Postural Control Adaptations in Yoga Single-Leg Support Postures: Comparison Between Practitioners and Nonpractitioners.

This paper investigates whether a group of regular Yoga practitioners shows postural control differences compared with healthy controls while performing single-leg Yoga postures. Ten Yoga practitioners were compared with a control group of 10 nonpractitioners performing two single-leg support Yoga postures: Vrksasana (tree posture) and Natarajasana (dancer posture). Rambling and trembling decomposition of the center of pressure trajectories was implemented using a genetic algorithm spectral optimization that avoids using horizontal forces and was validated with bipedal posture data. Additionally, the center of mass was estimated from body kinematics using OpenSim and compared with the rambling outputs. During Natarajasana, no postural control adaptations were observed. For Vrksasana, the Yoga practitioners showed a lower center of pressure ellipse confidence interval area, center of pressure anteroposterior SD, and smaller rambling SD in the mediolateral direction, suggesting possible supraspinal feed-forward motor adaptations associated with Yoga training.

Are isokinetic leg torques and kick velocity reliable predictors of competitive level in taekwondo athletes?

The aim of this study is to analyze how isokinetic knee and hip peak torques and roundhouse kick velocities are related to expertise level (elite vs. sub-elite) in taekwondo athletes. Seven elite and seven sub-elite athletes were tested for kick-specific variables (KSV, composed of kinematic variables and power of impact) and for concentric isokinetic peak torque (PT) at 60°/s and 240°/s. First, KSVs and PTs were compared between groups, then PTs were correlated with KSVs. Parametric variables with larger effect sizes (Cohen's d) were entered in a stepwise linear discriminant analysis (LDA), generating an equation to estimate competitive level. Between-group differences were found in hip flexors (p = 0.04, d = 0.92) and extensors (p = 0.04, d = 0.96) with PT at 240°/s. Hip flexion PT at 60°/s and 240°/s correlated negatively with kick time (R = -0.46, p = 0.0499 and R = -0.62, p = 0.01 respectively). Hip flexion torque at 60°/s correlated positively (R = 0.52, p = 0.03) with peak linear velocity of the foot (LVF) and power of impact (R = 0.51, p = 0.03). Peak torque of hip extension at 60°/s and hip abduction at 240°/s also correlated with LVF (R = 0.56, p = 0.02 and R = 0.46, p = 0.0499). Hip extension at 60°/s correlated positively with peak linear velocity of the knee (R = 0.48, p = 0.04). The LDA showed an accuracy of 85.7% (p = 0.003) in predicting expertise level based on hip flexion and extension torques at 240°/s and on knee extension velocity during the kick. The study demonstrates that hip muscle strength is probably the dominant muscular factor for determining kick performance. Knee angular velocity combined with hip torques is the best discriminator for competitive level in taekwondo athletes.

Effect of Achilles Tendon Mechanics on the Running Economy of Elite Endurance Athletes.

The Achilles tendon stores and releases strain energy, influencing running economy. The present study aims to verify the influence of the Achilles tendon tangent modulus, as a material property, on running economy by comparing two groups of elite endurance-performance athletes undergoing different running training volumes. Twelve athletes, six long-distance runners and six pentathletes, were studied. Long-distance runners had a higher weekly running training volume (116.7±13.7 vs. 58.3±20.4 km, p<0.05) and a better running economy (204.3±12.0 vs. 222.0±8.7 O2 mL ∙ kg-1 ∙ km-1, p<0.05) evaluated in a treadmill at 16 km·h-1, 1% inclination. Both groups presented similar VO2max (68.5±3.8 vs. 65.7±5.0 mL ∙ min-1 ∙ kg-1, p>0.05). Achilles tendon tangent modulus was estimated from ultrasound-measured deformations, with the ankle passively mobilized by a dynamometer. True stress was calculated from the measured torque. The long-distance runners had a higher maximum tangent modulus (380.6±92.2 vs. 236.2±82.6 MPa, p<0.05) and maximum true stress than pentathletes (24.2±5.1 vs. 16.0±3.5 MPa, p<0.05). The correlation coefficient between tangent modulus at larger deformations was R=-0.7447 (p<0.05). Quantifying tendon tissue adaptations associated with different running training volumes will support subject and modality-specific workouts prescription of elite endurance athletes.

Hip Adduction and Abduction Torque-angle Curve Characterization of Speed Skating Athletes.

Speed skating is a cyclic sport which involves the hip abductor muscles, impelling the participant forwards, and adductor muscles, in the recovery phase and decelerating the abduction movement eccentrically. This paper has the objective of describing and comparing the abduction/adduction torque-angle curves of speed skating athletes (N=10) with a group of non-practitioners young participants (N=10). Both groups presented similar peak torques and electromyography patterns for tensor fascia lata, gluteus medius, long adductor and adductor magnus. However, athletes showed higher torque-angle curve integral and abduction and adduction peak torques at different hip angles than the control group. These findings suggest an adaptation of their musculotendon actuators and a better capacity to generate mechanical work and power during a propulsion-recovery cycle.

Kinematics and muscle forces in women with patellofemoral pain during the propulsion phase of the single leg triple hop test.

BACKGROUND: Approximately 25% of orthopedic knee conditions are related to patellofemoral pain (PFP), with young women being the most affected. It is thought that this condition is associated with modifications in the kinematics and muscle control patterns of the lower limb during weight-bearing support activities, which increases femur movement under the patella. OBJECTIVES: To compare kinematics and muscle induced acceleration patterns between PFP subjects and healthy controls during the preparation phase of the single leg triple hop test. STUDY DESIGN: Biomechanical analysis was performed using OpenSim. Ten physically active women (23.2 ±â€¯4 years, 59.3 ±â€¯5.8 kg, and 1.63 ±â€¯0.06 m) with no history of lower limb injury (CG) and 11 volunteers (23.5 ±â€¯2 years, 55.4 ±â€¯4.9 kg, and 1.66 ±â€¯0.04 m) with PFP (PFPG) were recruited. The participants performed a series of single leg triple hop tests while the ground reaction forces and kinematic data were recorded. RESULTS: Vector field statistical analysis indicated increased lumbar extension, anterior pelvic tilt, contralateral pelvic drop, and lower induced accelerations from the core and hip muscles in PFPG. CONCLUSION: PFP volunteers presented with alterations in lumbar muscle control associated with a possible compensatory pelvic strategy to minimize knee extensor moment.

Numerical validation of a subject-specific parameter identification approach of a quadriceps femoris EMG-driven model.

Muscle models can be used to estimate muscle forces in motor tasks. Muscle model parameters can be estimated by optimizing cost functions based on error between measured and model-estimated joint torques. This paper is a numerical simulation study addressing whether this approach can accurately identify the parameters of the quadriceps femoris. The simulated identification task is a single joint maximum voluntary knee concentric-eccentric extension in an isokinetic dynamometer, keeping the hip fixed at a neutral position. A curve considered as the nominal torque was obtained by simulating the quadriceps femoris model exerting a maximum knee extension torque using a set of known parameter values. Three parameters, with different expected sensitivities of force estimations by Hill-type muscle models, were studied: very sensitive, sensitive and not sensitive, corresponding to slack tendon length, maximum isometric force, and pennation angle, respectively. The initial values of the parameters were randomly changed, simulating an ignorance of nominal values. EMG generation and torque measurement error models were used to obtain realistic simulated data corrupted by noise. Simulated annealing was chosen as the optimization algorithm. Different sequences of parameter identification and cost functions were tested. The best nominal torque curve reconstruction was obtained by optimizing the parameters sequentially, starting from slack tendon length using the Euclidean norm cost function. However, the simultaneous estimation of all parameters resulted in the most accurate values for the parameters, although dispersion was relatively large. In conclusion, in the present simulation study using realistic synthetic torque and EMG data, the optimization approach based on torque error curve was able to closely approximate the parameter values of the model's quadriceps femoris muscle.

Predicting muscle forces during the propulsion phase of single leg triple hop test.

Functional biomechanical tests allow the assessment of musculoskeletal system impairments in a simple way. Muscle force synergies associated with movement can provide additional information for diagnosis. However, such forces cannot be directly measured noninvasively. This study aims to estimate muscle activations and forces exerted during the preparation phase of the single leg triple hop test. Two different approaches were tested: static optimization (SO) and computed muscle control (CMC). As an indirect validation, model-estimated muscle activations were compared with surface electromyography (EMG) of selected hip and thigh muscles. Ten physically healthy active women performed a series of jumps, and ground reaction forces, kinematics and EMG data were recorded. An existing OpenSim model with 92 musculotendon actuators was used to estimate muscle forces. Reflective markers data were processed using the OpenSim Inverse Kinematics tool. Residual Reduction Algorithm (RRA) was applied recursively before running the SO and CMC. For both, the same adjusted kinematics were used as inputs. Both approaches presented similar residuals amplitudes. SO showed a closer agreement between the estimated activations and the EMGs of some muscles. Due to inherent EMG methodological limitations, the superiority of SO in relation to CMC can be only hypothesized. It should be confirmed by conducting further studies comparing joint contact forces. The workflow presented in this study can be used to estimate muscle forces during the preparation phase of the single leg triple hop test and allows investigating muscle activation and coordination.

In vivo passive mechanical properties estimation of Achilles tendon using ultrasound.

A methodology is proposed for estimating Achilles tendon tangent modulus in vivo, to account for its large deformations and non-linear behavior. True stress is found dividing the axial force by the tendon true cross-sectional area (CSA), whose shrinking caused by axial tension is estimated with Poisson׳s coefficient. The true strain is calculated as the integral of incremental deformations along the tendon length change. Triceps surae tendon CSA and ankle moment arm, with the foot at relaxed equilibrium position, are estimated from subject-personalized data. Healthy males (N=19) volunteered for the study. The test consisted of passive ankle mobilization at the dynamometer with 5°/s velocity, from 30° of plantar flexion to the limit of dorsiflexion. Ultrasound was used to track myotendinous junction (MTJ) and tendon elongation, with the probe oriented over the medial gastrocnemius. Non-linear tendon stiffness pattern was observed during the joint range of motion, reaching 200N/mm peaks for the subjects with greater amplitudes of maximum dorsiflexion. The maximum values of modulus of elasticity, calculated from usual engineering stress and strain, (188.56±99.19MPa) were smaller than those reported in the literature for active maximum voluntary contractions tests. Maximum values for tangent modulus from true stress and strain were 312.38±171.95MPa. Such differences are likely to increase in large deformations.

EMGD-FE: an open source graphical user interface for estimating isometric muscle forces in the lower limb using an EMG-driven model.

BACKGROUND: This paper describes the "EMG Driven Force Estimator (EMGD-FE)", a Matlab® graphical user interface (GUI) application that estimates skeletal muscle forces from electromyography (EMG) signals. Muscle forces are obtained by numerically integrating a system of ordinary differential equations (ODEs) that simulates Hill-type muscle dynamics and that utilises EMG signals as input. In the current version, the GUI can estimate the forces of lower limb muscles executing isometric contractions. Muscles from other parts of the body can be tested as well, although no default values for model parameters are provided. To achieve accurate evaluations, EMG collection is performed simultaneously with torque measurement from a dynamometer. The computer application guides the user, step-by-step, to pre-process the raw EMG signals, create inputs for the muscle model, numerically integrate the ODEs and analyse the results. RESULTS: An example of the application's functions is presented using the quadriceps femoris muscle. Individual muscle force estimations for the four components as well the knee isometric torque are shown. CONCLUSIONS: The proposed GUI can estimate individual muscle forces from EMG signals of skeletal muscles. The estimation accuracy depends on several factors, including signal collection and modelling hypothesis issues.

Individual-specific muscle maximum force estimation using ultrasound for ankle joint torque prediction using an EMG-driven Hill-type model.

EMG-driven models can be used to estimate muscle force in biomechanical systems. Collected and processed EMG readings are used as the input of a dynamic system, which is integrated numerically. This approach requires the definition of a reasonably large set of parameters. Some of these vary widely among subjects, and slight inaccuracies in such parameters can lead to large model output errors. One of these parameters is the maximum voluntary contraction force (F(om)). This paper proposes an approach to find F(om) by estimating muscle physiological cross-sectional area (PCSA) using ultrasound (US), which is multiplied by a realistic value of maximum muscle specific tension. Ultrasound is used to measure muscle thickness, which allows for the determination of muscle volume through regression equations. Soleus, gastrocnemius medialis and gastrocnemius lateralis PCSAs are estimated using published volume proportions among leg muscles, which also requires measurements of muscle fiber length and pennation angle by US. F(om) obtained by this approach and from data widely cited in the literature was used to comparatively test a Hill-type EMG-driven model of the ankle joint. The model uses 3 EMGs (Soleus, gastrocnemius medialis and gastrocnemius lateralis) as inputs with joint torque as the output. The EMG signals were obtained in a series of experiments carried out with 8 adult male subjects, who performed an isometric contraction protocol consisting of 10s step contractions at 20% and 60% of the maximum voluntary contraction level. Isometric torque was simultaneously collected using a dynamometer. A statistically significant reduction in the root mean square error was observed when US-obtained F(om) was used, as compared to F(om) from the literature.

Effect of muscle model parameter scaling for isometric plantar flexion torque prediction.

This paper uses a EMG-driven Hill-type muscle model to estimate individual muscle forces of the triceps surae in isometric plantar flexion contractions. A uniform group of 20 young physical-active adult males was instructed to follow a specific contraction protocol with low (20%MVC) and medium-high (60%MVC) contractions, separated by relaxing intervals. The torque calculated by summing the individual muscle forces multiplied by the respective moment arms was compared to the torque measured by a dynamometer. Musculoskeletal parameters from the literature were used. Then, three different "correction factors" or bias have been applied on some of the muscle model parameters. These factors were based on anthropometric and dynamometric measurements: moment arm scaled by bimalleolar diameter, tendon slack length by leg length and optimal force by the maximum torque. Model torque agreement with dynamometer was recalculated with the parameter scales. It was observed that the relative torque estimation error decreased slightly but significantly when all factors were applied simultaneously (12.92+/-4.94% without scaling to 10.12+/-1.73%), which resulted mainly from the correction of the maximal muscle force parameter.

Myoelectric hand prosthesis force control through servo motor current feedback.

This paper presents the prehension force closed-loop control design of a mechanical finger commanded by electromyographic signal (EMG) from a patient's arm. The control scheme was implemented and tested in a mechanical finger prototype with three degrees of freedom and one actuator, driven by arm muscles EMG of normal volunteers. Real-time indirect estimation of prehension force was assessed by measuring the DC servo motor actuator current. A model of the plant comprising finger, motor, and grasped object was proposed. Model parameters were identified experimentally and a classical feedback phase-lead compensator was designed. The controlled mechanical finger was able to provide a more accurate prehension force modulation of a compliant object when compared to open-loop control.

A 'cheap' optimal control approach to estimate muscle forces in musculoskeletal systems.

This paper shows a new method to estimate the muscle forces in musculoskeletal systems based on the inverse dynamics of a multi-body system associated optimal control. The redundant actuator problem is solved by minimizing a time-integral cost function, augmented with a torque-tracking error function, and muscle dynamics is considered through differential constraints. The method is compared to a previously implemented human posture control problem, solved using a Forward Dynamics Optimal Control approach and to classical static optimization, with two different objective functions. The new method provides very similar muscle force patterns when compared to the forward dynamics solution, but the computational cost is much smaller and the numerical robustness is increased. The results achieved suggest that this method is more accurate for the muscle force predictions when compared to static optimization, and can be used as a numerically 'cheap' alternative to the forward dynamics and optimal control in some applications.

Moment arms and musculotendon lengths estimation for a three-dimensional lower-limb model.

This paper presents a set of polynomial expressions that can be used as regression equations to estimate length and three-dimensional moment arms of 43 lower-limb musculotendon actuators. These equations allow one to find, at a low computational cost, the musculotendon geometric parameters required for numerical simulation of large musculoskeletal models. Nominal values for these biomechanical parameters were established using a public-domain musculoskeletal model of the lower limb (IEEE Trans. Biomed. Eng. 37 (1990) 757). To fit these nominal values, regression equations with different levels of complexity were generated, based on the number of generalized coordinates of the joints spanned by each musculotendon actuator. Least squares fitting was used to identify regression equation coefficients. The goodness of the fit and confidence intervals were assessed, and the best fitting equations selected.

Biomechanical modeling and optimal control of human posture.

The present work describes the biomechanical modeling of human postural mechanics in the saggital plane and the use of optimal control to generate open-loop raising-up movements from a squatting position. The biomechanical model comprises 10 equivalent musculotendon actuators, based on a 40 muscles model, and three links (shank, thigh and HAT-Head, Arms and Trunk). Optimal control solutions are achieved through algorithms based on the Consistent Approximations Theory (Schwartz and Polak, 1996), where the continuous non-linear dynamics is represented in a discrete space by means of a Runge-Kutta integration and the control signals in a spline-coefficient functional space. This leads to non-linear programming problems solved by a sequential quadratic programming (SQP) method. Due to the highly non-linear and unstable nature of the posture dynamics, numerical convergence is difficult, and specific strategies must be implemented in order to allow convergence. Results for control (muscular excitations) and angular trajectories are shown using two final simulation times, as well as specific control strategies are discussed.