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1. Skipping without and with hurdles in bipedal macaque: global mechanics

   https://doi.org/10.1242/jeb.246675  

   Blickhan, Reinhard; Andrada, Emanuel; Hirasaki, Eishi; Ogihara, Naomichi (April 2024, Journal of Experimental Biology)

   ABSTRACT Macaques trained to perform bipedally used running gaits across a wide range of speeds. At higher speeds they preferred unilateral skipping (galloping). The same asymmetric stepping pattern was used while hurdling across two low obstacles placed at the distance of a stride within our experimental track. In bipedal macaques during skipping, we expected a differential use of the trailing and leading legs. The present study investigated global properties of the effective and virtual leg, the location of the virtual pivot point (VPP), and the energetics of the center of mass (CoM), with the aim of clarifying the differential leg operation during skipping in bipedal macaques. When skipping, macaques displayed minor double support and aerial phases during one stride. Asymmetric leg use was indicated by differences in leg kinematics. Axial damping and tangential leg work did not influence the indifferent peak ground reaction forces and impulses, but resulted in a lift of the CoM during contact of the leading leg. The aerial phase was largely due to the use of the double support. Hurdling amplified the differential leg operation. Here, higher ground reaction forces combined with increased double support provided the vertical impulse to overcome the hurdles. Following CoM dynamics during a stride, skipping and hurdling represented bouncing gaits. The elevation of the VPP of bipedal macaques resembled that of human walking and running in the trailing and leading phases, respectively. Because of anatomical restrictions, macaque unilateral skipping differs from that of humans, and may represent an intermediate gait between grounded and aerial running. 

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2. The motor and the brake of the trailing leg in human walking: transtibial amputation limits ankle–knee torque covariation

   https://doi.org/10.1007/s00221-022-06513-5  

   Toney-Bolger, Megan E.; Chang, Young-Hui (January 2023, Experimental Brain Research)

   Lower-limb amputation limits inherent motor abundance in the locomotor system and impairs walking mechanics. Able- bodied walkers vary ankle torque to adjust step-to-step leg force production as measured by resultant ground reaction forces. Simultaneously, knee torque covaries with ankle torque to act as a brake, resulting in consistent peak leg power output meas- ured by external mechanical power generated on the center of mass. Our objective was to test how leg force control during gait is affected by joint torque variance structure in the amputated limb. Within the framework of the uncontrolled manifold analysis, we measured the Index of Motor Abundance (IMA) to quantify joint torque variance structure of amputated legs and its effect on leg force, where IMA>0 indicates a stabilizing structure. We further evaluated the extent to which IMA in amputated legs used individual (INV) and coordinated (COV) joint control strategies. Amputated legs produced IMA and INV values similar to intact legs, indicating that torque deviations of the prosthetic ankle can modulate leg force at the end of stance phase. However, we observed much lower COV values in the amputated leg relative to intact legs indicating that biological knee joint torque of the amputated leg does not covary with prosthetic ankle torque. This observation sug- gests inter-joint coordination during gait is significantly limited as a result of transtibial amputation and may help explain the higher rate of falls and impaired balance recovery in this population, pointing to a greater need to focus on inter-joint coordination within the amputated limb. 

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3. Effect of Whole Body Parameters on Knee Joint Biomechanics: Implications for ACL Injury Prevention During Single-Leg Landings

   https://doi.org/10.1177/03635465231174899  

   Sadeqi, Sara; Norte, Grant E; Murray, Amanda; Erbulut, Deniz U; Goel, Vijay K (July 2023, The American Journal of Sports Medicine)

   Background:Previous studies have examined the effect of whole body (WB) parameters on anterior cruciate ligament (ACL) strain and loads, as well as knee joint kinetics and kinematics. However, articular cartilage damage occurs in relation to ACL failure, and the effect of WB parameters on ACL strain and articular cartilage biomechanics during dynamic tasks is unclear. Purposes:(1) To investigate the effect of WB parameters on ACL strain, as well as articular cartilage stress and contact force, during a single-leg cross drop (SLCD) and single-leg drop (SLD). (2) To identify WB parameters predictive of high ACL strain during these tasks. Study Design:Descriptive laboratory study. Methods:Three-dimensional motion analysis data from 14 physically active men and women were recorded during an SLCD and SLD. OpenSim was used to obtain their kinematics, kinetics, and muscle forces for the WB model. Using these data in kinetically driven finite element simulations of the knee joint produced outputs of ACL strains and articular cartilage stresses and contact forces. Spearman correlation coefficients were used to assess relationships between WB parameters and ACL strain and cartilage biomechanics. Moreover, receiver operating characteristic curve analyses and multivariate binary logistic regressions were used to find the WB parameters that could discriminate high from low ACL strain trials. Results:Correlations showed that more lumbar rotation away from the stance limb at peak ACL strain had the strongest overall association (ρ = 0.877) with peak ACL strain. Higher knee anterior shear force (ρ = 0.895) and lower gluteus maximus muscle force (ρ = 0.89) at peak ACL strain demonstrated the strongest associations with peak articular cartilage stress or contact force in ≥1 of the analyzed tasks. The regression model that used muscle forces to predict high ACL strain trials during the dominant limb SLD yielded the highest accuracy (93.5%), sensitivity (0.881), and specificity (0.952) among all regression models. Conclusion:WB parameters that were most consistently associated with and predictive of high ACL strain and poor articular cartilage biomechanics during the SLCD and SLD tasks included greater knee abduction angle at initial contact and higher anterior shear force at peak ACL strain, as well as lower gracilis, gluteus maximus, and medial gastrocnemius muscle forces. Clinical relevance:Knowledge of which landing postures create a high risk for ACL or cartilage injury may help reduce injuries in athletes by avoiding those postures and practicing the tasks with reduced high-risk motions, as well as by strengthening the muscles that protect the knee during single-leg landings. 

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4. Motion Analysis of Balance Pre and Post Sensorimotor Exercises to Enhance Elderly Mobility: A Case Study

   https://doi.org/10.3390/app13020889  

   Chen, Ji; Romero, Roni; Thompson, Lara A. (January 2023, Applied Sciences)

   Quantitative assessment of movement using motion capture provides insights on mobility which are not evident from clinical evaluation. Here, in older individuals that were healthy or had suffered a stroke, we aimed to investigate their balance in terms of changes in body kinematics and muscle activity. Our research question involved determining the effects on post- compared to pre-sensorimotor training exercises on maintaining or improving balance. Our research hypothesis was that training would improve the gait and balance by increasing joint angles and extensor muscle activities in lower extremities and spatiotemporal measures of stroke and elderly people. This manuscript describes a motion capture-based evaluation protocol to assess joint angles and spatiotemporal parameters (cadence, step length and walking speed), as well as major extensor and flexor muscle activities. We also conducted a case study on a healthy older participant (male, age, 65) and an older participant with chronic stroke (female, age, 55). Both participants performed a walking task along a path with a rectangular shape which included tandem walking forward, right side stepping, tandem walking backward, left side stepping to the starting location. For the stroke participant, the training improved the task completion time by 19 s. Her impaired left leg had improved step length (by 0.197 m) and cadence (by 10 steps/min) when walking forward, and cadence (by 12 steps/min) when walking backward. The non-impaired right leg improved cadence when walking forward (by 15 steps/min) and backward (by 27 steps/min). The joint range of motion (ROM) did not change in most cases. However, the ROM of the hip joint increased significantly by 5.8 degrees (p = 0.019) on the left leg side whereas the ROMs of hip joint and knee joint increased significantly by 4.1 degrees (p = 0.046) and 8.1 degrees (p = 0.007) on the right leg side during backward walking. For the healthy participant, the significant changes were only found in his right knee joint ROM having increased by 4.2 degrees (p = 0.031) and in his left ankle joint ROM having increased by 5.5 degrees (p = 0.006) during the left side stepping. 

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5. A Potential Energy Shaping Controller with Ground Reaction Force Feedback for a Multi-Activity Knee-Ankle Exoskeleton

   https://doi.org/10.1109/BioRob49111.2020.9224341  

   Divekar, Nikhil V.; Lin, Jianping; Nesler, Christopher; Borboa, Sara; Gregg, Robert D. (November 2020, 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob))

   This paper presents the design and implementation of a novel multi-activity control strategy for a backdrivable knee-ankle exoskeleton. Traditionally, exoskeletons have used trajectory-based control of highly geared actuators for complete motion assistance. In contrast, we develop a potential energy shaping controller with ground reaction force (GRF) feedback that facilitates multi-activity assistance from a backdrivable exoskeleton without prescribing pre-defined kinematics. Although potential energy shaping was previously implemented in an exoskeleton to reduce the user’s perceived gravity, this model-based approach assumes the stance leg is fully loaded with the weight of the user, resulting in excessive control torques as weight transfers to the contralateral leg during double support. The presented approach uses GRF feedback to taper the torque control output for any activity involving multiple supports, leading to a closer match with normative joint moments in simulations based on pre-recorded human data during level walking. To implement this strategy, we present a custom foot force sensor that provides GRF feedback to the previously designed exoskeleton. Finally, results from an able-bodied human subject experiment demonstrate that the exoskeleton is able to reduce muscular activation of the primary muscles related to the knee and ankle joints during sit-to-stand, stand-to-sit, level walking, and stair climbing. 

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