the neutral position, the elbow extended at 180°, and the shoulder abducted at 60°. In addition, the experiment assessed the differences among the wrist, forearm, elbow, and upper arm with Friedman’s test and Bonferroni post hoc analysis. Two groups of limb positions were designed to explore the effects of shoulder movements (shoulder abducted at 90° and 120°) and wrist movements (wrist extended at 45° and flexed at 45°) on the thickness and Young’s modulus. Differences among the distributions of five limb positions were tested as well. The ICC3, 1 values for thickness and Young’s modulus were 0.976 and 0.996, respectively. There were differences among the MN thicknesses of four arm locations in limb position 1, while Young’s modulus was higher at the elbow and wrist than at the forearm and upper arm. Compared to limb position 1, only limb position 4 had an effect on MN thickness at the wrist. Both shoulder and wrist motions affected MN Young’s modulus, and the stiffness variations at typical locations all showed a downward trend proximally in all. The distributions of MN thickness and Young’s modulus showed fold line patterns but differed at the wrist and the pronator teres. The MN in the wrist is more susceptible to limb positions, and Young’s modulus is sensitive to nerve changes and is more promising for the early diagnosis of neuropathy.

Abstract Tactile sensors play a crucial role in the development of biologically inspired robotic prostheses, particularly in providing tactile feedback. However, existing sensing technology still falls short in terms of sensitivity under high pressure and adaptability to uneven working surfaces. Furthermore, the fabrication of tactile sensors often requires complex and expensive manufacturing processes, limiting their widespread application. Here we develop a conformal tactile sensor with improved sensing performance fabricated using an in-house 3D printing system. Our sensor detects shear stimuli through the integration of an auxetic structure and interlocking features. The design enables an extended sensing range (from 0.1 to 0.26 MPa) and provides sensitivity in both normal and shear directions, with values of 0.63 KPa−1 and 0.92 N−1, respectively. Additionally, the sensor is capable of detecting temperature variations within the range of 40−90 °C. To showcase the feasibility of our approach, we have printed the tactile sensor directly onto the fingertip of an anthropomorphic robotic hand, the proximal femur head, and lumbar vertebra. The results demonstrate the potential for achieving sensorimotor control and temperature sensing in artificial upper limbs, and allowing the monitoring of bone-on-bone load.

Objectives Osteochondral lesions of the talus (OLTs) are common injuries in the general population. Abnormal mechanical conditions applied to defected cartilage are believed to be the culprits to deteriorating OLTs. This study aims to investigate the biomechanical effects of defect size of talar cartilage on OLTs during ankle movements. Methods A finite element model of the ankle joint was created based on the computed tomography images of a healthy male volunteer. Different defect sizes (S = 0.25, 0.5, 0.75, 1.0, 1.25, 1.5, 1.75, and 2.0 cm2) of talar cartilage were modeled to simulate the progression of OLTs. Mechanical moments were applied to the model to generate different ankle movements, including dorsiflexion, plantarflexion, inversion, and eversion. The effects of varying defect sizes on peak stress and its location were evaluated. Results The maximum stress on the talar cartilage increased as the area of the defect enlarged. Additionally, as the defect size of OLTs increased, the areas with peak stress on talar cartilage tended to move closer to where the injury was located. High stresses were present in the medial and lateral areas of the talus at the neutral position of the ankle joint. The concentrated stresses were mainly located in the anterior and posterior defect areas. The peak stress in the medial region was higher than on the lateral side. The order of peak stress from highest to lowest was dorsiflexion, internal rotation, inversion, external rotation, plantar flexion, and eversion. Conclusions Osteochondral defect size and ankle joint movements significantly modulate the biomechanical features of the articular cartilage in osteochondral lesions of the talus. The progression of osteochondral lesions in a talus deteriorates the biomechanical well‐being of the bone tissues of the talus.

Abstract Impacts occur everywhere, and they pose a serious threat to human health and production safety. Flexible materials with efficient cushioning and energy absorption are ideal candidates to provide protection from impacts. Despite the high demand, the cushioning capacity of protective materials is still limited. In this study, an integrated bionic strategy is proposed, and a bioinspired structural composite material with highly cushioning performance is developed on the basis of this strategy. The results demonstrated that the integrated bionic material, an S‐spider web‐foam, has excellent energy storage and dissipation as well as cushioning performance. Under impact loading, S‐spider web‐foam can reduce peak impact forces by a factor of 3.5 times better than silicone foam, achieving unprecedented cushioning performance. The results of this study deepen the understanding of flexible cushioning materials and may provide new strategies and inspiration for the preparation of high‐performance flexible cushioning materials.

Restoring bone defects caused by conditions such as tumors, trauma, or inflammation is a significant clinical challenge. Currently, there is a need for the development of bone tissue engineering scaffolds that meet clinical standards to promote bone regeneration in these defects. In this study, we combined the porous Ti6Al4V scaffold in bone tissue engineering with advanced bone grafting techniques to create a novel “metal-bone” scaffold for enhanced bone regeneration. Utilizing 3D printing technology, we fabricated a porous Ti6Al4V scaffold with an average pore size of 789 ± 22.69 μm. The characterization and biocompatibility of the scaffold were validated through in vitro experiments. Subsequently, the scaffold was implanted into the distal femurs of experimental animals, removed after 3 months, and transformed into a “metal-bone” scaffold. When this “metal-bone” scaffold was re-implanted into bone defects in the animals, the results demonstrated that, in comparison to a plain porous Ti6Al4V scaffold, the scaffold containing bone tissue achieved accelerated early-stage bone regeneration. The experimental group exhibited more bone tissue generation in the early stages at the defect site, resulting in superior bone integration. In conclusion, the “metal-bone” scaffold, containing bone tissue, proves to be an effective bone-promoting scaffold with promising clinical applications.

Human heel pads commonly undergo cyclic loading during daily activities. Low cyclic loadings such as daily human walking tend to have less effect on the mechanical properties of heel pads. However, the impact of cyclic loading on cushion performance, a vital biomechanical property of heel pads, under engineering test condition remains unexplored. Herein, dynamic mechanical measurements and finite element (FE) simulations were employed to explore this phenomenon. It was found that the wavy collagen fibers in the heel pad will be straightened under cycle compression loading, which resulted in increased stiffness of the heel pad. The stiffness of the heel pads demonstrated an inclination to escalate over a span of 50,000 loading cycles, consequently resulting in a corresponding increase in peak impact force over the same loading cycles. Sustained cyclic loading has the potential to result in the fracturing of the straightened collagen fibers, this collagen breakage may diminish the stiffness of the heel pad, leading to a reduction in peak impact force. This work enhances understanding of the biomechanical functions of human heel pad and may provide potential inspirations for the innovative development of healthcare devices for foot complex.

Leg properties have been involved in the broad study of human walking from mechanical energy to motion prediction of robotics. However, the variable leg elasticities and their functions during gait have not been fully explored. This study presented that the fundamental leg properties during human walking comprise axial stiffness, rest leg length, tangential stiffness and force-free leg angles. We measured the axial force-leg length and tangential force-leg angle data in eight participants (mean ± s.d. age 24.6 ± 3.0 years, mass 68.2 ± 6.8 kg, height 177.5 ± 5.2 cm) at three self-selected walking speeds (slow: 1.25 ± 0.22, normal: 1.48 ± 0.28, fast: 1.75 ± 0.32 m/s) on two different contact conditions (fixed and moving). After obtaining these gait measurements, we extracted the linear and nonlinear leg elasticities during human walking by using a minimum root-mean-square fitting. We found that the axial stiffness of nonlinear elasticity (fixed condition: 7.1-8.0, moving condition: 21.3-22.6) is higher than that of the linear elasticity (fixed condition: 5.0-5.7, moving condition: 15.2-16.5). The tangential stiffness behaves different during four stance phases of gait, with the highest (linear: 2.52-3.72, nonlinear: 1.71-2.01, in moving condition) occurred at early stance and second highest at late stance, followed by two stiffnesses in mid-stance. For both linearity and nonlinearity, the axial stiffness and rest length are independent of walking speeds in both contact conditions, while the tangential stiffness and contact angles are independent of walking speeds only in moving condition. Regardless of walking speed, elasticity and contact condition, the force-free contact angle at mid-stance is maintained at average of 82.2 °. This paper first demonstrates the mechanical walking leg property from both axial and tangential aspects. The findings provide insight into the fundamental properties including linearity and nonlinearity of human leg during locomotion for stability analysis and precise motion prediction of robotics and rehabilitation exoskeletons.

Understanding the distinct functions of human muscles could not only help professionals obtain insights into the underlying mechanisms that we accommodate compromised neuromuscular system, but also assist engineers in developing rehabilitation devices. This study aims to determine the contribution of major muscle and the energy flow in the human musculoskeletal system at four sub-phases (collision, rebound, preload, push-off) during the stance of walking at different speeds. Gait experiments were performed with three self-selected speeds: slow, normal, and fast. Muscle forces and mechanical work were calculated by using a subject-specified musculoskeletal model. The functions of individual muscles were characterized as four functional behaviors (strut, spring, motor, damper), which were determined based on the mechanical energy. The results showed that during collision, hip flexors (iliacus and psoas major) and ankle dorsiflexors (anterior tibialis) were the most dominant muscles in buffering the stride with energy absorption; during rebound, the posterior muscles (gluteus maximus, gastrocnemius, posterior tibialis, soleus) contributed the most to energy generation; during preload, energy for preparing push-off was mainly absorbed by the muscles surrounding knee (vastus, semimembranosus, semitendinosus); during push-off, ankle plantar flexors (gastrocnemius, soleus, posterior tibialis, peroneus muscles, flexor digitorum, flexor hallucis) mainly behaved to generate energy for forward propulsion. With increased walking speed, additional energy (almost 400%) from harder stride was mainly absorbed by the flexor muscles. Hip extensors and adductors transferred more energy (around 150%) to the distal segments during rebound. Soleus and gastrocnemius muscles generated more energy (about 75%) to the proximal segments for propulsion. Along with our previous study of joint-level energy analysis, these findings could assist better understanding of human musculoskeletal behaviors during locomotion and provide principles for the bio-design of related assistive devices from motors performance enhancement to rehabilitation such as exoskeleton and prosthesis.

Human finger joints are conventionally simplified as rigid joints in robotic hand design and biomechanical hand modelling, due to their anatomic and morphologic complexity. However, our understanding of the effect of the finger joint configuration on the resulting hand performance is still primitive. In this study, we systematically investigate the grasping performance of the hands with the conventional rigid joints and the biomechanical flexible joints based on a computational human hand model. The measured muscle electromyography (EMG) and hand kinematic data during grasping are used as inputs for the grasping simulations. The results show that the rigid joint configuration currently used in most robotic hands leads to large reductions in hand contact force, contact pressure and contact area, compared to the flexible joint configuration. The grasping quality could be reduced up to 40% and 36% by the rigid joint configuration in terms of algebraic properties of grasping matrix and finger force limit respectively. Further investigation reveals that these reductions are caused by the weak rotational stiffness of the rigid joint configuration. This study implies that robotic/prosthetic hand performance could be improved by exploiting flexible finger joint design. Hand contact parameters and grasping performance may be underestimated by the rigid joint simplification in human hand modelling.

Quantifying the effect of routing and topology of the inter-connected finger extensor mechanism on hand grasping performances is a long-standing research problem for the better clinical diagnosis, surgical planning and biomimetic hand development. However, it is technically demanding to measure the hand performance parameters such as the contact forces and contact area during hand manipulation. It is also difficult to replicate human hand performance through the physical hand model due to its sophisticated musculotendinous structure. In this study, an experimental validated subject-specific finite element (FE) human hand model was used for the first time to quantify the influence of different tendon topologies and material properties on hand grasping quality. It is found that the grasping quality is reduced by 15.94% and 8.54% if there are no extensor hood and lateral band respectively, and the former plays a more important role in transmitting forces and maintaining grasping qualities than the latter. Excluding extensor hood in the topology causes more reductions in hand contact pressure and contact area than omitting lateral band. 7.5% of the grasping quality is lost due to a softened tendon with half of its original Young’s Modulus. Hardened extensor tendon does increase the grasping quality, but the enhancing effect tends to level off once the tendon Young’s Modulus is increased by more than 50%. These results prove that the lateral band and extensor hood are critical components for maintaining grasping quality. The dexterity and grasping quality of robotic and prosthetic hands could be improved by integrating these two components. There is also no need to use very stiff tendon material as it won’t help to effectively enhance the grasping quality.

The level of joint laxity, which is an indicator of accurate diagnosis for musculoskeletal conditions is manually determined by a physician. Studying joint laxity via artificial joints is an efficient and economical way to improve patient experience and joint proficiency. However, most of study focus on the joint geometry but are inadequate with regard to the tailored mechanical properties of soft tissues. On the basis of collagen fibril deformation, this study proposes bioinspired 3D fibers braided from polyethene multifilament for the reproduction of the controlled nonlinear behavior of ligaments and tendons. Four braided bands are designed, all showing biological behaviors. Two knot-based bands exhibit large toe strains of 10.98% and 5.33% but low linear modulus of 239.84 MPa and 826.05 MPa. The other two bands without knots exhibit lower toe strains of 1.61% and 1.52% but high linear modulus of 2605.27 MPa and 2050.74 MPa. Empirical formulas for braiding parameters (wales and courses) and mechanical properties are expressed to provide a theoretical basis for the mimicry of different tissues in the human body by artificial joints. All parameters have significant effects on the linear region of the load-displacement curve of a fiber due to braided structure, while changing the number of wales facilitates a major contribution to the toe region. A biofidelic human knee has been successfully reconstructed by using bioinspired 3D braided fibers. This study demonstrates that the nonlinear mechanical properties of soft tissues can be replicated by bioinspired 3D braided fibers, further yielding the design of more biomechanically realistic artificial joints.

Prosthetic knees are state-of-the-art medical devices that use mechanical mechanisms and components to simulate the normal biological knee function for individuals with transfemoral amputation. A large variety of complicated mechanical mechanisms and components have been employed; however, they lack clear relevance to the walking biomechanics of users in the design process. This article aims to bridge this knowledge gap by providing a review of prosthetic knees from a biomechanical perspective and includes stance stability, early-stance flexion and swing resistance, which directly relate the mechanical mechanisms to the perceived walking performance, i.e., fall avoidance, shock absorption, and gait symmetry. The prescription criteria and selection of prosthetic knees depend on the interaction between the user and prosthesis, which includes five functional levels from K0 to K4. Misunderstood functions and the improper adjustment of knee prostheses may lead to reduced stability, restricted stance flexion, and unnatural gait for users. Our review identifies current commercial and recent studied prosthetic knees to provide a new paradigm for prosthetic knee analysis and facilitates the standardization and optimization of prosthetic knee design. This may also enable the design of functional mechanisms and components tailored to regaining lost functions of a specific person, hence providing individualized product design.

Flatfoot is a common foot deformity that seriously affects the quality of life. The aim of this study is to develop an accurate and noninvasive method for the diagnosis of flatfoot based on B-mode ultrasound. In this study, 51 patients (the flatfoot group) and 43 healthy subjects (the control group) were included. The plantar fascia angle, a new measurement for use in the diagnosis of flatfoot is proposed, as determined using B-mode ultrasound. For comparison, the calcaneal pitch angle and medial cuneiform height were also measured using lateral X-radiography, based on traditional diagnostic methods. The intraclass correlation values of the plantar fascia angle, the calcaneal pitch angle, and the medial cuneiform height were all more than 0.95, and there is a moderate correlation (r = 0.51) between the medial cuneiform height and the calcaneal pitch angle, and an excellent correlation (r = 0.85) between the plantar fascia angle and the calcaneal pitch angle. The optimal cutoff value, sensitivity, and specificity for medial cuneiform height in flatfoot diagnosis were 12.8 mm, 93.0%, and 54.9%, respectively. The optimal cutoff value, sensitivity, and specificity for plantar fascia angle in flatfoot diagnosis were 9.8°, 97.7%, and 94.1%, respectively. The proposed plantar fascia angle has good sensitivity and specificity in diagnosing flatfoot, therefore supplying a new approach for the noninvasive diagnosis of flatfoot.

Pain is the most significant symptom of knee osteoarthritis (OA), which seriously affects the quality of life of patients. However, the cause of pain, pain relief, and targeted treatment methods are still unclear. Based on the diversified characteristics of knee pain location, this study was aimed to explore the associations between knee pain location and the mechanical properties of soft tissues in patients with knee OA. Fifteen healthy participants and 55 patients with knee OA were recruited and divided into five groups: no pain, anterior superior pain, anterior inferior pain, medial pain, and lateral pain. The Young's moduli of the muscles, tendons, and ligaments around the knee joint were measured by shear wave elastography (SWE), and the differences between the five groups of soft tissue material properties were compared in this study. The Young's moduli of the quadriceps tendon (QT), patellar tendon (PT), medial collateral ligament (MCL), and lateral patellar retinaculum (LPR) were strongly associated with pain location and were significantly increased compared with the other four groups, respectively. In addition, the Young's moduli of the remaining soft tissue were not associated with pain location, and did not change significantly compared with the other four groups. This study provides data reference for the mechanical properties of soft tissue of healthy people and patients with knee OA, and provides a theoretical basis for more targeted pain relief, treatment, and rehabilitation in knee OA.

This study aims to explore the possibility of assessing muscle stress state using shear wave elastography (SWE). Eight healthy males participated in the measurements, and the Young's modulus of 10 leg muscles of each participant were measured in six standard positions: lying, sitting, and four quasi-static walking postures. The contributions of each muscle in the four quasi-static walking postures were examined, and the relationship between the Young's modulus and simultaneously recorded plantar pressure was preliminarily explored for the most significant muscles. Results indicate that ICC3,1 ranges from 0.941 to 0.998, and 95% CI is in the range 0.909-0.999, CV ranges from 1.45% to 9.5%, and SEM ranges from 0.026 kPa to 0.824 kPa for all the tested muscles. This indicates that the Young's modulus of the muscles, measured by SWE, showed excellent retest reliability. In the lying and sitting positions, significant differences were observed in Young's modulus of 9 muscles with the only exception of biceps femoris (BF). In the heel strike and push off positions, strong linear relationships were found between the plantar pressure and Young's modulus of gastrocnemius medialis (GM) suggesting that muscle SWE measurement may be a good indicator of ground reaction forces. This study demonstrates that the SWE measures of the muscle Young's modulus can be used to reliably reflect the quantitative change in the stiffness of a muscle at different positions, and may also be employed to estimate the ground reaction forces and muscle stress state. Although this is a great progress in studying muscle force, it is still a great challenge to measure the Young's modulus of muscle and noninvasively evaluate the muscle force in vivo using SWE.

The human tibiofibular complex has undergone a long evolutionary process, giving its structure a high bearing-capacity. The distinct tibiofibular shape can be used in engineering to acquire excellent mechanical properties. In this paper, four types of bionic tubes were designed by extracting the dimensions of different cross-sections of human tibia–fibula. They had the same outer profiles, but different inner shapes. The concept of specific stiffness was introduced to evaluate the mechanical properties of the four tubes. Finite-element simulations and physical bending-tests using a universal testing machine were conducted, to compare their mechanical properties. The simulations showed that the type 2 bionic tube, i.e., the one closest to the human counterpart, obtained the largest specific-stiffness (ε = 6.46 × 104), followed by the type 4 (ε = 6.40 × 104) and the type 1 (ε = 6.39 × 104). The type 3 had the largest mass but the least stiffness (ε = 6.07 × 104). The specific stiffness of the type 2 bionic tube increased by approximately 25.8%, compared with that of the type 3. The physical tests depicted similar findings. This demonstrates that the bionic tube inspired by the human tibiofibular shape has excellent effectiveness and bending properties, and could be used in the fields of healthcare engineering, such as robotics and prosthetics.

In the existing research on prosthetic footplates, rehabilitation insoles, and robot feet, the cushioning parts are basically based on simple mechanisms and elastic pads. Most of them are unable to provide adequate impact resistance especially during contact with the ground. This paper developed a bioinspired heel pad by optimizing the inner structures inspired from human heel pad which has great cushioning performance. The distinct structures of the human heel pad were determined through magnetic resonance imaging (MRI) technology and related literatures. Five-layer pads with and without inner structures by using two materials (soft rubber and resin) were obtained, resulting in four bionic heel pads. Three finite element simulations (static, impact, and walking) were conducted to compare the cushioning effects in terms of deformations, ground reactions, and principal stress. The optimal pad with bionic structures and soft rubber material reduced 28.0% peak vertical ground reaction force (GRF) during walking compared with the unstructured resin pad. Human walking tests by a healthy subject wearing the 3D printed bionic pads also showed similar findings, with an almost 20% decrease in peak vertical GRF at normal speed. The soft rubber heel pad with bionic structures has the best cushioning performance, while the unstructured resin pad depicts the poorest. This study proves that with proper design of the inner structures and materials, the bionic pads will demonstrate distinct cushioning properties, which could be applied to the engineering fields, including lower limb prosthesis, robotics, and rehabilitations.

Plantar fascia plays an important role in human foot biomechanics; however, the morphology and mechanical properties of plantar fascia in patients with flexible flatfoot are unknown. In this study, 15 flexible flatfeet were studied, each plantar fascia was divided into 12 positions, and the morphologies and mechanical properties in the 12 positions were measured in vivo with B-mode ultrasound and shear wave elastography (SWE). Peak pressures under the first to fifth metatarsal heads (MH) were measured with FreeStep. Statistical analysis included 95% confidence interval, intragroup correlation coefficient (ICC1,1), one-way analysis of variance (one-way ANOVA), and least significant difference. The results showed that thickness and Young’s modulus of plantar fascia were the largest at the proximal fascia (PF) and decreased gradually from the proximal end to the distal end. Among the five distal branches (DB) of the fascia, the thickness and Young’s modulus of the second and third DB were larger. The peak pressures were also higher under the second and third MH. This study found a gradient distribution in that the thickness and Young’s modulus gradient decreased from the proximal end to the distal end of plantar fascia in the longitudinal arch of flexible flatfeet. In the transverse arch, the thickness and Young’s modulus under the second and third DB were larger than those under the other three DB in flexible flatfoot, and the peak pressures under the second and third MH were also larger than those under the other three MH in patients with flexible flatfoot. These findings deepen our understanding of the changes of biomechanical properties and may be meaningful for the study of pathological mechanisms and therapy for flexible flatfoot.

Summary: Humans and animals can achieve agile and efficient movements because the muscle can operate in different modes depending on its intrinsic mechanical properties. For bioinspired robotics and prosthetics, it is highly desirable to have artificial actuators with muscle-like properties. However, it still remains a challenge to realize both intrinsic muscle-like force-velocity and force-length properties in one single actuator simultaneously. This study presents a bioinspired soft actuator, named HimiSK (highly imitating skeletal muscle), designed by spatially arranging a set of synergistically contractile units in a flexible matrix similar to skeletal musculature. We have demonstrated that the actuator presents both intrinsic force-velocity and force-length characteristics that are very close to biological muscle with inherent self-stability and robustness in response to external perturbations. These outstanding properties result from the bioinspired architecture and the adaptive morphing of the flexible matrix material, which adapts automatically to mechanically diverse tasks without reliance on sensors and controllers.

The goose’s neck is an excellent stabilizing organ with its graceful neck curves and flexible movements. However, the stabilizing mechanism of the goose’s neck remains unclear. This study adopts a dynamic in vivo experimental method to obtain continuous and accurate stable motion characteristics of the goose’s cervical vertebra. Firstly, the results showed that when the body of a goose was separately moved back and forth along the Y direction (front and back) and Z direction (up and down), the goose’s neck can significantly stabilize the head. Then, because of the limitation of the X-ray imaging area, the three-dimensional intervertebral rotational displacements for vertebrae C4–C8 were obtained, and the role that these five segments play in the stabilization of the bird’s neck was analyzed. This study reveals that the largest range of the adjacent vertebral rotational movement is around the X-axis, the second is around the Y-axis, and the smallest is around the Z-axis. This kinematic feature is accord with the kinematic feature of the saddle joint, which allows the flexion/around X-axis and lateral bending/around Y-axis, and prevents axial rotation/around Z-axis.

Chemical plating has recently been employed for the preparation of flexible piezoresistive sensors; however, plating solutions and processes that affect the sensitivity still need further exploration. In the study, a sponge-based flexible sensor with copper as its conductive material is prepared using electroless plating. The variation in sponge resistance and sensitivity changes with different plating times are studied. It is found that, with the increasing plating time, the conductivity increases and the resistance of sample will decrease. Moreover, the range of resistance difference will decrease under compression, thus the sensitivity decreases. Furthermore, the sensor’s applications were assessed, verifying the practicability of the developed preparation method. This study may bring ideas for the new development of flexible pressure sensors.

The overall distributions of the plantar fascia thickness and Young's modulus in the ten subjects were systematically investigated in this paper using two-dimensional ultrasound and shear wave elastography (SWE). The statistical analyses showed that ICC1,1 of the plantar fascia thickness and Young's modulus ranged from 0.950 to 0.991, with the 95% CI in the range of 0.953-0.996. This result indicated that the thickness and Young's modulus exhibited excellent retest reliability. The conclusion that both the thickness, d, and Young's modulus, E, of the plantar fascia showed a simple and specific spatial dependence on the characteristics of the gradient distribution can be drawn. As the plantar fascia extends from the calcaneus to the five toes, both the thickness, d, and Young's modulus, E, of the five bundles of plantar fascia showed a downward trend of a negative exponential function, and the thickness, d, and Young's modulus, E, were the largest at the tubercle of the calcaneus and closest to the lowest value at the tubercles of the five metatarsal bones. The coefficient of determination (R2) of the fitting curve of thickness, d, and Young's modulus, E, was higher than 0.959 in all ten subjects. The distribution characteristics of the plantar fascia thickness, d, and Young's modulus, E, showed good consistency in the healthy subjects in this paper. The conclusions of this paper may provide more accurate references and a basis for material mechanics data for plantar fascia diseases (such as fasciitis) and foot mechanical models (such as finite element models).

The objective of this paper is to quantitatively evaluate the effects of rotator cuff tear propagation on glenohumeral joint stability in a previously constructed and validated finite element shoulder model. Rotator cuff tears with a sequence of increasing sizes were created from the anterior portion of the supraspinatus osseous insertion site and propagated posteriorly through the infraspinatus tendon until a complete tear extended through the entire teres minor tendon. Finite element simulations were performed in the same physiological loading and boundary conditions as in the original model. A novel integrative stability index was proposed and used for quantitative analysis of the simulated results. By defining the healthy condition as the baseline (100%), the stability index decreased slightly with small tear sizes but declined suddenly after half tear of the infraspinatus accompanied by a complete tear of the supraspinatus tendon until the full tear condition, when the index reached 0.41%. These results confirm the clinical and cadaveric findings that glenohumeral joint stability generally decreases as the size of the rotator cuff tear increases and that the critical tear size which leads to the loss of normal shoulder biomechanics was half tear of the infraspinatus accompanied by a complete tear of the supraspinatus tendon. It is concluded that the finite element shoulder model and the proposed novel stability ratio can accurately predict shoulder biomechanics in the investigated rotator cuff condition. Both the model and ratio may have the potential to be used to improve diagnostic and therapeutic strategies for clinicians.

During human walking, mechanical energy transfers between segments via joints. Joint mechanics of the human body are coordinated with each other to adapt to speed change. The aim of this study is to analyze the functional behaviors of major joints during walking, and how joints and segments alter walking speed during different periods (collision, rebound, preload, and push-off) of stance phase. In this study, gait experiment was performed with three different self-selected speeds. Mechanical works of joints and segments were determined with collected data. Joint function indices were calculated based on net joint work. The results show that the primary functional behaviors of joints would not change with altering walking speed, but the function indices might be changed slightly (e.g., strut functions decrease with increasing walking speed). Waist acts as strut during stance phase and contributes to keep stability during collision when walking faster. Knee of stance leg does not contribute to altering walking speed. Hip and ankle absorb more mechanical energy to buffer the strike during collision with increasing walking speed. What is more, hip and ankle generate more energy during push-off with greater motion to push distal segments forward with increasing walking speed. Ankle also produces more mechanical energy during push-off to compensate the increased heel-strike collision of contralateral leg during faster walking. Thus, human may utilize the cooperation of hip and ankle during collision and push-off to alter walking speed. These findings indicate that speed change in walking leads to fundamental changes to joint mechanics.

The purpose of this study was to quantitatively assess the vertical force distribution (VFD) of subject-specific healthy blue sheep while walking on different slopes using a pressure-sensing walkway. The blue sheep was trained to walk over the pressure-sensing walkway by choosing a comfortable walking speed, and the slope angle increased from 0° to 25°. The sheep's hooves were divided into four quadrants, namely, the cranio-lateral, cranio-medial, caudo-lateral, and caudo-medial quadrants, to investigate the VFD of the peak vertical force (PVF), vertical impulse (VI) and occurrence time of the PVF during the stance phase (TPVF). This study demonstrates that the main stressed quadrant of the front hoof changes from the caudo-medial quadrant to the cranio-medial quadrant with increasing slope. The main stressed quadrant of the rear hoof is the cranio-medial quadrant and does not change with the increasing slope. For all the slopes, the vertical force shifted from the lateral quadrant to the medial quadrant and from the caudal quadrant to the cranial quadrant. All the results obtained in the study suggest the feasibility of detecting gait changes in blue sheep, which has potential for the diagnosis of lower limb musculoskeletal diseases in quadrupeds.

This paper aims to further our previous study to investigate the effect of speed on the human metatarsophalangeal (MP) joint kinematics during running on level ground. The 3D motion of the foot segments was captured by a twelve-camera motion analysis system, and the ground reaction forces and moments were recorded by using a six-force plate array. The relative movement between the tarsometatarsi (hindfoot) and phalanges (forefoot) segments were recorded to obtain the 3D orientation and position of the functional axis (FA) of the MP joint. The results show that the FA locates about an average of 19% foot length (FL) anterior to the anatomical axis (AA) across all running speeds, and is also 4.8% FL inferior to the AA during normal and fast run. Similar to walking, the functional axis is more oblique than the anatomical axis with a more anterior–inferior orientation across all the running speeds. This suggests that representing MP joint with the AA may mislead the calculation of joint moment/power and muscle moment arms in both running and walking gait. Compared with previous study, we found that walking and running speeds have statistically significant effects on the position of the FA. The functional axis moves frontward to a more anterior position when the speed increases during walking and running. It transfers upward in the superior direction with increasing speed of walking, but moves more toward the inferior position when the velocity increased further to running. Also, the orientation of FA in sagittal plane became more oblique toward the vertical direction as the speed increased. This may help in moderating the muscular effort, increase the muscle EMA and improve the locomotor performance. These results would contribute to understanding the in vivo biomechanical function of the MP joint and also the foot propulsion during human locomotion.

Ankle push-off is defined as the phase in which muscle-tendon units about the ankle joint generate a burst of positive power during the step-to-step transition in human walking. The dynamic walking of a biped robot can be effectively realized through ankle push-off. However, how to use ankle push-off to balance the walking speed and energy efficiency of biped robots has not been studied deeply. In this study, the effects of the step length (the inter-leg angle is 40°, 50°, and 60°), torque and timing of ankle push-off on the walking speed and energy efficiency of biped robots were studied. The results show that when the step length is 50°, the push-off torque is 30 N· m and the corresponding push-off timing occurs at 43% of the gait cycle, the simulated robot obtains a highly economical walking gait. The corresponding maximum normalized walking speed is 0.40, and the minimum mechanical cost of transport is 2.25. To acquire a more economical walking gait of biped robots, the amount of ankle push-off and the push-off timing need to be coordinated. The purpose of this study is to provide a reference for the influence of ankle push-off on the motion performance of biped robots.

Ankle push-off generates more than 80% positive power at the end of the stance phase during human walking. In this paper, the influence of impulsive ankle push-off on the walking speed of a biped robot is studied by simulation. When the push-off height of the ankle joint is 13 cm based on the ground (the height of the ankle joint of the swing leg) and the ankle push-off torque increases from 17 to 20.8 N·m, the duration of the swinging leg actually decreases from 50 to 30% of the gait cycle, the fluctuation amplitude of the COM (center of mass) instantaneous speed of the robot decreases from 95 to 35% of the maximum speed, and the walking speed increases from 0.51 to 1.14 m/s. The results demonstrate that impulsive ankle push-off can effectively increase the walking speed of the planar biped robot by accelerating the swing leg and reducing the fluctuation of the COM instantaneous speed. Finally, a comparison of the joint kinematics of the simulation robot and the human at a normal walking speed shows similar motion patterns.

Spiders use their special hydraulic system to achieve superior locomotor performance and high drive efficiency. To evaluate the variation in hydraulic joint angles and energy conversion during the hydraulic drive of spiders, kinematic data of Haplopelma hainanum were collected through a 3D motion capture and synchronization analysis system. Complete stride datasets in the speed range of 0.027 to 0.691 m s−1 were analyzed. Taking the tibia–metatarsu joint as an example, it was found that speed did not affect the angle variation range of the hydraulic joint. Based on the analysis of locomotor mechanics, a bouncing gait was mainly used by H. hainanum during terrestrial locomotion and their locomotor mechanism did not change with increasing speed. Because of the spiders’ hydraulic system, the mass-specific power per unit weight required to move the center of mass increased exponentially with increasing speed. The bouncing gait and the hydraulic system contributed to the lower transport cost at low speed, while the hydraulic system greatly increased the transport cost at high speed. The results of this study could provide a reference for the design of high-efficiency driving hydraulic systems of spider-like robots.

Stretchable and flexible tactile sensors have been extensively investigated for a variety of applications due to their outstanding sensitivity, flexibility, and biocompatibility compared with conventional tactile sensors. However, implementing stretchable multimodal sensors with high performance is still a challenge. In this study, a stretchable multimodal tactile sensor based on conductive rubber composites was fabricated. Because of the pressure-sensitive and temperature-sensitive effects of the conductive rubber composites, the developed sensor can simultaneously measure pressure and temperature, and the sensor presented high sensitivity (0.01171 kPa−1 and 2.46–30.56%/°C) over a wide sensing range (0–110 kPa and 30–90 °C). The sensor also exhibited outstanding performance in terms of processability, stretchability, and repeatability. Furthermore, the fabricated stretchable multimodal tactile sensor did not require complex signal processing or a transmission circuit system. The strategy for stacking and layering conductive rubber composites of this work may supply a new idea for building multifunctional sensor-based electronics.

Biological muscles exhibit a high level of integration, in which actuators, sensors and transmission elements can be included in one component. Artificial muscles or actuators refer to intelligent stimuli-responsive materials that could reversibly deform with the trigger of various external stimuli. These materials, which have attracted tremendous attention, produce natural muscle-like actuation performance and show promising applications in robotics. After an introduction of various actuator technologies that contribute to robotic applications, a comparative analysis of the main actuation parameter is provided. The comprehensive comparisons of each kind of artificial muscle are summarised, and the promising properties that are required in robotics are presented, which highlight the development of their actuation performances and the challenges that limit their further employments. Future developmental prospects and perspectives of artificial actuators are discussed.

As the only component that contacts the ground and rock, the hooves of blue sheep may play a crucial role in their excellent climbing abilities. In this study, we used a combination of techniques, including scanning electron microscopy, infrared spectroscopy and nanoindentation, to characterize the surface morphology, structure, material composition, and mechanical properties of blue sheep hoof and investigate the potential contributions of these properties to the establishment of passive contact stability. Straight and curled microscopic lamellar morphology were found on the hoof surfaces. The cross section of the hoof revealed four layers, and each layer had a unique structure. Finite element analysis was employed to verify that the surface morphology and microstructure effectively contributed to the slip resistance and impact cushioning, respectively. Analyses of the energy and infrared spectra showed that the organic and inorganic substances in different regions of the hoof had similar components but different contents of those components. The hoof was mainly composed of keratin. From the outside to the inside, gradients in both the modulus and hardness were observed. These factors help the hoof alleviate high impact strengths and increase contact stability. These findings further our understanding of the unique mechanism of blue sheep hoof and may help in the development of novel biomimetic materials and mechanical components with enhanced friction and contact stability properties.

Vertebral fractures associated with the loss of structural integrity of neoplastic vertebrae are common, and determined to the deterioration of the bone quality in the lesion area. The prediction of the fracture risk in metastatically involved spines can guide in deciding if preventive solutions, such as medical prophylaxis, bracing, or surgery are indicated for the patient. In this study, finite element models of 22 thoracolumbar vertebrae were built based on CT scans of three spines, covering a wide spectrum of possible clinical scenarios in terms of age, bone quality and degenerative features, taking into account the local material properties of bone tissue. Simulations were performed in order to investigate the effect of the size and location of the tumoral lesion, the bone quality and the vertebral level in determining the structural stability of the neoplastic vertebrae. Tumors with random size and positions were added to the models, for a total of 660 simulations in which a compressive load was simulated. Results highlighted the fundamental role of the tumor size, whereas the other parameters had a lower, but non-negligible impact on the axial collapse of the vertebra, the vertebral bulge in the transverse plane and the canal narrowing under the application of the load. All the considered parameters are radiologically measurable, and can therefore be translated in a straightforward way to the clinical practice to support decisions about preventive treatment of metastatic fractures.

Macroscopic mechanical properties of digitigrade paw pads, such as non-linear elastic and variable stiffness, have been investigated in previous studies; however, little is known about the micro-scale structural characteristics of digitigrade paw pads, or the relationship between these characteristics and the exceptional cushioning of the pads. The digitigrade paw pad consists of a multi-layered structure, which is mainly comprised of a stratified epithelium layer, a dermis layer and a subcutaneous layer. The stratified epithelium layer and dermal papillae constitute the epidermis layer. Finite element analyses were carried out and showed that the epidermis layer effectively attenuated the ground impact across impact velocities of 0.05–0.4 m/s, and that the von Mises stresses were uniformly distributed in this layer. The dermis layer encompassing the subcutaneous layer can be viewed as a hydrostatic system, which can store, release and dissipate impact energy. All three layers in the paw pad work as a whole to meet the biomechanical requirements of animal locomotion. These findings provide insights into the biomechanical functioning of digitigrade paw pads and could be used to facilitate bio-inspired, ground-contacting component development for robots and machines, as well as contribute to footwear design.

Although the hydraulic transmission system in spider legs is well known, the spider’s mechanism of locomotion during different terrain conditions still need to be explored further. In this study, spider locomotion was observed in detail on three pavement test platforms: horizontal hard pavement, horizontal soft pavement, and sloped soft pavement. The movement characteristics and joint kinematics of Grammostola rosea legs were captured by high-speed cameras and Simi Motion 3D tracking software. These observations showed that the gait pattern was basically consistent with an alternating tetrapod gait; however, the pattern observed on the sloped soft pavement was slightly different from that of the two horizontal pavements. In particular, the duty factor of the spiders was 0.683 when walking on the horizontal hard pavement, 0.668 on the horizontal soft pavement, and 0.630 on the sloped soft pavement. The duty factor was greater than 60% in all three pavement environments, which was minimal when walking on the sloped soft pavement. This pattern showed that spiders might have superior stability when walking, but their stability decreased in the sloped soft pavement environment. The ranges of joint angles through the spiders’ gait cycles in every pavement environment were also analysed and compared. The findings showed that the hydraulically driven femur-patella and tibia-metatarsal joint angles varied widely, which confirmed that hydraulically driven joints had major functions and obvious effects on the walking process. The kinematic patterns identified in this study provide improved understanding of the hydraulic transmission mechanisms, the factors that affect motion stability, and the design of biomimetic systems.

Ankle push-off occurs when muscle–tendon units about the ankle joint generate a burst of positive power at the end of stance phase in human walking. Ankle push-off mainly contributes to both leg swing and center of mass (CoM) acceleration. Humans use the amount of ankle push-off to induce speed changes. Thus, this study focuses on determining the faster walking speed and the lowest energy efficiency of biped robots by using ankle push-off. The real-time-space trajectory method is used to provide reference positions for the hip and knee joints. The torque curve during ankle push-off, composed of three quintic polynomial curves, is applied to the ankle joint. With the walking distance and the mechanical cost of transport (MCOT) as the optimization goals, the genetic algorithm (GA) is used to obtain the optimal torque curve during ankle push-off. The results show that the biped robot achieved a maximum speed of 1.3 m/s, and the ankle push-off occurs at 41.27−48.34% of the gait cycle. The MCOT of the bipedal robot corresponding to the high economy gait is 0.70, and the walking speed is 0.54 m/s. This study may further prompt the design of the ankle joint and identify the important implications of ankle push-off for biped robots.

Background. Soft tissue artifact (STA) is increasingly becoming a focus of research as the skin marker method is widely employed in motion capture technique. At present, medical imaging methods provide reliable ways to investigate the cervical STA. Among these approaches, magnetic resonance imaging (MRI) is a highly preferred tool because of its low radiation. Methods. In the study, the 3D spatial location of vertebral landmarks and corresponding skin markers of the spinous processes of the second (C2), fifth (C5), and sixth (C6) cervical levels during flexion and lateral bending were investigated. A series of static postures were scanned using MRI. Skin deformation was obtained by the Mimics software. Results. Results shows that during flexion, the maximum skin deformation occurs at C6, in the superior–inferior (Z) direction. Upon lateral bending, the maximum skin displacement occurs at C2 level, in the left–right (Y) direction. The result presents variability of soft tissue in the terms of direction and magnitude, which is consistent with the prevailing opinion. Discussion. The results testified variability of cervical STA. Future studies involving large ranges of subject classification, such as age, sex, height, gravity, and etc. should be performed to completely verify the existing hypothesis on human cervical skin deformation.

The objective of this study is to develop a computational framework for investigating the dynamic behavior and the internal loading conditions of the human foot complex during locomotion. A subject-specific dynamic finite element model in the sagittal plane was constructed based on anatomical structures segmented from medical CT scan images. Three-dimensional gait measurements were conducted to support and validate the model. Ankle joint forces and moment derived from gait measurements were used to drive the model. Explicit finite element simulations were conducted, covering the entire stance phase from heel-strike impact to toe-off. The predicted ground reaction forces, center of pressure, foot bone motions and plantar surface pressure showed reasonably good agreement with the gait measurement data over most of the stance phase. The prediction discrepancies can be explained by the assumptions and limitations of the model. Our analysis showed that a dynamic FE simulation can improve the prediction accuracy in the peak plantar pressures at some parts of the foot complex by 10%-33% compared to a quasi-static FE simulation. However, to simplify the costly explicit FE simulation, the proposed model is confined only to the sagittal plane and has a simplified representation of foot structure. The dynamic finite element foot model proposed in this study would provide a useful tool for future extension to a fully muscle-driven dynamic three-dimensional model with detailed representation of all major anatomical structures, in order to investigate the structural dynamics of the human foot musculoskeletal system during normal or even pathological functioning.