Human movement is accomplished through muscle contraction, yet there does not exist a portable system capable of monitoring muscle length changes in real time. To address this limitation, we previously introduced magnetomicrometry, a minimally-invasive tracking technique comprising two implanted magnetic beads in muscle and a magnetic field sensor array positioned on the body’s surface adjacent the implanted beads. The implant system comprises a pair of spherical magnetic beads, each with a first coating of nickel-copper-nickel and an outer coating of Parylene C. In parallel work, we demonstrate submillimeter accuracy of magnetic bead tracking for muscle contractions in an untethered freely-roaming avian model. Here, we address the clinical viability of magnetomicrometry. Using a specialized device to insert magnetic beads into muscle in avian and lagomorph models, we collect data to assess gait metrics, bead migration, and bead biocompatibility. For these animal models, we find no gait differences post-versus pre-implantation, and bead migration towards one another within muscle does not occur for initial bead separation distances greater than 3 cm. Further, using extensive biocompatibility testing, the implants are shown to be non-irritant, non-cytotoxic, non-allergenic, and non-irritating. Our cumulative results lend support for the viability of these magnetic bead implants for implantation in human muscle. We thus anticipate their imminent use in human-machine interfaces, such as in control of prostheses and exoskeletons and in closed-loop neuroprosthetics to aid recovery from neurological disorders.
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Untethered muscle tracking using magnetomicrometry
Muscle tissue drives nearly all movement in the animal kingdom, providing power, mobility, and dexterity. Technologies for measuring muscle tissue motion, such as sonomicrometry, fluoromicrometry, and ultrasound, have significantly advanced our understanding of biomechanics. Yet, the field lacks the ability to monitor muscle tissue motion for animal behavior outside the lab. Towards addressing this issue, we previously introduced magnetomicrometry, a method that uses magnetic beads to wirelessly monitor muscle tissue length changes, and we validated magnetomicrometry via tightly-controlled in situ testing. In this study we validate the accuracy of magnetomicrometry against fluoromicrometry during untethered running in an in vivo turkey model. We demonstrate real-time muscle tissue length tracking of the freely-moving turkeys executing various motor activities, including ramp ascent and descent, vertical ascent and descent, and free roaming movement. Given the demonstrated capacity of magnetomicrometry to track muscle movement in untethered animals, we feel that this technique will enable new scientific explorations and an improved understanding of muscle function.
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- Award ID(s):
- 1832795
- NSF-PAR ID:
- 10392376
- Date Published:
- Journal Name:
- Frontiers in Bioengineering and Biotechnology
- Volume:
- 10
- ISSN:
- 2296-4185
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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Abstract Muscle-based movement is a hallmark of animal biology, but the evolutionary origins of myocytes are unknown. Although believed to lack muscles, sponges (Porifera) are capable of coordinated whole-body contractions that purge debris from internal water canals. This behavior has been observed for decades, but their contractile tissues remain uncharacterized with respect to their ultrastructure, regulation, and development. We examine the sponge
Ephydatia muelleri and find tissue-wide organization of a contractile module composed of actin, striated-muscle myosin II, and transgelin, and that contractions are regulated by the release of internal Ca2+stores upstream of the myosin-light-chain-kinase (MLCK) pathway. The development of this contractile module appears to involve myocardin-related transcription factor (MRTF) as part of an environmentally inducible transcriptional complex that also functions in muscle development, plasticity, and regeneration. As an actin-regulated force-sensor, MRTF-activity offers a mechanism for how the contractile tissues that line water canals can dynamically remodel in response to flow and can re-form normally from stem-cells in the absence of the intrinsic spatial cues typical of animal embryogenesis. We conclude that the contractile module of sponge tissues shares elements of homology with contractile tissues in other animals, including muscles, indicating descent from a common, multifunctional tissue in the animal stem-lineage. -
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Research on robotic lower-limb assistive devices over the past decade has generated autonomous, multiple degree-of-freedom devices to augment human performance during a variety of scenarios. However, the increase in capabilities of these devices is met with an increase in the complexity of the overall control problem and requirement for an accurate and robust sensing modality for intent recognition. Due to its ability to precede changes in motion, surface electromyography (EMG) is widely studied as a peripheral sensing modality for capturing features of muscle activity as an input for control of powered assistive devices. In order to capture features that contribute to muscle contraction and joint motion beyond muscle activity of superficial muscles, researchers have introduced sonomyography, or real-time dynamic ultrasound imaging of skeletal muscle. However, the ability of these sonomyography features to continuously predict multiple lower-limb joint kinematics during widely varying ambulation tasks, and their potential as an input for powered multiple degree-of-freedom lower-limb assistive devices is unknown. The objective of this research is to evaluate surface EMG and sonomyography, as well as the fusion of features from both sensing modalities, as inputs to Gaussian process regression models for the continuous estimation of hip, knee and ankle angle and velocity during level walking, stair ascent/descent and ramp ascent/descent ambulation. Gaussian process regression is a Bayesian nonlinear regression model that has been introduced as an alternative to musculoskeletal model-based techniques. In this study, time-intensity features of sonomyography on both the anterior and posterior thigh along with time-domain features of surface EMG from eight muscles on the lower-limb were used to train and test subject-dependent and task-invariant Gaussian process regression models for the continuous estimation of hip, knee and ankle motion. Overall, anterior sonomyography sensor fusion with surface EMG significantly improved estimation of hip, knee and ankle motion for all ambulation tasks (level ground, stair and ramp ambulation) in comparison to surface EMG alone. Additionally, anterior sonomyography alone significantly improved errors at the hip and knee for most tasks compared to surface EMG. These findings help inform the implementation and integration of volitional control strategies for robotic assistive technologies.
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ABSTRACT Skeletal muscle powers animal movement, making it an important determinant of fitness. The classic excitation–contraction coupling, sliding-filament and crossbridge theories are thought to describe the processes of muscle activation and the generation of force, work and power. Here, we review how the comparative, realistic muscle physiology typified by Journal of Experimental Biology over the last 100 years has supported and refuted these theories. We examine variation in the contraction rates and force–length and force–velocity relationships predicted by these theories across diverse muscles, and explore what has been learnt from the use of workloop and force-controlled techniques that attempt to replicate aspects of in vivo muscle function. We suggest inclusion of features of muscle contraction not explained by classic theories in our routine characterization of muscles, and the use of phylogenetic comparative methods to allow exploration of the effects of factors such as evolutionary history, ecology, behavior and size on muscle physiology and mechanics. We hope that these future directions will improve our understanding of the mechanisms of muscle contraction, allow us to better characterize the variation in muscle performance possible, and enable us to infer adaptation.more » « less
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The intriguing opportunities enabled by the use of living components in biological machines have spurred the development of a variety of muscle‐powered biohybrid robots in recent years. Among them, several generations of tissue‐engineered biohybrid walkers have been established as reliable platforms to study untethered locomotion. However, despite these advances, such technology is not mature yet, and major challenges remain. Herein, steps are taken to address two of them: the lack of systematic design approaches, common to biohybrid robotics in general, and in the case of biohybrid walkers specifically, the lack of maneuverability. A dual‐ring biobot is presented which is computationally designed and selected to exhibit robust forward motion and rotational steering. This dual‐ring biobot consists of two independent muscle actuators and a four‐legged scaffold asymmetric in the fore/aft direction. The integration of multiple muscles within its body architecture, combined with differential electrical stimulation, allows the robot to maneuver. The dual‐ring robot design is then fabricated and experimentally tested, confirming computational predictions and turning abilities. Overall, a design approach based on modeling, simulation, and fabrication exemplified in this versatile robot represents a route to efficiently engineer complex biological machines with adaptive functionalities.
- Free Publicly Accessible Full Text
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Accepted Manuscript1.0
- Journal Article:
- https://doi.org/10.3389/fbioe.2022.1010275
