The simulation of aerial movement--I. The determination of orientation angles from film data

Fifty years of performance-related sports biomechanics research

Over the past fifty years there has been considerable development in motion analysis systems and in computer simulation modelling of sports movements while the relevance and importance of functional variability of sports technique has become increasingly recognised. Technical developments for experimental work have led to increased, and still increasing, subject numbers. Increased subjects per study give better statistical power, the ability to utilise different data analyses, and thus the determination of more subtle and nuanced factors. The overall number of studies has also increased massively. Most actions in sport can, and have, been studied at some level with even the more challenging ones, such as player on player impacts, having some developing research. Computer simulation models of sports movements have ranged from simple (one or two segment) models to very complex musculoskeletal models and have used parameters ranging from the generic to individual-specific. Simple models have given insights into the key mechanics of movement while individual-specific model optimisations have been used to improve athlete performance. Our depth of understanding of the mechanics of sports techniques has increased across a wide range of sports. In the future there is likely to be more development and use of markerless motion capture, individual-specific model parameters, and more consideration of motor control aspects in the analysis of sports technique.

Optimal estimation of complex aerial movements using dynamic optimisation

When estimating full-body motion from experimental data, inverse kinematics followed by inverse dynamics does not guarantee dynamical consistency of the resulting motion, especially in movements where the trajectory depends heavily on the initial state, such as in free-fall. Our objective was to estimate dynamically consistent joint kinematics and kinetics of complex aerial movements. A 42-degrees-of-freedom model with 95 markers was personalised for five elite trampoline athletes performing various backward and forward twisting somersaults. Using dynamic optimisation, our algorithm estimated joint angles, velocities and torques by tracking the recorded marker positions. Kinematics, kinetics, angular and linear momenta, and marker tracking difference were compared to results of an Extended Kalman Filter (EKF) followed by inverse dynamics. Angular momentum and horizontal linear momentum were conserved throughout the estimated motion, as per free-fall dynamics. Marker tracking difference went from 17 ± 4 mm for the EKF to 36 ± 11 mm with dynamic optimisation tracking the experimental markers, and to 49 ± 9 mm with dynamic optimisation tracking EKF joint angles. Joint angles from the dynamic optimisations were similar to those of the EKF, and joint torques were smoother. This approach satisfies the dynamics of complex aerial rigid-body movements while remaining close to the experimental 3D marker dataset.

The Influence of Mathematical Definitions on Patellar Kinematics Representations

A correlation between patellar kinematics and anterior knee pain is widely accepted. However, there is no consensus on how they are connected or what profile of patellar kinematics would minimize anterior knee pain. Nevertheless, answering this question by merging existing studies is further complicated by the variety of ways to describe patellar kinematics. Therefore, this study describes the most frequently used conventions for defining patellar kinematics, focusing on the rotations. The similarities and differences between the Cardan sequences and angles calculated by projecting axes are analyzed. Additionally, a tool is provided to enable the conversion of kinematic data between definitions in different studies. The choice of convention has a considerable impact on the absolute values and the clinical characteristics of the patello-femoral angles. In fact, the angles that result from using different mathematical conventions to describe a given patello-femoral rotation from our analyses differ up to a Root Mean Squared Error of 111.49° for patellar flexion, 55.72° for patellar spin and 35.39° for patellar tilt. To compare clinical kinematic patello-femoral results, every dataset must follow the same convention. Furthermore, researchers should be aware of the used convention’s implications to ensure reproducibility when interpreting and comparing such data.

How to Stick the Landing: Kangaroo Rats Use Their Tails to Reorient during Evasive Jumps Away from Predators

Tails are widespread in the animal world and play important roles in locomotor tasks, such as propulsion, maneuvering, stability, and manipulation of objects. Kangaroo rats, bipedal hopping rodents, use their tail for balancing during hopping, but the role of their tail during the vertical evasive escape jumps they perform when attacked by predators is yet to be determined. Because we observed kangaroo rats swinging their tails around their bodies while airborne following escape jumps, we hypothesized that kangaroo rats use their tails to not only stabilize their bodies while airborne, but also to perform aerial re-orientations. We collected video data from free-ranging desert kangaroo rats (Dipodomys deserti) performing escape jumps in response to a simulated predator attack and analyzed the rotation of their bodies and tails in the yaw plane (about the vertical-axis). Kangaroo rat escape responses were highly variable. The magnitude of body re-orientation in yaw was independent of jump height, jump distance, and aerial time. Kangaroo rats exhibited a stepwise re-orientation while airborne, in which slower turning periods corresponded with the tail center of mass being aligned close to the vertical rotation axis of the body. To examine the effect of tail motion on body re-orientation during a jump, we compared average rate of change in angular momentum. Rate of change in tail angular momentum was nearly proportional to that of the body, indicating that the tail reorients the body in the yaw plane during aerial escape leaps by kangaroo rats. Although kangaroo rats make dynamic 3D movements during their escape leaps, our data suggest that kangaroo rats use their tails to control orientation in the yaw plane. Additionally, we show that kangaroo rats rarely use their tail length at full potential in yaw, suggesting the importance of tail movement through multiple planes simultaneously.

Functional variability in the takeoff phase of one metre springboard forward dives

In springboard diving consistency of body orientation at water entry is necessary for a good dive and is likely to be dependent on the consistency of conditions at takeoff. The aim of the present study was to investigate whether a diver modifies his technique from dive to dive during the board contact phase in order to be more consistent at takeoff in one metre springboard forward dives. Two-dimensional video analysis was used to calculate orientation and configuration angles of 12 forward pike dives and 12 forward 2½ somersault pike dives, performed by an international diver. A computer simulation model of a diver and springboard during board contact was used to obtain matching simulations of the performances and to calculate the rotation potential (angular momentum × flight time) for each dive. Simulations were used to determine the variation in conditions at maximum board depression arising from variation in touchdown conditions, and the variation in takeoff conditions arising from the variability in conditions at maximum board depression. A comparison of the simulated and performance variations implied that adjustments were made during the board contact phase for both the pike dives and the 2½ somersault pike dives. In the board depression phase, adjustments reduced the variability in the mass centre horizontal velocity at the lowest point. In the board recoil phase, adjustments reduced the variability in the horizontal velocity and rotation potential at takeoff.

Kinematic modifications of the lower limb during the acceleration phase of bend sprinting

A decrease in speed when sprinting on the bend compared with the straight has been attributed to kinetic, kinematic and spatiotemporal modifications. Although maximal speed is dependent on an athlete's ability to accelerate, there is limited research investigating the acceleration phase of bend sprinting. This study used a lower limb and trunk marker set with 15 optoelectronic cameras to examine kinematic and spatiotemporal variables of the lower limb during sprinting on the bend and straight. Nine sprinters completed up to six 30 m maximal effort trials in bend (radius 36.5 m, lane one) and straight conditions. An increase in body lateral lean at touchdown resulted in a number of asymmetric kinematic modifications. Whilst the left limb demonstrated a greater peak hip adduction, peak hip internal rotation and peak ankle eversion on the bend compared with the straight, the right limb was characterised by an increase in peak hip abduction. These results demonstrate that kinematic modifications start early in the race and likely accumulate, resulting in greater modifications at maximal speed. It is recommended that strength and conditioning programmes target the hip, ankle and foot in the non-sagittal planes. In addition, sprint training should prioritise specificity by occurring on the bend.

The limits of aerial and contact techniques for producing twist in reverse 1½ somersault dives

An angle-driven computer simulation model of aerial movement was used to determine the maximum amount of twist that can be produced in a reverse 1½ somersault dive from a three-metre springboard using various aerial and contact twisting techniques. The segmental inertia parameters of an elite springboard diver were used in the simulations and lower bounds were placed on the durations of arm and hip angle changes based on recorded performances of twisting somersaults. A limiting dive was identified as that producing the largest possible odd number of half twists. Simulations of the limiting dives were found using simulated annealing optimisation to produce the required amounts of somersault, tilt and twist after a flight time of 1.5 s. Additional optimisations were then run to seek solutions with the arms less adducted during the twisting phase. It was found that the upper limits ranged from 3½ to 5½ twists with arm abduction ranges lying between 8° and 23°. Similar results were obtained when the inertia parameters of two other springboard divers were used. It may be concluded that a reverse 1½ somersault dive using aerial asymmetrical arm and hip movements to produce 5½ twists is a realistic possibility. To accomplish this limiting dive the diver needs to be able to coordinate the timing of configurational changes with the progress of the twist with a precision of 10 ms or better.

Regulation of hip joint kinetics for increasing angular momentum during the initiation of a pirouette en dehors in classical ballet

This study examined how dancers regulate the hip joint kinetics to coordinate the upper and lower body angular momenta with the increased rotation of pirouette en dehors (pirouette) during the preparation. During the preparation of the pirouette, the upper body rotates greatly about the vertical axis; however, the lower extremity remains relatively stationary. Therefore, there must be specific control at the hip to coordinate the upper and lower body angular momenta in turns of increased rotation. Kinematics and kinetics of single to quadruple pirouettes performed by eight ballet dancers were analysed using a motion capture system and force plates. Peak angular momentum of the upper body around the vertical axis increased from the single to the quadruple pirouettes. The vertical components of hip abductor torque of the anterior lower limb and hip adductor and flexor torques of the posterior lower limb contributed to generating the clockwise moment acting on the upper body around the vertical axis, which was reduced by the vertical components of the hip internal and external rotator torques. Thigh flexion angles of the posterior and anterior lower limbs, respectively, at the peak adductor and abductor torques at the corresponding hip joints changed with the number of revolutions and changed the percent contribution of the relevant hip joint torques about the vertical axis. The results suggest that dancers need to regulate hip joint torques along with the thigh angles in the pirouettes depending on the number of revolutions.

The limits of aerial techniques for producing twist in forward 1½ somersault dives

An angle-driven computer simulation model of aerial movement was used to determine the maximum amount of twist that can be produced in a forward 1½ somersault dive from a three-metre springboard using various aerial twisting techniques. The segmental inertia parameters of an elite springboard diver were used in the simulations and lower bounds were placed on the durations of arm and hip angle changes based on recorded performances of twisting somersaults. A limiting dive was identified as that producing the largest possible whole number of twists. Simulations of the limiting dives were found using simulated annealing optimisation to produce the required amounts of somersault, tilt and twist after a flight time of 1.5 s. Additional optimisations were then run to seek solutions with the arms less adducted during the twisting phase. It was found that the upper limits ranged from two to five twists with arm abduction ranges lying between 6° and 17°. Similar results were obtained when the inertia parameters of two other springboard divers were used.

The effect of accounting for biarticularity in hip flexor and hip extensor joint torque representations

Subject-specific torque-driven models have ignored biarticular effects at the hip. The aim of this study was to establish the contribution of monoarticular hip flexors and hip extensors to total hip flexor and total hip extensor joint torques for an individual and to investigate whether torque-driven simulation models should consider incorporating biarticular effects at the hip joint. Maximum voluntary isometric and isovelocity hip flexion and hip extension joint torques were measured for a single participant together with surface electromyography. Single-joint and two-joint representations were fitted to the collected torque data and used to determine the maximum voluntary joint torque capacity. When comparing two-joint and single-joint representations, the single-joint representation had the capacity to produce larger maximum voluntary hip flexion torque (larger by around 9% of maximum torque) and smaller maximum voluntary hip extension torque (smaller by around 33% of maximum torque) with the knee extended. Considering the range of kinematics found for jumping movements, the single-joint hip flexors had the capacity to produce around 10% additional torque, while the single joint hip extensors had about 70% of the capacity of the two-joint representation. Two-joint representations may overcome an over-simplification of single-joint representations by accounting for biarticular effects, while building on the strength of determining subject-specific parameters from measurements on the participant.

Twist limits for late twisting double somersaults on trampoline

An angle-driven computer simulation model of aerial movement was used to determine the maximum amount of twist that could be produced in the second somersault of a double somersault on trampoline using asymmetrical movements of the arms and hips. Lower bounds were placed on the durations of arm and hip angle changes based on performances of a world trampoline champion whose inertia parameters were used in the simulations. The limiting movements were identified as the largest possible odd number of half twists for forward somersaulting takeoffs and even number of half twists for backward takeoffs. Simulations of these two limiting movements were found using simulated annealing optimisation to produce the required amounts of somersault, tilt and twist at landing after a flight time of 2.0s. Additional optimisations were then run to seek solutions with the arms less adducted during the twisting phase. It was found that 3½ twists could be produced in the second somersault of a forward piked double somersault with arms abducted 8° from full adduction during the twisting phase and that three twists could be produced in the second somersault of a backward straight double somersault with arms fully adducted to the body. These two movements are at the limits of performance for elite trampolinists.

Optimal technique for maximal forward rotating vaults in men's gymnastics

In vaulting a gymnast must generate sufficient linear and angular momentum during the approach and table contact to complete the rotational requirements in the post-flight phase. This study investigated the optimization of table touchdown conditions and table contact technique for the maximization of rotation potential for forwards rotating vaults. A planar seven-segment torque-driven computer simulation model of the contact phase in vaulting was evaluated by varying joint torque activation time histories to match three performances of a handspring double somersault vault by an elite gymnast. The closest matching simulation was used as a starting point to maximize post-flight rotation potential (the product of angular momentum and flight time) for a forwards rotating vault. It was found that the maximized rotation potential was sufficient to produce a handspring double piked somersault vault. The corresponding optimal touchdown configuration exhibited hip flexion in contrast to the hyperextended configuration required for maximal height. Increasing touchdown velocity and angular momentum lead to additional post-flight rotation potential. By increasing the horizontal velocity at table touchdown, within limits obtained from recorded performances, the handspring double somersault tucked with one and a half twists, and the handspring triple somersault tucked became theoretically possible.

The influence of touchdown conditions and contact phase technique on post-flight height in the straight handspring somersault vault

In vaulting the gymnast must generate sufficient linear and angular momentum during the approach and table contact in order to complete the rotational requirements in the post-flight phase. This study investigated the effects of touchdown conditions and contact technique on peak post-flight height of a straight handspring somersault vault. A planar seven-segment torque-driven computer simulation model of the contact phase in vaulting was evaluated by varying joint torque activation time histories to match three performances of a straight handspring somersault vault by an elite gymnast. The closest matching simulation was used as a starting point to optimise peak post-flight height of the mass centre for a straight handspring somersault. It was found that optimising either the touchdown conditions or the contact technique increased post-flight height by 0.1m whereas optimising both together increased post-flight height by 0.4m above that of a simulation matching the recorded performance. Thus touchdown technique and contact technique make similar contributions to post-flight height in the straight handspring somersault vault. Increasing touchdown velocity and angular momentum lead to additional post-flight height although there was a critical value of vertical touchdown velocity beyond which post-flight height decreased.

An object oriented implementation of the Yeadon human inertia model

We present an open source software implementation of a popular mathematical method developed by M.R. Yeadon for calculating the body and segment inertia parameters of a human body. The software is written in a high level open source language and provides three interfaces for manipulating the data and the model: a Python API, a command-line user interface, and a graphical user interface. Thus the software can fit into various data processing pipelines and requires only simple geometrical measures as input.

An object oriented implementation of the Yeadon human inertia model

We present an open source software implementation of a popular mathematical method developed by M.R. Yeadon for calculating the body and segment inertia parameters of a human body. The software is written in a high level open source language and provides three interfaces for manipulating the data and the model: a Python API, a command-line user interface, and a graphical user interface. Thus the software can fit into various data processing pipelines and requires only simple geometrical measures as input.

Investigating optimal technique in a noisy environment: application to the upstart on uneven bars

The upstart is a fundamental skill in gymnastics where it is used to transfer a gymnast from a swing beneath the bar to a position above the bar. The aim of this study was to optimize the technique in the upstart on the uneven bars in order to determine the underlying control strategy used by gymnasts. A previous attempt based on minimizing joint torque had failed to find a satisfactory solution without forcing the joint angle histories to pass through a "via-point" (Yamasaki, Gotoh, & Xin, 2010). Using a computer simulation model of a gymnast and bar, the technique (joint angle histories) used in the upstart was optimized under three different criteria: minimizing joint torque, minimizing joint torque change and maximizing success in the presence of movement variability. The third optimization introduced "noise" into the joint angle time histories based on measurements of kinematic variability. All three optimizations were started from the technique used by a gymnast competing in an Olympic Games uneven bars final. Root mean squared (RMS) differences between the recorded and optimal joint angle time histories were computed. The two optimizations based on minimizing joint torque diverged from the gymnast's technique. However, the technique based on maximizing the number of successful performances in a noisy environment remained close to the gymnast's technique. It is concluded that the underlying strategy used in the upstart is not based on minimization of joint torque; rather, it is based on ensuring success in the task despite the inherent variability in technique. Gymnasts develop techniques that are able to cope with the level of kinematic variability present in their movements.

The Effect of Cost Function on Optimum Technique of the Undersomersault on Parallel Bars

The undersomersault, or felge, to handstand on parallel bars has become an important skill in Men’s Artistic Gymnastics as it forms the basis of many complex variations. To receive no deductions from the judges, the undersomersault must be performed without demonstrating the use of strength to achieve the final handstand position. Two male gymnasts each performed nine undersomersaults from handstand to handstand while data were recorded using an automatic motion capture system. The highest and lowest scoring trials of each gymnast, as determined by four international judges, were chosen for further analysis. Three optimization criteria were used to generate undersomersault technique during the swing phase of the skill using a computer simulation model: minimization of peak joint torques, minimization of horizontal velocity before release, and maximization of angular momentum. The techniques used by both gymnasts could be explained using the second optimization criterion which facilitated further skill development. The first optimization criterion generated a technique advocated for beginners where strength might be expected to be a limiting factor. The third optimization criterion resulted in a different type of undersomersault movement of greater difficulty according to the FIG Code of Points.

Kinematic and kinetic analysis of the fouetté turn in classical ballet

The fouetté turn in classical ballet dancing is a continuous turn with the whipping of the gesture leg and the arms and the bending and stretching of the supporting leg. The knowledge of the movement intensities of both legs for the turn would be favorable for the conditioning of the dancer's body. The purpose of this study was to estimate the intensities. The hypothesis of this study was that the intensities were higher in the supporting leg than in the gesture leg. The joint torques of both legs were determined in the turns performed by seven experienced female classical ballet dancers with inverse dynamics using three high-speed cine cameras and a force platform. The hip abductor torque, knee extensor and plantar flexor torques of the supporting leg were estimated to be exerted up to their maximum levels and the peaks of the torques were larger than the peaks of their matching torques of the gesture leg. Thus, the hypothesis was partly supported. Training of the supporting leg rather than the gesture leg would help ballet dancers perform many revolutions of the fouetté turn continuously.

Design and Validation of a General Purpose Robotic Testing System for Musculoskeletal Applications

Orthopaedic research on in vitro forces applied to bones, tendons, and ligaments during joint loading has been difficult to perform because of limitations with existing robotic simulators in applying full-physiological loading to the joint under investigation in real time. The objectives of the current work are as follows: (1) describe the design of a musculoskeletal simulator developed to support in vitro testing of cadaveric joint systems, (2) provide component and system-level validation results, and (3) demonstrate the simulator’s usefulness for specific applications of the foot-ankle complex and knee. The musculoskeletal simulator allows researchers to simulate a variety of loading conditions on cadaver joints via motorized actuators that simulate muscle forces while simultaneously contacting the joint with an external load applied by a specialized robot. Multiple foot and knee studies have been completed at the Cleveland Clinic to demonstrate the simulator’s capabilities. Using a variety of general-use components, experiments can be designed to test other musculoskeletal joints as well (e.g., hip, shoulder, facet joints of the spine). The accuracy of the tendon actuators to generate a target force profile during simulated walking was found to be highly variable and dependent on stance position. Repeatability (the ability of the system to generate the same tendon forces when the same experimental conditions are repeated) results showed that repeat forces were within the measurement accuracy of the system. It was determined that synchronization system accuracy was 6.7±2.0 ms and was based on timing measurements from the robot and tendon actuators. The positioning error of the robot ranged from 10 μm to 359 μm, depending on measurement condition (e.g., loaded or unloaded, quasistatic or dynamic motion, centralized movements or extremes of travel, maximum value, or root-mean-square, and x-, y- or z-axis motion). Algorithms and methods for controlling specimen interactions with the robot (with and without muscle forces) to duplicate physiological loading of the joints through iterative pseudo-fuzzy logic and real-time hybrid control are described. Results from the tests of the musculoskeletal simulator have demonstrated that the speed and accuracy of the components, the synchronization timing, the force and position control methods, and the system software can adequately replicate the biomechanics of human motion required to conduct meaningful cadaveric joint investigations.

Optimization of the felge on parallel bars

The felge, or undersomersault, on parallel bars has become an important skill in men's artistic gymnastics as it forms the basis of many complex variations. To receive no deductions from the judges, the felge must be performed without demonstrating the use of strength to achieve the final handstand position. Two male gymnasts each performed nine trials of the felge from handstand to handstand while data were recorded using an automatic motion capture system. The highest and lowest scoring trials of each gymnast, as determined by four international judges, were chosen for further analysis. The technique used by each gymnast was optimized using a computer simulation model so that the final handstand position could be achieved with straight arms. Two separate optimizations found different techniques identified in the coaching literature that are used by gymnasts. Optimum simulations resulted in improved performances through a combination of increased vertical velocity and height of the mass centre at release. Although the optimum technique found close to the gymnasts' own technique was more demanding in terms of the strength required, it offered the potential for more consistent performance and future developments in skill complexity.

Kinematic analyses during stair descent in young women with patellofemoral pain

BACKGROUND

Compensatory movement strategies may develop in response to pain to avoid stress on the affected area. Patellofemoral pain is characterised by intermittent periods of pain and the present study addresses whether long-term pain leads to compensatory movement strategies that remain even when the pain is absent.

METHOD

Lower extremity kinematics in three dimensions was studied in stair descent in 17 women with patellofemoral and in 17 matched controls. A two-dimensional geometric model was constructed to normalise kinematic data for subjects with varying anthropometrics when negotiating stairs of fixed proportions.

RESULTS

There were minor differences in movement patterns between groups. Knee joint angular velocity in the stance leg at foot contact was lower and the movement trajectory tended to be jerkier in the patellofemoral group. The two-dimensional model showed greater plantar flexion in the swing leg in preparation for foot placement in the patellofemoral group.

INTERPRETATION

The results indicate that an altered stair descent strategy in the patellofemoral group may remain also in the absence of pain. The biomechanical interpretation presumes that the strategy is aimed to reduce knee joint loading by less knee joint moment and lower impact force.

Investigating isolated neuromuscular control contributions to non-contact anterior cruciate ligament injury risk via computer simulation methods

BACKGROUND

Despite the ongoing evolution of anterior cruciate ligament injury prevention methods, injury rates and the associated sex-disparity remain. Strategies capable of successfully countering key control parameters existent within the injury mechanism thus remain elusive. Forward dynamics model simulations afford an expedited means to study realistic injury causing scenarios, while controlling all facets of the movement control strategy. Utilizing these methods, the current study examined the potential for perturbations in key initial contact neuromuscular parameters to injure the anterior cruciate ligament during the stance phase of sidestep cutting maneuvers.

METHODS

Controlled experiments were performed on optimized and validated subject-specific forward dynamic musculoskeletal sidestep models generated from 10 male and 10 female data sets. Random perturbations (n=5000) were applied to initial contact kinematic and muscle activation parameters in these baseline models and then to those with prescribed systematic modifications in initial hip and knee flexion, hip internal rotation and hip internal rotation velocity postures. The number of injuries via an isolated anterior tibial shear (>2000 N) or knee valgus load (>125 Nm) mechanism was determined for each of the seven model conditions and subsequently compared.

FINDINGS

Neuromuscular control perturbations produced peak stance phase (0-100 ms) knee valgus loads large enough to induce anterior cruciate ligament injury. Decreases and increases in combined initial contact hip and knee flexion postures and hip internal rotation velocity produced significant increases and decreases in these valgus-induced ACL injury rates respectively.

INTERPRETATION

Anterior cruciate ligament injury via a valgus load mechanism is more likely during sidestepping when landing in a more extended posture, or with increased hip external rotation velocity. The fact that injury rates are reduced when these control parameters are reversed suggests they should be central to ongoing prevention strategy developments.

Quadriceps activity and movement reactions in response to unpredictable sagittal support-surface translations in women with patellofemoral pain

Patellofemoral pain (PFP) may be related to unfavorable knee joint loading. Delayed and/or reduced activity of vastus medialis obliquus (VMO) and different movement patterns have been identified in individuals with PFP in some studies, whereas other studies have failed to show a difference compared to non-affected controls. The discrepancy between study results may depend on the different tasks that have been investigated. No previous study has investigated these variables in postural responses to unpredictable perturbations in PFP. Whole body three dimensional kinematics and surface EMG of quadriceps muscles activation was studied in postural responses to unpredictable support surface translations in 17 women with PFP who were pain free at the time of testing, and 17 matched healthy controls. The results of the present study showed earlier onset of VMO activity and associated changes in kinematics to anterior platform translation in the PFP subjects. We suggest that the relative timing between the portions quadriceps muscles may be task specific and part of an adapted response in attempt to reduce knee joint loading. This learned response appears to remain even when the pain is no longer present.

Consistency of performances in the Tkatchev release and re-grasp on high bar

The Tkatchev on the high bar is a release and re-grasp skill in which the gymnast rotates in a direction during flight opposite to that of the preceding swing. Since the release window is defined as the time during which the gymnast has appropriate linear and angular momentum to ensure the bar can be re-grasped, it was speculated that the release windows for this skill would be smaller than for dismounts that are less constrained. One senior male gymnast competing at national standard performed 60 Tkatchev trials. A four-segment planar simulation model of the gymnast and high bar was used to determine the release windows in 10 successful and 10 unsuccessful performances of the Tkatchev recorded using a Vicon motion analysis system. Model parameters were optimized to obtain a close match between simulations and recorded performances in terms of rotation angle (1 degree), bar displacements (0.01 m), and release velocities (1%). Each matched simulation was used to determine the time window around the actual point of release for which the model had appropriate release parameters to complete the Tkatchev successfully. The release windows for the successful trials were small compared with those of dismounts. The unsuccessful trials were associated with later release and later timing of the actions at the shoulders and hips.

Considerations that affect optimised simulation in a running jump for height

This study used a computer simulation model to investigate various considerations that affect optimum peak height in a running jump. A planar eight-segment computer simulation model with extensor and flexor torque generators at five joints was formulated and customised to an elite male high jumper. A simulation was matched to a recorded high jumping performance by varying the activation profiles of each of the torque generators giving a simulated peak height of 1.99m compared to the recorded performance of 2.01 m. In order to maximise the peak height reached by the mass centre in the flight phase, the activation profiles were varied, keeping the same initial conditions as in the matching simulation. Optimisations were carried out without any constraints, with constraints on the angular momentum at take-off, with further constraints on joint angles, and with additional requirements of robustness to perturbations of activation timings. A peak height of 2.37 m was achieved in the optimisation without constraints. Introducing the three constraints in turn resulted in peak heights of 2.21, 2.14 and 1.99m. With all three types of constraints included, the peak height was similar to that achieved in the recorded performance. It is concluded that such considerations have a substantial influence on optimum technique and must be included in studies using optimised simulations.

Evaluation of a torque-driven model of jumping for height

This study used an optimization procedure to evaluate an 8-segment torque-driven subject-specific computer simulation model of the takeoff phase in running jumps for height. Kinetic and kinematic data were obtained on a running jump performed by an elite male high jumper. Torque generator activation timings were varied to minimize the difference between simulation and performance in terms of kinematic and kinetic variables subject to constraints on the joint angles at takeoff to ensure that joints remained within their anatomical ranges of motion. A percentage difference of 6.6% between simulation and recorded performance was obtained. Maximizing the height reached by the mass center during the flight phase by varying torque generator activation timings resulted in a credible height increase of 90 mm compared with the matching simulation. These two results imply that the model is sufficiently complex and has appropriate strength parameters to give realistic simulations of running jumps for height.

Parameter Determination for a Computer Simulation Model of a Diver and a Springboard

This study used kinematic data on springboard diving performances to estimate viscoelastic parameters of a planar model of a springboard and diver with wobbling masses in the trunk, thigh, and calf segments and spring dampers acting at the heel, ball, and toe of the foot segment. A subject-specific angle-driven eight-segment model was used with an optimization algorithm to determine viscoelastic parameter values by matching simulations to four diving performances. Using the parameters determined from the matching of a single dive in a simulation of another dive resulted in up to 31% difference between simulation and performance, indicating the danger of using too small a set of kinematic data. However, using four dives in a combined matching process to obtain a common set of parameters resulted in a mean difference of 8.6%. Because these four dives included very different rotational requirements, it is anticipated that the combined parameter set can be used with other dives from these two groups.

The role of M. popliteus in unpredictable and in self-initiated balance provocations

The purpose of this study was to determine whether m. popliteus (POP) activity would contribute to the control of knee joint position in unpredictable and in self-initiated provocations of standing balance. Ten healthy women (age 25.2 +/- 4.5 years, means and SD) without known knee pathology were tested for postural reactions (1) to unpredictable support surface translations in anterior and posterior directions, and (2) in self-initiated balance provocations in a reaction time (RT) forward reach-and-grip task. Electromyographic activity was recorded from POP and other leg muscles plus the deltoid muscle. Three-dimensional kinematics were captured for the knee joint and the body centre of mass was calculated. POP was active first of all the muscles recorded, regardless of translation direction, and knee joint movements elicited were either knee extension or external rotation of the tibia. In the RT task, the POP was active after initiation of reaching movement, and there was little consistency in the kinematic response. POP activity was not direction specific in response to support surface translation, but appeared triggered from reactive knee joint movement. The response to the support-surface translation suggests that POP served to control knee joint position rather than posture. In the RT task, we could not deduce whether POP activity was attributed to knee joint control or to postural control.

Determination of subject-specific model parameters for visco-elastic elements

The determination of subject-specific model parameter values is necessary in order for a computer simulation model of human motion to be evaluated quantitatively. This study used an optimisation procedure along with a kinematically driven simulation model of the contact phase in running jumps to determine the elastic parameters of segmental wobbling masses and the foot-ground interface. Kinetic and kinematic data were obtained on running jumps for height and distance performed by an elite male high jumper. Stiffness and damping coefficients of the visco-elastic elements in the model were varied until the difference between simulation and performance was minimised. Percentage differences of 6% and 9% between the simulated and recorded performances were obtained in the jumps for height and distance, respectively. When the parameters obtained from the jump for height were used in a simulation of the jump for distance (and vice versa), there was poor agreement with the recorded jump. On the other hand, a common set of visco-elastic parameters were obtained using the data from both recorded jumps resulting in a mean difference of only 8% (made up of 7% and 10%) between simulation and performance that was almost as good as the individual matches. Simulations were not overly sensitive to perturbations of the common set of visco-elastic parameters. It is concluded that subject-specific elastic parameters should be calculated from more than a single jump in order to provide a robust set of values that can be used in different simulations.

The Margin for Error When Releasing the Asymmetric Bars for Dismounts

It has previously been shown that male gymnasts using the “scooped” giant circling technique were able to flatten the path followed by their mass center, resulting in a larger margin for error when releasing the high bar (Hiley & Yeadon, 2003a). The circling technique prior to performing double layout somersault dismounts from the asymmetric bars in women's artistic gymnastics appears to be similar to the “traditional” technique used by some male gymnasts on the high bar. It was speculated that as a result the female gymnasts would have margins for error similar to those of male gymnasts who use the traditional technique. However, it is unclear how the technique of the female gymnasts is affected by the need to avoid the lower bar. A 4-segment planar simulation model of the gymnast and upper bar was used to determine the margins for error when releasing the bar for 9 double layout somersault dismounts at the Sydney 2000 Olympics. The elastic properties of the gymnast and bar were modeled using damped linear springs. Model parameters, primarily the inertia and spring parameters, were optimized to obtain a close match between simulated and actual performances in terms of rotation angle (1.2°), bar displacement (0.011 m), and release velocities (<1%). Each matching simulation was used to determine the time window around the actual point of release for which the model had appropriate release parameters to complete the dismount successfully. The margins for error of the 9 female gymnasts (release window 43–102 ms) were comparable to those of the 3 male gymnasts using the traditional technique (release window 79–84 ms).

Factors influencing performance in the Hecht vault and implications for modelling

This paper investigated the factors that influence Hecht vault performance and assessed the level of model complexity required to give an adequate representation of vaulting. A five-segment planar simulation model with a visco-elastic shoulder joint and a torque generator at the shoulder joint was used to simulate the contact phase in vaulting. The model was customized to an elite gymnast by determining subject-specific segmental inertia and joint torque parameters. The simulation model was matched to a performance of the Hecht vault by varying the visco-elastic characteristics of the shoulders and the arm-horse interface and the activation time history of the shoulder torque generator until the best match was found. Perturbing the matching simulation demonstrated that appropriate initial kinematics are necessary for a successful performance. Fixing the hip and knee angles at their initial values had a small effect with 3 degrees less rotation. Applying shoulder torque during the contact phase also had a small effect with only a 7 degrees range in landing angles. Excluding the hand segment from the model was found to have a moderate effect with 15 degrees less rotation and the time of contact reduced by 38%. Removing shoulder elasticity resulted in 50 degrees less rotation. The use of a five-segment simulation model confirmed that the use of shoulder torque plays a minor role in vaulting performance and that having appropriate initial kinematics at touchdown is essential. However, factors such as shoulder elasticity and the hands which have previously been ignored also have a substantial influence on performance.

Maximising somersault rotation in tumbling

Performing complex somersaulting skills during the flight phase of tumbling requires the generation of linear and angular momenta during the approach and takeoff phases. This paper investigates how approach characteristics and takeoff technique affect performance with a view to maximising somersault rotation in tumbling. A five-segment planar simulation model, customised to an elite gymnast, was used to produce a simulation which closely matched a recorded performance of a double layout somersault by the elite gymnast. Three optimisations were carried out to maximise somersault rotation with different sets of initial conditions. Using the same initial linear and angular momentum as the double layout somersault and varying the joint torque activation timings allowed a double straight somersault to be performed with 19% more rotation potential than the actual performance. Increasing the approach velocity to a realistic maximum of 7 ms(-1) resulted in a 42% reduction in rotation potential when the activation timings were unchanged but allowed a triple layout somersault to be performed with an increase of 31% in rotation potential when activation timings were re-optimised. Increasing also the initial angular momentum to a realistic maximum resulted in a 4% reduction in rotation potential when the activation timings were unchanged but allowed a triple straight somersault to be performed with a further increase of 9% in rotation potential when activation timings were re-optimised. It is concluded that the limiting factor to maximising somersault rotation is the ability to generate high linear and angular velocities during the approach phase coupled with the ability to adopt consonant activation timings during the takeoff phase.

Development and Validation of a 3-D Model to Predict Knee Joint Loading During Dynamic Movement

The purpose of this study was to develop a subject-specific 3-D model of the lower extremity to predict neuromuscular control effects on 3-D knee joint loading during movements that can potentially cause injury to the anterior cruciate ligament (ACL) in the knee. The simulation consisted of a forward dynamic 3-D musculoskeletal model of the lower extremity, scaled to represent a specific subject. Inputs of the model were the initial position and velocity of the skeletal elements, and the muscle stimulation patterns. Outputs of the model were movement and ground reaction forces, as well as resultant 3-D forces and moments acting across the knee joint. An optimization method was established to find muscle stimulation patterns that best reproduced the subject’s movement and ground reaction forces during a sidestepping task. The optimized model produced movements and forces that were generally within one standard deviation of the measured subject data. Resultant knee joint loading variables extracted from the optimized model were comparable to those reported in the literature. The ability of the model to successfully predict the subject’s response to altered initial conditions was quantified and found acceptable for use of the model to investigate the effect of altered neuromuscular control on knee joint loading during sidestepping. Monte Carlo simulations (N=100,000) using randomly perturbed initial kinematic conditions, based on the subject’s variability, resulted in peak anterior force, valgus torque and internal torque values of 378 N, 94 Nm and 71 Nm, respectively, large enough to cause ACL rupture. We conclude that the procedures described in this paper were successful in creating valid simulations of normal movement, and in simulating injuries that are caused by perturbed neuromuscular control.

Coping with perturbations to a layout somersault in tumbling

Tumbling is a dynamic movement requiring control of the linear and angular momenta generated during the approach and takeoff phases. Both of these phases are subject to some variability even when the gymnast is trying to perform a given movement repeatedly. This paper used a simulation model of tumbling takeoff to establish how well gymnasts can cope with perturbations of the approach and takeoff phases. A five segment planar simulation model with torque generators at each joint was developed to simulate tumbling takeoffs. The model was customised to an elite gymnast by determining subject specific inertia and torque parameters and a simulation was produced which closely matched a performance of a layout somersault by the gymnast. The performance of a layout somersault was found to be sensitive to the approach characteristics and the activation timings but relatively insensitive to the elasticity of the track and maximum muscle strength. Appropriate variation of the activation timings used during the takeoff phase was capable of coping with moderate perturbations of the approach characteristics. A model of aerial movement established that variation of body configuration in the flight phase was capable of adjusting for takeoff perturbations that would lead to rotation errors of up to 8%. Providing the errors in perceiving approach characteristics are less than 5% or 5 degrees and the errors in timing activations are less than 7ms, perturbations in the approach can be accommodated using adjustments during takeoff and flight.

Optimum Technique for Generating Angular Momentum in Accelerated Backward Giant Circles Prior to a Dismount

In men’s artistic gymnastics the backward giant circle on the high bar is used to produce the angular momentum that the gymnast needs for executing somersaulting dismounts. Dismounts in which the gymnast performs two somersaults in the layout (straight body) position require the greatest angular momentum. However, it appears there are two distinct techniques that elite gymnasts use when performing backward giant circles prior to a double layout somersault dismount. The “traditional” technique has been superseded by the “scooped” technique which is now used by the majority of elite gymnasts. To determine whether the scooped technique is better at producing angular momentum, a simulation model was used to optimize the angular momentum about the mass center at release. The model was evaluated using data obtained from a force/video analysis of accelerated giant circles. The model was able to estimate the reaction forces measured by strain gauges on the bar to within 9% of the peak forces, and the body rotation angle to within 1% of total rotation. During the optimizations, the joint angle time histories of the model were manipulated in order to maximize the angular momentum about the model’s mass center at release. Two optima were found which were characteristic of the two backward giant circle techniques used by elite gymnasts. The traditional technique produced more angular momentum than the scooped technique, although both were capable of producing sufficient angular momentum for a double layout somersault dismount. This suggests that the preference of elite gymnasts for the scooped technique must be based on factors other than the production of angular momentum.

Optimised performance of the backward longswing on rings

Many elite gymnasts perform the straight arm backward longswing on rings in competition. Since points are deducted if gymnasts possess motion on completion of the movement, the ability to successfully perform the longswing to a stationary final handstand is of great importance. Sprigings et al. (1998) found that for a longswing initiated from a still handstand the optimum performance of an inelastic planar simulation model resulted in a residual swing of more than 3 degrees in the final handstand. For the present study, a three-dimensional simulation model of a gymnast swinging on rings, incorporating lateral arm movements used by gymnasts and mandatory apparatus elasticity, was used to investigate the possibility of performing a backward longswing initiated and completed in handstands with minimal swing. Root mean square differences between the actual and simulated performances for the orientations of the gymnast and rings cables, the combined cable tension and the extension of the gymnast were 3.2 degrees, 1.0 degrees, 270N and 0.05m respectively. The optimised simulated performance initiated from a handstand with 2.1 degrees of swing and using realistic changes to the gymnast's technique resulted in 0.6 degrees of residual swing in the final handstand. The sensitivity of the backward longswing to perturbations in the technique used for the optimised performance was determined. For a final handstand with minimal residual swing (2 degrees) the changes in body configuration must be timed to within 15 ms while a delay of 30 ms will result in considerable residual swing (7 degrees).

The margin for error when releasing the high bar for dismounts

In Men's Artistic Gymnastics the current trend in elite high bar dismounts is to perform two somersaults in an extended body shape with a number of twists. Two techniques have been identified in the backward giant circles leading up to release for these dismounts (J. Biomech. 32 (1999) 811). At the Sydney 2000 Olympic Games 95% of gymnasts used the "scooped" backward giant circle technique rather than the "traditional" technique. It was speculated that the advantage gained from the scooped technique was an increased margin for error when releasing the high bar. A four segment planar simulation model of the gymnast and high bar was used to determine the margin for error when releasing the bar in performances at the Sydney 2000 Olympic Games. The eight high bar finalists and the three gymnasts who used the traditional backward giant circle technique were chosen for analysis. Model parameters were optimised to obtain a close match between simulated and actual performances in terms of rotation angle (1.2 degrees ), bar displacements (0.014 m) and release velocities (2%). Each matching simulation was used to determine the time window around the actual point of release for which the model had appropriate release parameters to complete the dismount successfully. The scooped backward giant circle technique resulted in a greater margin for error (release window 88-157 ms) when releasing the bar compared to the traditional technique (release window 73-84 ms).

Practical Use of Airborne Simulation in a Release-Regrasp Skill on the High Bar

The aim of this study was to objectively predict individual improvements in a release-regrasp tkatchev skill. The prediction was based on a kinematic analysis of failed and successful trials. The modification of release conditions, and the correction of hip and shoulder joint motions during the aerial phase of failed trials, were determined by considering the successful trials as target executions. Computer simulations were used to confirm the effect of the corrected parameters on the flight trajectory and angular motion of the body over the bar. The results indicated that when time of release is initiated earlier, this presents a major problem the gymnast must overcome in order to grasp the bar. Moreover, the moment when the body’s center of gravity is vertically above the bar represents a critical instant for the gymnast in initiating the hip and shoulder movements. The rotation motion analysis of the segments indicated that the stabilization motion of the upper limbs could be a good strategy for improving the failed tkatchev. This study showed that simple computer simulation using hypothetical data based upon real data could be an effective tool for improving acrobatic skills.

Evaluation of a Torque-Driven Simulation Model of Tumbling

The use of computer simulation models in studies of human movement is now widespread. Most of these models, however, have not been evaluated in a quantitative manner in order to establish the level of accuracy that may be expected. Without such an evaluation, little credence should be given to the published results and conclusions. This paper presents a simulation model of tumbling takeoffs which is evaluated by comparing the simulation output with an actual performance of an elite gymnast. A five-segment planar model was developed to simulate tumbling takeoffs. The model comprised rigid foot, leg, thigh, trunk + head, and arm segments with two damped linear springs to represent the elasticity of the tumbling track/ gymnast interface. Torque generators were included at the ankle, knee, hip, and shoulder joints in order to allow each joint to open actively during the takeoff. The model was customized to the elite gymnast by determining subject-specific inertia and torque parameters. Good agreement was found between actual and simulated tumbling performances of a double layout somersault with 1% difference in the linear and angular momenta at takeoff. Allowing the activation timings of the four torque generators to vary resulted in an optimized simulation that was some 0.32 m higher than the evaluation simulation. These simulations suggest the model is a realistic representation of the elite gymnast, since otherwise the model would either fail to reproduce the double layout somersault or would produce a very different optimized solution.

The Influence of Touchdown Parameters on the Performance of a High Jumper

In order to maximize the mass center vertical velocity at toe-off and thereby jump height the approach parameters in high jumping must be optimized. The present study aimed to determine the influence on jump height of the approach speed, the leg plant angle, and the knee angle at touchdown. Sixteen trials by an elite male high jumper were recorded in a single training session. Direct intervention was used to induce a change in technique so that a greater range in approach speed was obtained than was observed in competition. The optimum approach was shown to be fast (7.0 m · s–1) with the leg planted away from the vertical (34°) and with minimum knee flexion. A regression equation was obtained which was able to account for 79% of the observed variation in jump height. Jump height performance was shown to be most sensitive to changes in leg plant angle and knee angle at touchdown.