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This review paper provides an overview of the approaches to model neuromuscular control, focusing on methods to identify nonoptimal control strategies typical of populations with neuromuscular disorders or children. Where possible, the authors tightened the description of the methods to the mechanisms behind the underlying biomechanical and physiological rationale. They start by describing the first and most simplified approach, the reductionist approach, which splits the role of the nervous and musculoskeletal systems. Static optimization and dynamic optimization methods and electromyography-based approaches are summarized to highlight their limitations and understand (the need for) their developments over time. Then, the authors look at the more recent stochastic approach, introduced to explore the space of plausible neural solutions, thus implementing the uncontrolled manifold theory, according to which the central nervous system only controls specific motions and tasks to limit energy consumption while allowing for some degree of adaptability to perturbations. Finally, they explore the literature covering the explicit modeling of the coupling between the nervous system (acting as controller) and the musculoskeletal system (the actuator), which may be employed to overcome the split characterizing the reductionist approach. [ABSTRACT FROM AUTHOR]

The study of motor muscle control mechanisms can improve rehabilitation therapy and human-computer interaction technology. The limitations of traditional electroencephalography (EEG) limit the comprehensive understanding of motor muscle control mechanisms. Therefore, this study aims to explore the mechanism of motor muscle control based on optical EEG images, in order to expand the understanding of the process of motor control. The study selected optical EEG imaging technology as the main data acquisition tool. Optical EEG images have higher spatiotemporal resolution and can provide more detailed neural activity information. This technology combines optical imaging with EEG images to obtain spatiotemporal information of brain activity in a short period of time. The device is composed of multiple optical sensors and can measure blood oxygen concentration and neuronal activity in the cerebral cortex. Preprocess EEG image data using image processing and signal processing techniques, then use computational methods and algorithms to detect activated regions, and evaluate their relationships using correlation analysis and statistical methods. By comparing EEG image data and motor muscle activity data under different motor tasks. The research results show that optical EEG imaging technology can provide more detailed information on brain neural activity and accurately capture the activity patterns of different motor muscles. These results provide new perspectives and methods for further studying the control mechanisms of motor muscles.

This study focuses on the relationship between forearm muscles, carpal ligaments, and their impact on scapholunate joint stability across varying forearm rotations. This is crucial for optimizing pre and postoperative rehabilitation strategies for scapholunate joint dysfunction. Our study aims to understand the kinetic influence of forearm muscles on scapholunate joint instability. We emphasize the significance of forearm rotation to enhance treatment efficacy. We conducted an experimental study to understand how forearm muscles contribute to the stability of the scapholunate joint during different degrees of forearm rotation and we focused on the joint effect of muscle groups rather than individual muscles for treatment protocols. Our findings shed light on the conservative treatment of dynamic scapholunate instability and the postoperative rehabilitation of scapholunate ligament repair. We found that the effect of forearm muscles significantly contributes to preserve stability in the scapholunate joint across various forearm rotational positions. These insights have practical implications for hand therapists, offering innovative strategies to enhance clinical practice. This research underscores the importance of considering forearm rotation when developing rehabilitation protocols for scapholunate joint instability and provides a valuable perspective in line with current rehabilitation principles. • The article is based on four biomechanical cadaver lab studies aimed at investigating the effects of forearm rotation on the muscles and ligaments that stabilize the scapholunate joint. • Forearm rotation affects the alignment of the carpal bones and forearm supination can destabilize the scapholunate joint. • Forearm rotation modifies the efficiency of the scapholunate joint stabilizing muscles: the APL work capacity is maximal in neutral forearm rotation; ECRL and ECRB are more efficient in forearm pronation. • The ECU muscle destabilizes the scapholunate joint in any forearm rotation. • It is important to consider forearm rotation in the diagnosis and conservative pre or postoperative treatment of the scapholunate joint dysfunction. [ABSTRACT FROM AUTHOR]

Nowadays, active human body models are becoming essential tools for the development of integrated occupant safety systems. However, their broad application in industry and research is limited due to the complexity of incorporated muscle controllers, the long simulation runtime, and the non-regular use of physiological motor control approaches. The purpose of this study is to address the challenges in all indicated directions by implementing a muscle controller with several physiologically inspired control strategies into an open-source extended Hill-type muscle model formulated as LS-DYNA user-defined umat41 subroutine written in the Fortran programming language. This results in increased usability, runtime performance and physiological accuracy compared to the standard muscle material existing in LS-DYNA. The proposed controller code is verified with extensive experimental data that include findings for arm muscles, the cervical spine region, and the whole body. Selected verification experiments cover three different muscle activation situations: (1) passive state, (2) open-loop and closed-loop muscle activation, and (3) reflexive behaviour. Two whole body finite element models, the 50th percentile female VIVA OpenHBM and the 50th percentile male THUMS v5, are used for simulations, complemented by the simplified arm model extracted from the 50th percentile male THUMS v3. The obtained results are evaluated additionally with the CORrelation and Analysis methodology and the mean squared error method, showing good to excellent biofidelity and sufficient agreement with the experimental data. It was shown additionally how the integrated controller allows simplified mimicking of the movements for similar musculoskeletal models using the parameters transfer method. Furthermore, the Hill-type muscle model presented in this paper shows better kinematic behaviour even in the passive case compared to the existing one in LS-DYNA due to its improved damping and elastic properties. These findings provide a solid evidence base motivating the application of the enhanced muscle material with the internal controller in future studies with Active Human Body Models under different loading conditions. [ABSTRACT FROM AUTHOR]

Squid use eight arms and two slender tentacles to capture prey. The muscular stalks of the tentacles are elongated approximately 80% in 20–40 ms towards the prey, which is adhered to the terminal clubs by arrays of suckers. Using a previously developed forward dynamics model of the extension of the tentacles of the squid Doryteuthis pealeii (formerly Loligo pealeii), we predict how spatial muscle-activation patterns result in a distribution of muscular power, muscle work, and kinetic and elastic energy along the tentacle. The simulated peak extension speed of the tentacles is remarkably insensitive to delays of activation along the stalk, as well as to random variations in the activation onset. A delay along the tentacle of 50% of the extension time has only a small effect on the peak extension velocity of the tentacle compared with a zero-delay pattern. A slight delay of the distal portion relative to the proximal has a small positive effect on peak extension velocity, whereas negative delays (delay reversed along stalk) always reduce extension performance. In addition, tentacular extension is relatively insensitive to superimposed random variations in the prescribed delays along the stalk. This holds in particular for small positive delays that are similar to delays predicted from measured axonal diameters of motor neurons. This robustness against variation in the activation distribution reduces the accuracy requirements of the neuronal control and is likely due to the non-linear mechanical properties of the muscular tissue in the tentacle.

Spinal motoneurons contain many ion channels and receptors upon which various cannabinoids are known to act. This scoping review involved the synthesis of evidence from literature published before August 2022 about the effects of cannabinoids on quantifiable measures of motoneuron output. Four databases (MEDLINE, Embase, PsycINFO, and Web of Science CoreCollection) were queried and 4,237 unique articles were retrieved. Twenty-three studies met the inclusion criteria, and the findings from these studies were grouped according to four emergent themes: rhythmic motoneuron output, afferent feedback integration, membrane excitability, and neuromuscular junction transmission. This synthesis of evidence suggests that CB1 agonists can increase the frequency of cyclical patterns of motoneuron output (i.e., fictive locomotion). Furthermore, a majority of the evidence indicates that activating CB1 receptors at motoneuron synapses promotes excitation of motoneurons by enhancing excitatory synaptic transmission and depressing inhibitory synaptic transmission. The collated study results reveal variable effects of cannabinoids on acetylcholine release at the neuromuscular junction, and the influence of cannabinoids in this area requires more work to ensure precision of findings for CB1 agonist and antagonist impact. Altogether, these reports indicate that the endocannabinoid system is integral within the final common pathway and can impact motor output. This review contributes to understanding the effects of endocannabinoids on synaptic integration at the motoneuron and modulation of motor output. [ABSTRACT FROM AUTHOR]

Graphical abstract Powered orthoses that employ virtual muscle models for specifying motor commands may better produce natural, human-like joint torque and motion outputs. Here, we design and implement a muscle controller based on the standard 3-element Hill model that outputs a joint torque signal prescribed to the electric motors of a powered orthosis. Real-time simulation of muscle dynamics in a MATLAB/Simulink environment was expressed through a microcontroller on the Parker Hannifin Indego orthosis. To initially demonstrate and examine the force-length and force-velocity relationships of the virtual muscles, we programmed the Indego to perform standard isokinetic and isometric rehabilitation exercises at the knee joint. A Biodex-2 isokinetic dynamometer was used to apply constraints and actively measure changes in knee joint angle, velocity, and torque. The observed torque rise time (∼126 ms) and profiles for torque-angle and torque-velocity for the muscle-model at the knee joint of the orthosis compared favorably to results reported for humans undergoing the same exercises. We further demonstrate potential feasibility for real-world implementation through measures of root mean square error (RMSE) and coefficient of determination (R 2), which indicate good matching between the commanded and measured torque outputs. This pilot study represents the first step in developing and implementing control strategies for powered orthoses based on human muscle models. [ABSTRACT FROM AUTHOR]

Current robotic studies are focused on the performance of specific tasks. However, such tasks cannot be generalized, and some special tasks, such as compliant and precise manipulation, fast and flexible response, and deep collaboration between humans and robots, cannot be realized. Brain-inspired intelligent robots imitate humans and animals, from inner mechanisms to external structures, through an integration of visual cognition, decision making, motion control, and musculoskeletal systems. This kind of robot is more likely to realize the functions that current robots cannot realize and become human friends. With the focus on the development of brain-inspired intelligent robots, this article reviews cutting-edge research in the areas of brain-inspired visual cognition, decision making, musculoskeletal robots, motion control, and their integration. It aims to provide greater insight into brain-inspired intelligent robots and attracts more attention to this field from the global research community. [ABSTRACT FROM AUTHOR]

The study of motor muscle control mechanisms can improve rehabilitation therapy and human-computer interaction technology. The limitations of traditional electroencephalography (EEG) limit the comprehensive understanding of motor muscle control mechanisms. Therefore, this study aims to explore the mechanism of motor muscle control based on optical EEG images, in order to expand the understanding of the process of motor control. The study selected optical EEG imaging technology as the main data acquisition tool. Optical EEG images have higher spatiotemporal resolution and can provide more detailed neural activity information. This technology combines optical imaging with EEG images to obtain spatiotemporal information of brain activity in a short period of time. The device is composed of multiple optical sensors and can measure blood oxygen concentration and neuronal activity in the cerebral cortex. Preprocess EEG image data using image processing and signal processing techniques, then use computational methods and algorithms to detect activated regions, and evaluate their relationships using correlation analysis and statistical methods. By comparing EEG image data and motor muscle activity data under different motor tasks. The research results show that optical EEG imaging technology can provide more detailed information on brain neural activity and accurately capture the activity patterns of different motor muscles. These results provide new perspectives and methods for further studying the control mechanisms of motor muscles., Competing Interests: Declaration of interests The authors declare that there is no conflict of interests regarding the publication of this article., (Copyright © 2024 The Author(s). Published by Elsevier Inc. All rights reserved.)

Although we can measure muscle activity and analyze their activation patterns, we understand little about how individual muscles affect the joint torque generated. It is known that they are controlled by circuits in the spinal cord, a system much less well-understood than the cortex. Knowing the contribution of the muscles toward a joint torque would improve our understanding of human limb control. We present a novel framework to examine the control of biomechanics using physics simulations informed by electromyography (EMG) data. These signals drive a virtual musculoskeletal model in the Neurorobotics Platform (NRP), which we then use to evaluate resulting joint torques. We use our framework to analyze raw EMG data collected during an isometric knee extension study to identify synergies that drive a musculoskeletal lower limb model. The resulting knee torques are used as a reference for genetic algorithms (GA) to generate new simulated activation patterns. On the platform the GA finds solutions that generate torques matching those observed. Possible solutions include synergies that are similar to those extracted from the human study. In addition, the GA finds activation patterns that are different from the biological ones while still producing the same knee torque. The NRP forms a highly modular integrated simulation platform allowing these in silico experiments. We argue that our framework allows for research of the neurobiomechanical control of muscles during tasks, which would otherwise not be possible. [ABSTRACT FROM AUTHOR]

Although we can measure muscle activity and analyze their activation patterns, we understand little about how individual muscles affect the joint torque generated. It is known that they are controlled by circuits in the spinal cord, a system much less well-understood than the cortex. Knowing the contribution of the muscles toward a joint torque would improve our understanding of human limb control. We present a novel framework to examine the control of biomechanics using physics simulations informed by electromyography (EMG) data. These signals drive a virtual musculoskeletal model in the Neurorobotics Platform (NRP), which we then use to evaluate resulting joint torques. We use our framework to analyze raw EMG data collected during an isometric knee extension study to identify synergies that drive a musculoskeletal lower limb model. The resulting knee torques are used as a reference for genetic algorithms (GA) to generate new simulated activation patterns. On the platform the GA finds solutions that generate torques matching those observed. Possible solutions include synergies that are similar to those extracted from the human study. In addition, the GA finds activation patterns that are different from the biological ones while still producing the same knee torque. The NRP forms a highly modular integrated simulation platform allowing these in silico experiments. We argue that our framework allows for research of the neurobiomechanical control of muscles during tasks, which would otherwise not be possible.

The ultimate neural signal for muscle control is the neural drive sent from the spinal cord to muscles. This neural signal comprises the ensemble of action potentials discharged by the active spinal motoneurons, which is transmitted to the innervated muscle fibres to generate forces. Accurately estimating the neural drive to muscles in humans in vivo is challenging since it requires the identification of the activity of a sample of motor units (MUs) that is representative of the active MU population. Current electrophysiological recordings usually fail in this task by identifying small MU samples with over-representation of higher-threshold with respect to lower-threshold MUs. Here, we describe recent advances in electrophysiological methods that allow the identification of more representative samples of greater numbers of MUs than previously possible. This is obtained with large and very dense arrays of electromyographic electrodes. Moreover, recently developed computational methods of data augmentation further extend experimental MU samples to infer the activity of the full MU pool. In conclusion, the combination of new electrode technologies and computational modelling allows for an accurate estimate of the neural drive to muscles and opens new perspectives in the study of the neural control of movement and in neural interfacing. [ABSTRACT FROM AUTHOR]

Background Context: Multisensory afferent inputs to the cervical spine affect the generation of neck muscle control. Chronic neck pain (CNP) and muscle fatigue are factors that disturb somatosensory function. Whether they affect postural control under self-initiated perturbation in daily activities is still unclear.Purpose: To investigate the effect of CNP and neck flexor muscle fatigue on muscle control strategy and postural control in young patients performing voluntary shoulder flexion movements.Study Design: Cross-sectional case-control study.Patient Sample: Twenty-five patients with CNP and 25 age-matched asymptomatic controls.Outcome Measures: The postural sway, muscle onset time, and activation level of the erector spinae, rectus abdominal, semispinalis capitis (SSC), and sternocleidomastoid (SCM) muscles were recorded and analyzed using two-way ANOVA to evaluate the interaction of CNP and muscle fatigue on standing balance and muscle control upon self-initiated perturbations.Methods: All participants were instructed to perform shoulder flexion movements in the standing position before and after a neck flexor muscle fatigue exercise under either the eyes-open or eyes-closed condition.Results: The CNP group exhibited significantly larger body sway, greater neck muscle activation (SCM and SSC), and longer onset time of neck flexor muscle (SCM) compared with the control group. The CNP group also demonstrated a trend of greater postural sway and shorter muscle onset under the eyes-closed condition than those under the eyes-open condition. After muscle fatigue, the CNP group further exhibited (1) greater body sway during the eyes-open condition but decreased body sway during the eyes-closed condition, (2) higher activation of the neck flexor (SCM) and lower activation of the trunk extensor (erector spinae), and (3) early onset of the neck muscles (SCM and SSC).Conclusions: CNP causes poor postural control and altered neck muscle control patterns. The addition of neck flexor muscle fatigue further decreases balance stability and provokes a protective neck muscle control strategy during the shoulder flexion movement. Those findings facilitate the understanding of the strategies adopted by patients and suggest that neck endurance training programs may be beneficial to improve whole postural control in patients with CNP. [ABSTRACT FROM AUTHOR]

Objective: Reanimation of muscles paralyzed by disease states such as spinal cord injury remains a highly sought therapeutic goal of neuroprosthetic research. Optogenetic stimulation of peripheral motor nerves expressing light-sensitive opsins is a promising approach to muscle reanimation that may overcome several drawbacks of traditional methods such as functional electrical stimulation (FES). However, the utility of these methods has only been demonstrated in rodents to date, while translation to clinical practice will likely first require demonstration and refinement of these gene therapy techniques in non-human primates.Approach: Three rhesus macaques were injected intramuscularly with either one or both of two optogenetic constructs (AAV6-hSyn-ChR2-eYFP and/or AAV6-hSyn-Chronos-eYFP) to transduce opsin expression in the corresponding nerves. Neuromuscular junctions were targeted for virus delivery using an electrical stimulating injection technique. Functional opsin expression was periodically evaluated up to 13 weeks post-injection by optically stimulating targeted nerves with a 472 nm fiber-coupled laser while recording electromyographic (EMG) responses.Main Results: One monkey demonstrated functional expression of ChR2 at 8 weeks post-injection in each of two injected muscles, while the second monkey briefly exhibited contractions coupled to optical stimulation in a muscle injected with the Chronos construct at 10 weeks. A third monkey injected only in one muscle with the ChR2 construct showed strong optically coupled contractions at 5 ½ weeks which then disappeared by 9 weeks. EMG responses to optical stimulation of ChR2-transduced nerves demonstrated graded recruitment relative to both stimulus pulse-width and light intensity, and followed stimulus trains up to 16 Hz. In addition, the EMG response to prolonged stimulation showed delayed fatigue over several minutes.Significance: These results demonstrate the feasibility of viral transduction of peripheral motor nerves for functional optical stimulation of motor activity in non-human primates, a variable timeline of opsin expression in a animal model closer to humans, and fundamental EMG response characteristics to optical nerve stimulation. Together, they represent an important step in translating these optogenetic techniques as a clinically viable gene therapy.

Objective: Reanimation of muscles paralyzed by disease states such as spinal cord injury remains a highly sought therapeutic goal of neuroprosthetic research. Optogenetic stimulation of peripheral motor nerves expressing light-sensitive opsins is a promising approach to muscle reanimation that may overcome several drawbacks of traditional methods such as functional electrical stimulation (FES). However, the utility of these methods has only been demonstrated in rodents to date, while translation to clinical practice will likely first require demonstration and refinement of these gene therapy techniques in non-human primates. Approach: Three rhesus macaques were injected intramuscularly with either one or both of two optogenetic constructs (AAV6-hSyn-ChR2-eYFP and/or AAV6-hSyn-Chronos-eYFP) to transduce opsin expression in the corresponding nerves. Neuromuscular junctions were targeted for virus delivery using an electrical stimulating injection technique. Functional opsin expression was periodically evaluated up to 13 weeks post-injection by optically stimulating targeted nerves with a 472 nm fiber-coupled laser while recording electromyographic (EMG) responses. Main Results: One monkey demonstrated functional expression of ChR2 at 8 weeks post-injection in each of two injected muscles, while the second monkey briefly exhibited contractions coupled to optical stimulation in a muscle injected with the Chronos construct at 10 weeks. A third monkey injected only in one muscle with the ChR2 construct showed strong optically coupled contractions at 5 ½ weeks which then disappeared by 9 weeks. EMG responses to optical stimulation of ChR2-transduced nerves demonstrated graded recruitment relative to both stimulus pulse-width and light intensity, and followed stimulus trains up to 16 Hz. In addition, the EMG response to prolonged stimulation showed delayed fatigue over several minutes. Significance: These results demonstrate the feasibility of viral transduction of peripheral motor nerves for functional optical stimulation of motor activity in non-human primates, a variable timeline of opsin expression in a animal model closer to humans, and fundamental EMG response characteristics to optical nerve stimulation. Together, they represent an important step in translating these optogenetic techniques as a clinically viable gene therapy. [ABSTRACT FROM AUTHOR]

Squid use eight arms and two slender tentacles to capture prey. The muscular stalks of the tentacles are elongated approximately 80% in 20-40 ms towards the prey, which is adhered to the terminal clubs by arrays of suckers. Using a previously developed forward dynamics model of the extension of the tentacles of the squid Doryteuthis pealeii (formerly Loligo pealeii ), we predict how spatial muscle-activation patterns result in a distribution of muscular power, muscle work, and kinetic and elastic energy along the tentacle. The simulated peak extension speed of the tentacles is remarkably insensitive to delays of activation along the stalk, as well as to random variations in the activation onset. A delay along the tentacle of 50% of the extension time has only a small effect on the peak extension velocity of the tentacle compared with a zero-delay pattern. A slight delay of the distal portion relative to the proximal has a small positive effect on peak extension velocity, whereas negative delays (delay reversed along stalk) always reduce extension performance. In addition, tentacular extension is relatively insensitive to superimposed random variations in the prescribed delays along the stalk. This holds in particular for small positive delays that are similar to delays predicted from measured axonal diameters of motor neurons. This robustness against variation in the activation distribution reduces the accuracy requirements of the neuronal control and is likely due to the non-linear mechanical properties of the muscular tissue in the tentacle., Competing Interests: The authors declare that the research was conducted in the absence of any commercial or financial relationships that could be construed as a potential conflict of interest., (Copyright © 2023 van Leeuwen and Kier.)

Musculoskeletal modeling allows for analysis of individual muscles in various situations. However, current techniques to realistically simulate muscle response when significant amounts of intentional coactivation is required are inadequate. This would include stiffening the neck or spine through muscle coactivation in preparation for perturbations or impacts. Muscle coactivation has been modeled previously in the neck and spine using optimization techniques that seek to maximize the joint stiffness by maximizing total muscle activation or muscle force. These approaches have not sought to replicate human response, but rather to explore the possible effects of active muscle. Coactivation remains a challenging feature to include in musculoskeletal models, and may be improved by extracting optimization objective functions from experimental data. However, the components of such an objective function must be known before fitting to experimental data. This study explores the effect of components in several objective functions, in order to recommend components to be used for fitting to experimental data. Four novel approaches to modeling coactivation through optimization techniques are presented, two of which produce greater levels of stiffness than previous techniques. Simulations were performed using OpenSim and MATLAB cooperatively. Results show that maximizing the moment generated by a particular muscle appears analogous to maximizing joint stiffness. The approach of optimizing for maximum moment generated by individual muscles may be a good candidate for developing objective functions that accurately simulate muscle coactivation in complex joints. This new approach will be the focus of future studies with human subjects. [ABSTRACT FROM AUTHOR]

The purpose of this work is to better understand how animals control locomotion. This knowledge can then be applied to neuromechanical design to produce more capable and adaptable robot locomotion. To test hypotheses about animal motor control, we model animals and their nervous systems with dynamical simulations, which we call synthetic nervous systems (SNS). However, one major challenge is picking parameter values that produce the intended dynamics. This paper presents a design process that solves this problem without the need for global optimization. We test this method by selecting parameter values for SimRoach2, a dynamical model of a cockroach. Each leg joint is actuated by an antagonistic pair of Hill muscles. A distributed SNS was designed based on pathways known to exist in insects, as well as hypothetical pathways that produced insect-like motion. Each joint's controller was designed to function as a proportional-integral (PI) feedback loop and tuned with numerical optimization. Once tuned, SimRoach2 walks through a simulated environment, with several cockroach-like features. A model with such reliable low-level performance is necessary to investigate more sophisticated locomotion patterns in the future. [ABSTRACT FROM AUTHOR]

EEG-neurofeedback (NFB) became a very popular method aimed at improving cognitive and behavioral performance. However, the EMG frequency spectrum overlies the higher EEG oscillations and the NFB trainings focusing on these frequencies is hindered by the problem of EMG load in the information fed back to the subjects. In such a complex signal, it is highly probable that the most controllable component will form the basis for operant conditioning. This might cause different effects in the case of various training protocols and therefore needs to be carefully assessed before designing training protocols and algorithms. In the current experiment a group of healthy adults (n = 14) was trained by professional trainers to up-regulate their beta1 (15-22 Hz) band for eight sessions. The control group (n = 18) underwent the same training regime but without rewards for increasing beta. In half of the participants trained to up-regulate beta1 band (n = 7) a systematic increase in tonic EMG activity was identified offline, implying that muscle activity became a foundation for reinforcement in the trainings. The remaining participants did not present any specific increase of the trained beta1 band amplitude. The training was perceived effective by both trainers and the trainees in all groups. These results indicate the necessity of proper control of muscle activity as a requirement for the genuine EEG-NFB training, especially in protocols that do not aim at the participants' relaxation. The specificity of the information fed back to the participants should be of highest interest to all therapists and researchers, as it might irreversibly alter the results of the training. [ABSTRACT FROM AUTHOR]

The purpose of this work is to better understand how animals control locomotion. This knowledge can then be applied to neuromechanical design to produce more capable and adaptable robot locomotion. To test hypotheses about animal motor control, we model animals and their nervous systems with dynamical simulations, which we call synthetic nervous systems (SNS). However, one major challenge is picking parameter values that produce the intended dynamics. This paper presents a design process that solves this problem without the need for global optimization. We test this method by selecting parameter values for SimRoach2, a dynamical model of a cockroach. Each leg joint is actuated by an antagonistic pair of Hill muscles. A distributed SNS was designed based on pathways known to exist in insects, as well as hypothetical pathways that produced insect-like motion. Each joint’s controller was designed to function as a proportional-integral (PI) feedback loop and tuned with numerical optimization. Once tuned, SimRoach2 walks through a simulated environment, with several cockroach-like features. A model with such reliable low-level performance is necessary to investigate more sophisticated locomotion patterns in the future.

Orthotics is the field of splinting and bracing. This article sets outlines what orthotics are, how they can be used and the underlying biomechanical principles and key areas where orthotic intervention can complement stroke rehabilitation. A common condition in stroke patients is dropped foot; the article explains and illustrates the three-point force system used to correct it. While emphasising the specialist work of the orthotist in helping patients recover from stroke, the role of the whole multidisciplinary team in supplementing that specialist work is stressed. Teaching the patient how to stand and then to walk are dealt with. The article concludes with sections on tuning and problem-solving in orthotics and how they can help with spasticity. [ABSTRACT FROM AUTHOR]

Study design: Experimental laboratory-based research in biomechanics. Introduction: The mechanisms by which some lunotriquetral (LTq) ligament disruptions remain stable are not known. Purpose of the study: To investigate the contribution of muscles in preventing carpal destabilization when the LTq ligaments are torn. Methods: Ten fresh cadaver wrists, set vertical in a jig, were isometrically loaded through five wrist motor tendons. Changes in carpal alignment secondary to the application of loads were monitored by a Fastrak™ electromagnetic motion tracking device, before and after sectioning the LTq ligaments. Results: After LTq ligaments sectioning, wrist loading forced the triquetrum into flexion (5.4° average) and supination (2.9 ). The only muscle capable of extending and pronating the collapsed triquetrum was the extensor carpi ulnaris (ECU). Conclusions: Inadequate ECU muscle function is an important destabilizing factor in LTq deficient wrists. Dynamic LTq instabilities may benefit from proprioceptionally training the ECU muscle, while avoiding carpal supination torques. [ABSTRACT FROM AUTHOR]

This paper presents an enhanced version of the previously proposed physiological inverse approach (PIA) to calculate musculotendon (MT) forces and evaluates the proposed methodology in a comparative study. PIA combines an inverse dynamic analysis with an optimisation approach that imposes muscle physiology and optimises performance over the entire motion. To solve the resulting large-scale, nonlinear optimisation problem, we neglected muscle fibre contraction speed and an approximate quadratic optimisation problem (PIA-QP) was formulated. Conversely, the enhanced version of PIA proposed in this paper takes into account muscle fibre contraction speed. The optimisation problem is solved using a sequential convex programing procedure (PIA-SCP). The comparative study includes PIA-SCP, PIA-QP and two commonly used approaches from the literature: static optimisation (SO) and computed muscle control (CMC). SO and CMC make simplifying assumptions to limit the computational time. Both methods minimise an instantaneous performance criterion. Furthermore, SO does not impose muscle physiology. All methods are applied to a gait cycle of six control subjects. The relative root mean square error averaged over all subjects, , between the joint torques simulated from the optimised activations and the joint torques obtained from the inverse dynamic analysis was about twice as large for SO (  = 86) as compared with CMC (  = 39) and PIA-SCP (  = 50). was at least twice as large for PIA-QP (  = 197) than for all other methods. As compared with CMC, muscle activation patterns predicted by PIA-SCP better agree with experimental electromyography (EMG). This study shows that imposing muscle physiology as well as globally optimising performance is important to accurately calculate MT forces underlying gait. [ABSTRACT FROM AUTHOR]

Abstract: The purpose of the present study was to determine (1) if joint position sense (JPS) in subjects with shoulder stiffness (SS) differs from that in controls; (2) if, when JPS is reduced in SS, it is related to scapular muscular activities in the mid/end ranges of motion; and (3) if a person’s function is associated with his or her level of JPS. Eighteen subjects with unilateral SS and 18 controls were included. Each subject performed abduction by self-selecting an end/mid range position. The electromagnetic motion-capturing system collected kinematic data while surface electromyography collected muscle activities (upper trapezius, lower trapezius, and serratus anterior muscles). Subjects were asked to move the upper limb to the target position (end/mid range) accurately without visual guidance. Reduced JPS was observed in subjects with SS (2.7 degrees in mid range, p <0.05). The JPS was enhanced by an increased scapula muscular activation level in the end range of motion (R =−0.61 for SS and −0.41 for controls) and by coordination among muscles’ activation in the mid-range of motion (R =−0.87 for SS and R =−0.53 for controls). Impaired JPS was also related to self-reported functional status (R =−0.56) in subjects with SS. Shoulder JPS in subjects with chronic SS is impaired in comparison with controls. In the mid-range motion, the coordination of scapula muscular activation is related to shoulder JPS. Impaired JPS is also function-related in subjects with SS. These findings suggest that the coordination among scapula muscles’ activation were important to consider in the rehabilitation of patients with chronic SS. [Copyright &y& Elsevier]

Abstract: Ankle foot orthoses (AFOs) provide immediate changes to gait kinematics and alter EMG-recorded muscle activity during gait; yet our understanding of neuromuscular adaptations while using AFOs remains incomplete. To address this, we have developed a tunable AFO model to predict torque from ankle angle and velocity and to identify plausible changes in muscle excitation and function in a walking simulation. Using a dynamometer in passive mode, we isolated flexion/extension torque of three polypropylene spring leaf AFOs at 5°/s, 30°/s and 120°/s, from which a model of AFO torque as a function of deformation angle, velocity and size was derived with predictive ability of R 2 >0.9. The model coefficients did not vary linearly with size, illustrating the need to test AFO deformation response individually. We applied the tuned models to simulations of normal healthy gait to isolate AFO-induced neuromuscular changes. Compared to the No-AFO condition, AFO results show decreased net tibialis anterior excitation. Our results also show that net soleus excitation is not diminished with an AFO although soleus-induced ankle accelerations were reduced. With a tunable AFO model applied to walking simulations, we can quantify the contributions of muscle and orthosis to net joint torque and predict changes in neuromuscular control during walking. [Copyright &y& Elsevier]

Persons with recurrent low back pain (LBP) have been observed to have altered proprioceptive postural control. These patients seem to adopt a body and trunk stiffening strategy and rely more on ankle proprioception to control their posture during quiet upright standing. The aim of this study is to determine the effect of changing postural condition (stable and unstable support surface) on postural stability and proprioceptive postural control strategy in persons with recurrent LBP. Postural sway characteristics of 21 persons with recurrent LBP and 24 healthy individuals were evaluated in upright posture with or without standing on “foam” for the conditions as follows: (1) control (no vibration); (2) vibration of the triceps surae muscles; (3) paraspinal muscle vibration; (4) vibration of the tibialis anterior muscles. Vision was occluded in all conditions except for one control trial. All trials lasted 60 s. Vibration (60 Hz, 0.5 mm), as a potent stimulus for muscle spindles, was initiated 15 s after the start of the trial for a duration of 15 s. Persons with recurrent LBP showed significantly different postural control strategies favoring ankle muscle proprioceptive control (ratio closer to 1) instead of paraspinal muscle proprioceptive control (ratio closer to 0) for both standing without foam (ratio ankle muscle/paraspinal muscle control = 0.83) ( P < 0.0001) and on foam (ratio ankle muscle/paraspinal muscle control = 0.87; P < 0.0001) compared to healthy individuals (0.67 and 0.46, respectively). It is concluded that young persons with recurrent LBP seem to use the same proprioceptive postural control strategy even in conditions when this ankle strategy is not the most appropriate such as standing on an unstable support surface. The adopted proprioceptive postural control strategy might be effective in simple conditions, however, when used in all postural conditions this could be a mechanism to undue spinal loading, pain and recurrences. [ABSTRACT FROM AUTHOR]

We propose a novel approach to proportional derivative (PD) control exploiting the fact that these equations can be solved analytically for a single degree of freedom. The analytic solution indicates what the PD controller would accomplish in isolation without interference from neighboring joints, gravity and external forces, outboard limbs, etc. Our approach to time integration includes an inverse dynamics formulation that automatically incorporates global feedback so that the per joint predictions are achieved. This effectively decouples stiffness from control so that we obtain the desired target regardless of the stiffness of the joint, which merely determines when we get there. We start with simple examples to illustrate our method and then move on to more complex examples including PD control of line segment muscle actuators. [ABSTRACT FROM AUTHOR]

Abstract: A neuromusculoskeletal tracking (NMT) method was developed to estimate muscle forces from observed motion data. The NMT method combines skeletal motion tracking and optimal neuromuscular tracking to produce forward simulations of human movement quickly and accurately. The skeletal motion tracker calculates the joint torques needed to actuate a skeletal model and track observed segment angles and ground forces in a forward simulation of the motor task. The optimal neuromuscular tracker resolves the muscle redundancy problem dynamically and finds the muscle excitations (and muscle forces) needed to produce the joint torques calculated by the skeletal motion tracker. To evaluate the accuracy of the NMT method, kinematics and ground forces obtained from an optimal control (parameter optimization) solution for maximum-height jumping were contaminated with both random and systematic noise. These data served as input observations to the NMT method as well as an inverse dynamics analysis. The NMT solution was compared to the input observations, the original optimal solution, and a simulation driven by the inverse dynamics torques. The results show that, in contrast to inverse dynamics, the NMT method is able to produce an accurate forward simulation consistent with the optimal control solution. The NMT method also requires 3 orders-of-magnitude less CPU time than parameter optimization. The speed and accuracy of the NMT method make it a promising new tool for estimating muscle forces using experimentally obtained kinematics and ground force data. [Copyright &y& Elsevier]

An apparatus for characterization and control of muscle tissue is presented. The apparatus is capable of providing generalized mechanical boundary conditions to muscle tissue, as well as implementing real-time feedback control via electrical stimulation. The system is intended to serve as an experimental platform for implementing a wide variety of muscle control and identification studies that will serve as fundamental investigations of muscle mechanics, energetics, functional electrical stimulation, and fatigue. In one illustration of the capabilities of the apparatus, pilot experimental results of muscle workloops against a finite-admittance passive load are presented, illustrating how richer boundary conditions may reveal interesting muscle behavior. [ABSTRACT FROM AUTHOR]

Abstract: This paper proposes a method to control muscular flexibility during training and rehabilitation. This method invokes muscular stretching by mechanical stimulation of the neuromuscular gamma loop. The specification and characterization of this method are based on a simulation model related to the biomechanical behaviour of muscle. This model was used to identify the parameters required for the implementation of mechanical stimulation on an isokinetic machine. A generic control architecture for this type of machine was proposed to carry out stimulation patterns that invoke muscular stretching. As validation, experimental data were obtained with the help of Multi-Iso, a machine used for training and rehabilitation of the lower limbs. [Copyright &y& Elsevier]

This paper describes the mechanical and control design of a robotic device for providing therapeutic assistance to arm movement following stroke. The device uses a single motor and a passively oriented linear constraint to allow patients to reach across their workspace. Experimental evaluation of two controllers for assisting in reaching is presented. [ABSTRACT FROM AUTHOR]

In this report we give the results of some experiments on the effects of the hashish constituents δ-tetrahydrocannabinol (THC) and cannabidiol (CBD) on mice. THC produced a dose dependent depression of aggression in isolated mice and a dose dependent depression of body temperature in group caged mice. The drug did not alter motor co-ordination. CBD showed a small, not significant influence on aggressiveness, and no influence on body temperature and muscle control. The same experiments were carried out with combinations of THC and CBD in several dosages. In these experiments no interaction between both compounds was seen. This means that there can only be an additive action and not potentiation in the pharmacological sense. It also means that the in vitro inhibition by CBD of the drug metabolizing enzymes, responsible for biotransformation of THC, is not strong enough to result in changed effects of THC in the living animal. [ABSTRACT FROM AUTHOR]

[Purpose] The purpose of the current study was to reveal the association between posture control and muscle activity by measuring the trunk and hip joint muscle activities in the upright and slump sitting positions in both the healthy participants and patients with recurrent lower back pain. [Participants and Methods] We recruited eleven patients of recurrent lower back pain and ten healthy participants. During the maintenance of the two types of posture, upright and slump, we collected the surface electromyography data. We assessed the following muscles: rectus abdominis, external oblique, thoracic erector spinae, lumbar erector spinae, internal oblique, lumbar multifidus, iliacus, serratus anterior, rectus femoris, tensor fascia latae, and gluteus maximus. We studied the differences in spinal-pelvic curvature and muscle activity between the upright and slump positions in each group. [Results] In the healthy group, comparison of the muscle activity in upright and slump positions for both the trunk (external oblique, internal oblique, lumbar erector spinae, and lumbar multifidus), and the hip muscles (iliacus and gluteus maximus) showed a significant decrease in activity in the slump position. In the group with recurrent lower back pain, although the external oblique, lumbar erector spinae and lumbar multifidus showed reduced activity in slump position, these values were smaller when compared to those in the healthy group. [Conclusion] This study aimed to clarify the relationship between posture (upright and slump) and the activity of the trunk and hip joint muscles in the healthy participants and the patients with recurrent lower back pain. The results indicated that postural changes caused by recurrent lower back pain significantly affected the activity of the muscles involved in controlling the posture., (2021©by the Society of Physical Therapy Science. Published by IPEC Inc.)