Joint stiffness of the ankle and the knee in running

Postural adjustments and perceptual responses of Nordic running: concurrent effects of poles and irregular terrain

PURPOSE

In the natural environment, humans must continuously negotiate irregular and unpredictable terrain. Recently, the poles have been extensively used during trial running events. However, we know little about how humans adjust posture and bilateral coordination to use poles in irregular terrain. Here, we compared kinematics, bilateral coordination and perceptual responses between regular (compact dust) and irregular terrain (medium-length grass) during running at preferred speed with and without poles.

METHODS

In this transversal observational study, thirteen young healthy adults (8 men; mean ± SD; age 29.1 ± 8.0 years, body mass 76.8 ± 11.4 kg; height 1.75 ± 0.08 m) were evaluated during running at a self-selected comfortable speed with and without poles on regular and irregular terrains.

RESULTS

Our results show that, despite more flexed pattern on lower-limb joints at irregular terrain, the usage of poles was not enough to re-stabilize the bilateral coordination. Also, the perceived exertion was impaired adding poles to running, probably due to more complex movement pattern using poles in comparison to free running, and the invariance in the bilateral coordination.

CONCLUSION

Besides the invariability of usage poles on bilateral coordination and lower-limb kinematics, the runners seem to prioritize postural stability over lower limb stiffness when running in medium-length grass given the larger range of ankle and knee motion observed in irregular terrain. Further investigations at rougher/hilly terrains will likely provide additional insights into the neuromotor control strategies used to maintain the stability and on perceptual responses using poles during running.

Role of compliant mechanics and motor control in hopping - from human to robot

Compliant leg function found during bouncy gaits in humans and animals can be considered a role model for designing and controlling bioinspired robots and assistive devices. The human musculoskeletal design and control differ from distal to proximal joints in the leg. The specific mechanical properties of different leg parts could simplify motor control, e.g., by taking advantage of passive body dynamics. This control embodiment is complemented by neural reflex circuitries shaping human motor control. This study investigates the contribution of specific passive and active properties at different leg joint levels in human hopping at different hopping frequencies. We analyze the kinematics and kinetics of human leg joints to design and control a bioinspired hopping robot. In addition, this robot is used as a test rig to validate the identified concepts from human hopping. We found that the more distal the joint, the higher the possibility of benefit from passive compliant leg structures. A passive elastic element nicely describes the ankle joint function. In contrast, a more significant contribution to energy management using an active element (e.g., by feedback control) is predicted for the knee and hip joints. The ankle and knee joints are the key contributors to adjusting hopping frequency. Humans can speed up hopping by increasing ankle stiffness and tuning corresponding knee control parameters. We found that the force-modulated compliance (FMC) as an abstract reflex-based control beside a fixed spring can predict human knee torque-angle patterns at different frequencies. These developed bioinspired models for ankle and knee joints were applied to design and control the EPA-hopper-II robot. The experimental results support our biomechanical findings while indicating potential robot improvements. Based on the proposed model and the robot's experimental results, passive compliant elements (e.g. tendons) have a larger capacity to contribute to the distal joint function compared to proximal joints. With the use of more compliant elements in the distal joint, a larger contribution to managing energy changes is observed in the upper joints.

Kinematics and mechanical changes with step frequency at different running speeds

PURPOSE

Running at a given speed can be achieved by taking large steps at a low frequency or on the contrary by taking small steps at a high frequency. The consequences of a change in step frequency, at a fixed speed, affects the stiffness of the lower limb differently. In this study, we compared the running mechanics and kinematics at different imposed step frequencies (from 2 step s-1 to 3.6 step s-1) to understand the relationship between kinematic and kinetic parameters.

METHODS

Eight recreational male runners ran on a treadmill at 5 different speeds and 5 different step frequencies. The lower-limb segment motion and the ground reaction forces were recorded. Mechanical powers, general gait parameters, lower-limb movements and coordination were investigated.

RESULTS

At low step frequencies, in order to limit the magnitude of the ground reaction force, the vertical stiffness is reduced and thus runners deviate from an elastic rebound. At high step frequencies, the stiffness is increased and the elastic rebound is optimised in its ability to absorb and restore energy during the contact phase.

CONCLUSION

We studied the consequences of a change in step frequency on the bouncing mechanics of running. We showed that the lower limb stiffness and the intersegmental coordination of the lower-limb segments are affected by running step frequency rather than speed. The runner rather adapts their lower limb stiffness to match a step frequency for a given speed than the opposite.

Energy transfer in reactive movements as a function of individual stretch load

Background: By directly recording electromyographic activity profiles and muscle-tendon interaction, this study aimed to elucidate the mechanisms why well-trained track and field athletes (experts) are able to outperform untrained individuals without former systematic experience in reactive jump training (novices). In particular, reactive power output and the elastic recoil properties of the muscle-tendon unit (MTU) were of special interest. For this purpose, stiffness regulation on muscle and joint level, energy management in terms of storing or dissipating elastic energy were compared between experts and novices during various stretch loads. Methods: Experts were compared with novices during reactive drop jumps (DJs) from drop heights ranging between 25 and 61 cm. Delta kinetic energy (Ekin) was calculated as the difference between the Ekin at take-off and ground contact (GC) to determine energy management. By recording electromyography of the lower limb muscles, in vivo fascicle dynamics (gastrocnemius medialis) and by combining kinematics and kinetics in a 3D inverse dynamics approach to compute ankle and knee joint kinetics, this study aimed to compare reactive jump performance, the neuromuscular activity and muscle-tendon interaction between experts and novices among the tested stretch loads. Results: Experts demonstrated significantly higher power output during DJs. Among all drop heights experts realized higher delta Ekin compared to novices. Consequently, higher reactive jump performance shown for experts was characterized by shorter GC time (GCT), higher jump heights and higher neuromuscular activity before and during the GC phase compared to novices. Concomitantly, experts were able to realize highest leg stiffness and delta Ekin in the lowest stretch load; however, both groups compensated the highest stretch load by prolonged GCT and greater joint flexion. On muscle level, experts work quasi-isometrically in the highest stretch load, while in novices GM fascicles were forcefully stretched. Conclusion: Group-specific stiffness regulation and elastic recoil properties are primarily influenced by the neuromuscular system. Due to their higher neuromuscular activity prior and during the GC phase, experts demonstrate higher force generating capacity. A functionally stiffer myotendinous system through enhanced neuromuscular input enables the experts loading their elastic recoil system more efficiently, thus realizing higher reactive power output and allowing a higher amount of energy storage and return. This mechanism is regulated in a stretch load dependent manner.

The relationship between elastography-based muscle properties and vertical jump performance, countermovement utilization ratio, and rate of force development

This study explored the relationships between passive muscle stiffness (shear modulus) and vertical jumping performance, countermovement utilization ratio (CUR) and rate of force development (RFD) in an attempt to unravel the mechanism that may explain the association between shear modulus and performance. 32 recreationally active participants (16 males, 16 females; age: 22.4 ± 5.1 years) participated. Shear modulus was assessed for the lateral and medial gastrocnemius (GL and GM), and vastus medialis (VM) and lateralis (VL) muscles using shear wave elastography. Squat jump (SJ) and countermovement (CMJ) jump were determined, with CUR being expressed as the ratio between the two. RFD in ankle and knee extension tasks was measured using isometric dynamometers. Our results suggest that within a heterogeneous group of recreational athletes, passive muscle stiffness is not related to RFD and jump performance, but positively related to CUR. In males, shear modulus of the GL was positively related to SJ height (r = 0.55). We also found inverse moderate correlations between VL and VM shear modulus and RFD in females only (r = -0.50 to -0.51), but this relationship was possibly affected by age and body fat content. Different mechanisms may underpin the association between shear modulus and performance depending on the muscle, task and population investigated.

Surface effects on kinematics, kinetics and stiffness of habitual rearfoot strikers during running

The surface effects on running biomechanics have been greatly investigated. However, the effects on rearfoot strike runners remain unknown. The purpose of this study was to investigate the effects of surfaces on the running kinematics, kinetics, and lower-limb stiffness of habitual rearfoot strikers. Thirty healthy male runners were recruited to run at 3.3 ± 0.2 m/s on a customized runway covered with three different surfaces (artificial grass, synthetic rubber, or concrete), and their running kinematics, kinetics, and lower-limb stiffness were compared. Differences among the three surfaces were examined using statistical parametric mapping and one-way repeated-measure analysis of variance. There were no statistical differences in the lower-limb joint motion, vertical ground reaction force (GRF), loading rates, and lower-limb stiffness when running on the three surfaces. The braking force (17%-36% of the stance phase) and mediolateral GRF were decreased when running on concrete surface compared with running on the other two surfaces. The moments of ankle joint in all three plane movement and frontal plane hip and knee joints were increased when running on concrete surface. Therefore, habitual rearfoot strikers may expose to a higher risk of running-related overuse injuries when running on a harder surface.

Changes in gravity affect neuromuscular control, biomechanics, and muscle-tendon mechanics in energy storage and dissipation tasks

This study evaluates neuromechanical control and muscle-tendon interaction during energy storage and dissipation tasks in hypergravity. During parabolic flights, while 17 subjects performed drop jumps (DJs) and drop landings (DLs), electromyography (EMG) of the lower limb muscles was combined with in vivo fascicle dynamics of the gastrocnemius medialis, two-dimensional (2D) kinematics, and kinetics to measure and analyze changes in energy management. Comparisons were made between movement modalities executed in hypergravity (1.8 G) and gravity on ground (1 G). In 1.8 G, ankle dorsiflexion, knee joint flexion, and vertical center of mass (COM) displacement are lower in DJs than in DLs; within each movement modality, joint flexion amplitudes and COM displacement demonstrate higher values in 1.8 G than in 1 G. Concomitantly, negative peak ankle joint power, vertical ground reaction forces, and leg stiffness are similar between both movement modalities (1.8 G). In DJs, EMG activity in 1.8 G is lower during the COM deceleration phase than in 1 G, thus impairing quasi-isometric fascicle behavior. In DLs, EMG activity before and during the COM deceleration phase is higher, and fascicles are stretched less in 1.8 G than in 1 G. Compared with the situation in 1 G, highly task-specific neuromuscular activity is diminished in 1.8 G, resulting in fascicle lengthening in both movement modalities. Specifically, in DJs, a high magnitude of neuromuscular activity is impaired, resulting in altered energy storage. In contrast, in DLs, linear stiffening of the system due to higher neuromuscular activity combined with lower fascicle stretch enhances the buffering function of the tendon, and thus the capacity to safely dissipate energy.NEW & NOTEWORTHY For the first time, the neuromechanics of distinct movement modalities that fundamentally differ in their energy management function have been investigated during overload systematically induced by hypergravity. Parabolic flight provides a unique experimental setting that allows near-natural movement execution without the confounding effects typically associated with load variation. Our findings show that gravity-adjusted muscle activities are inversely affected within jumps and landings. Specifically, in 1.8 G, typical task-specific differences in neuromuscular activity are reduced during the center of mass deceleration phase, resulting in fascicle lengthening, which is associated with energy dissipation.

Locomotor resilience through load-dependent modulation of muscle co-contraction

Terrestrial locomotor behavior in variable environments requires resilience to sudden changes in substrate properties. For example, walking animals can adjust to substantial changes in slope and corresponding changes in load distribution among legs. In insects, slope-dependent adjustments have mainly been examined under steady-state conditions, whereas the transition dynamics have been largely neglected. In a previous study, we showed that steady-state adjustments of stick insects to ±45° slopes involve substantial changes in joint torques and muscle activity with only minor changes in leg kinematics. Here, we take a close look at the time course of these adjustments as stick insects compensate for various kinds of disturbances to load distribution. In particular, we test whether the transition from one steady state to another involves distinct transition steps or follows a graded process. To resolve this, we combined simultaneous recordings of whole-body kinematics and hind leg muscle activity to elucidate how freely walking Carausius morosus negotiated a step-change in substrate slope. Step-by-step adjustments reveal that muscle activity changed in a graded manner as a function of body pitch relative to gravity. We further show analogous transient adjustment of muscle activity in response to destabilizing lift-off events of neighboring legs and the disappearance of antagonist co-activation during crawling episodes. Given these three examples of load-dependent regulation of antagonist muscle co-contraction, we conclude that stick insects respond to both transient and sustained changes in load distribution by regulating joint stiffness rather than through distinct transition steps.

Complexity of Running and Its Relationship with Joint Kinematics during a Prolonged Run

We investigated the effect of prolonged running on joint kinematics and its association with stride complexity between novice and elite runners. Ten elite marathoners and eleven healthy individuals took part in a 20 min submaximal prolonged running experiment at their preferred running speed (PRS). A three-dimensional motion capture system was utilized to capture and calculate the alpha exponent, stride-to-stride fluctuations (SSFs), and stride-to-stride variability (SSV) of spatiotemporal parameters and joint kinematics. In the results, the elite athletes ran at a considerably higher PRS than the novice runners, yet no significant differences were found in respiratory exchange ratio with increasing time intervals. For the spatiotemporal parameters, we observed a significant increase in the step width and length variability in novice runners with increasing time-interval (p < 0.05). However, we did not observe any differences in the alpha exponent of spatiotemporal parameters. Significant differences in SSF of joint kinematics were observed, particularly in the sagittal plane for ankle, knee, and hip at heel strike (p < 0.05). While in mid-stance, time-interval differences were observed in novices who ran with a lower knee flexion angle (p < 0.05). During toe-off, significantly higher SSV was observed, particularly in the hip and ankle for novices (p < 0.05). The correlation analysis of joint SSV revealed a distinct negative relationship with the alpha exponent of step-length and step-width for elite runners, while, for novices, a positive relation was observed only for the alpha exponent of step-width. In conclusion, our study shows that increased step-width variability seen in novices could be a compensatory mechanism to maintain performance and mitigate the loss of stability. On the other hand, elite runners showed a training-induced effective modulation of lower-limb kinematics to improve their running performance.

‘Falling heads’: investigating reflexive responses to head–neck perturbations

Background

Reflexive responses to head–neck perturbations affect the injury risk in many different situations ranging from sports-related impact to car accident scenarios. Although several experiments have been conducted to investigate these head–neck responses to various perturbations, it is still unclear why and how individuals react differently and what the implications of these different responses across subjects on the potential injuries might be. Therefore, we see a need for both experimental data and biophysically valid computational Human Body Models with bio-inspired muscle control strategies to understand individual reflex responses better.

Methods

To address this issue, we conducted perturbation experiments of the head–neck complex and used this data to examine control strategies in a simulation model. In the experiments, which we call ’falling heads’ experiments, volunteers were placed in a supine and a prone position on a table with an additional trapdoor supporting the head. This trapdoor was suddenly released, leading to a free-fall movement of the head until reflexive responses of muscles stopped the downwards movement.

Results

We analysed the kinematic, neuronal and dynamic responses for all individuals and show their differences for separate age and sex groups. We show that these results can be used to validate two simple reflex controllers which are able to predict human biophysical movement and modulate the response necessary to represent a large variability of participants.

Conclusions

We present characteristic parameters such as joint stiffness, peak accelerations and latency times. Based on this data, we show that there is a large difference in the individual reflexive responses between participants. Furthermore, we show that the perturbation direction (supine vs. prone) significantly influences the measured kinematic quantities. Finally, ’falling heads’ experiments data are provided open-source to be used as a benchmark test to compare different muscle control strategies and to validate existing active Human Body Models directly.

Characterizing the Mechanical Stiffness of Passive-Dynamic Ankle-Foot Orthosis Struts

People with lower limb impairment can participate in activities such as running with the use of a passive-dynamic ankle-foot orthosis (PD-AFO). Specifically, the Intrepid Dynamic Exoskeletal Orthosis (IDEO) is a PD-AFO design that includes a carbon-fiber strut, which attaches posteriorly to a custom-fabricated tibial cuff and foot plate and acts in parallel with the impaired biological ankle joint to control sagittal and mediolateral motion, while allowing elastic energy storage and return during the stance phase of running. The strut stiffness affects the extent to which the orthosis keeps the impaired biological ankle in a neutral position by controling sagittal and mediolateral motion. The struts are currently manufactured to a thickness that corresponds with one of five stiffness categories (1 = least stiff, 5 = most stiff) and are prescribed to patients based on their body mass and activity level. However, the stiffness values of IDEO carbon-fiber struts have not been systematically determined, and these values can inform dynamic function and biomimetic PD-AFO prescription and design. The PD-AFO strut primarily deflects in the anterior direction (ankle dorsiflexion), and resists deflection in the posterior direction (ankle plantarflexion) during the stance phase of running. Thus, we constructed a custom apparatus and measured strut stiffness for 0.18 radians (10°) of anterior deflection and 0.09 radians (5°) of posterior deflection. We measured the applied moment and strut deflection to compute angular stiffness, the quotient of moment and angle. The strut moment-angle curves for anterior and posterior deflection were well characterized by a linear relationship. The strut stiffness values for categories 1–5 at 0.18 radians (10°) of anterior deflection were 0.73–1.74 kN·m/rad and at 0.09 radians (5°) of posterior deflection were 0.86–2.73 kN·m/rad. Since a PD-AFO strut acts in parallel with the impaired biological ankle, the strut and impaired biological ankle angular stiffness sum to equal total stiffness. Thus, strut stiffness directly affects total ankle joint stiffness, which in turn affects ankle motion and energy storage and return during running. Future research is planned to better understand how use of a running-specific PD-AFO with different strut stiffness affects the biomechanics and metabolic costs of running in people with lower limb impairment.

Stiffening the human foot with a biomimetic exotendon

Shoes are generally designed protect the feet against repetitive collisions with the ground, often using thick viscoelastic midsoles to add in-series compliance under the human. Recent footwear design developments have shown that this approach may also produce metabolic energy savings. Here we test an alternative approach to modify the foot-ground interface by adding additional stiffness in parallel to the plantar aponeurosis, targeting the windlass mechanism. Stiffening the windlass mechanism by about 9% led to decreases in peak activation of the ankle plantarflexors soleus (~ 5%, p < 0.001) and medial gastrocnemius (~ 4%, p < 0.001), as well as a ~ 6% decrease in positive ankle work (p < 0.001) during fixed-frequency bilateral hopping (2.33 Hz). These results suggest that stiffening the foot may reduce cost in dynamic tasks primarily by reducing the effort required to plantarflex the ankle, since peak activation of the intrinsic foot muscle abductor hallucis was unchanged (p = 0.31). Because the novel exotendon design does not operate via the compression or bending of a bulky midsole, the device is light (55 g) and its profile is low enough that it can be worn within an existing shoe.

Effects of footwear cushioning on leg and longitudinal arch stiffness during running

During running, humans increase leg stiffness on more compliant surfaces through an in-series spring relationship to maintain constant support mechanics. Following this notion, the compliant midsole material of standard footwear may cause individuals to increase leg stiffness while running, especially in footwear with very thick midsoles. Recently, researchers have also proposed that footwear stiffness can affect the stiffness of the foot's longitudinal arch (LA) via a similar mechanism. To test these ideas, we used 3D motion capture to record 20 participants running on a forceplate-instrumented treadmill while barefoot, and while wearing three types of sandals composed of materials ranging an order of magnitude in Young's modulus: ethylene vinyl acetate (EVA), and two varieties of polyurethane rubber (R30 and R60). We calculated leg stiffness using standard methods, and measured LA stiffness based on medial midfoot kinematics. While there was an overall significant effect of footwear on leg stiffness (P = 0.047), post-hoc tests revealed no significant differences among individual pairs of conditions, and there was no effect of footwear on LA stiffness. However, participants exhibited significantly greater LA compression when barefoot than when running in EVA (P = 0.004) or R30 (P = 0.036) sandals. These results indicate that standard footwear midsole materials are too stiff to appreciably affect leg stiffness during running, meaning that increasing midsole thickness is unlikely to cause individuals to alter their leg stiffness. However, use of footwear does cause individuals to restrict LA compression when compared to running barefoot, and further research is needed to understand why.

Application of Leg, Vertical, and Joint Stiffness in Running Performance: A Literature Overview

Stiffness, the resistance to deformation due to force, has been used to model the way in which the lower body responds to landing during cyclic motions such as running and jumping. Vertical, leg, and joint stiffness provide a useful model for investigating the store and release of potential elastic energy via the musculotendinous unit in the stretch-shortening cycle and may provide insight into sport performance. This review is aimed at assessing the effect of vertical, leg, and joint stiffness on running performance as such an investigation may provide greater insight into performance during this common form of locomotion. PubMed and SPORTDiscus databases were searched resulting in 92 publications on vertical, leg, and joint stiffness and running performance. Vertical stiffness increases with running velocity and stride frequency. Higher vertical stiffness differentiated elite runners from lower-performing athletes and was also associated with a lower oxygen cost. In contrast, leg stiffness remains relatively constant with increasing velocity and is not strongly related to the aerobic demand and fatigue. Hip and knee joint stiffness are reported to increase with velocity, and a lower ankle and higher knee joint stiffness are linked to a lower oxygen cost of running; however, no relationship with performance has yet been investigated. Theoretically, there is a desired “leg-spring” stiffness value at which potential elastic energy return is maximised and this is specific to the individual. It appears that higher “leg-spring” stiffness is desirable for running performance; however, more research is needed to investigate the relationship of all three lower limb joint springs as the hip joint is often neglected. There is still no clear answer how training could affect mechanical stiffness during running. Studies including muscle activation and separate analyses of local tissues (tendons) are needed to investigate mechanical stiffness as a global variable associated with sports performance.

How Compliance of Surfaces Affects Ankle Moment and Stiffness Regulation During Walking

Humans can regulate ankle moment and stiffness to cope with various surfaces during walking, while the effect of surfaces compliance on ankle moment and stiffness regulations remains unclear. In order to find the underlying mechanism, ten healthy subjects were recruited to walk across surfaces with different levels of compliance. Electromyography (EMG), ground reaction forces (GRFs), and three-dimensional reflective marker trajectories were recorded synchronously. Ankle moment and stiffness were estimated using an EMG-driven musculoskeletal model. Our results showed that the compliance of surfaces can affect both ankle moment and stiffness regulations during walking. When the compliance of surfaces increased, the ankle moment increased to prevent lower limb collapse and the ankle stiffness increased to maintain stability during the mid-stance phase of gait. Our work improved the understanding of gait biomechanics and might be instructive to sports surface design and passive multibody model development.

Rules of nature's Formula Run: Muscle mechanics during late stance is the key to explaining maximum running speed

The maximum running speed of legged animals is one evident factor for evolutionary selection-for predators and prey. Therefore, it has been studied across the entire size range of animals, from the smallest mites to the largest elephants, and even beyond to extinct dinosaurs. A recent analysis of the relation between animal mass (size) and maximum running speed showed that there seems to be an optimal range of body masses in which the highest terrestrial running speeds occur. However, the conclusion drawn from that analysis-namely, that maximum speed is limited by the fatigue of white muscle fibres in the acceleration of the body mass to some theoretically possible maximum speed-was based on coarse reasoning on metabolic grounds, which neglected important biomechanical factors and basic muscle-metabolic parameters. Here, we propose a generic biomechanical model to investigate the allometry of the maximum speed of legged running. The model incorporates biomechanically important concepts: the ground reaction force being counteracted by air drag, the leg with its gearing of both a muscle into a leg length change and the muscle into the ground reaction force, as well as the maximum muscle contraction velocity, which includes muscle-tendon dynamics, and the muscle inertia-with all of them scaling with body mass. Put together, these concepts' characteristics and their interactions provide a mechanistic explanation for the allometry of maximum legged running speed. This accompanies the offering of an explanation for the empirically found, overall maximum in speed: In animals bigger than a cheetah or pronghorn, the time that any leg-extending muscle needs to settle, starting from being isometric at about midstance, at the concentric contraction speed required for running at highest speeds becomes too long to be attainable within the time period of a leg moving from midstance to lift-off. Based on our biomechanical model, we, thus, suggest considering the overall speed maximum to indicate muscle inertia being functionally significant in animal locomotion. Furthermore, the model renders possible insights into biological design principles such as differences in the leg concept between cats and spiders, and the relevance of multi-leg (mammals: four, insects: six, spiders: eight) body designs and emerging gaits. Moreover, we expose a completely new consideration regarding the muscles' metabolic energy consumption, both during acceleration to maximum speed and in steady-state locomotion.

Fatigue-Related Changes in Spatiotemporal Parameters, Joint Kinematics and Leg Stiffness in Expert Runners During a Middle-Distance Run

Fatigue with its underlying mechanisms and effects is a broadly discussed topic and an important phenomenon, particularly in endurance sports. Although several studies have already shown a variety of changes in running kinematics with fatigue, few of them have analyzed competitive runners and even fewer have focused on middle-distance running. Furthermore, the studies investigating fatigue-related changes have mostly reported the results in terms of discrete parameters [e.g., range of motion (RoM)] in the frontal or sagittal plane, and therefore potentially overlooked effects occurring in subphases of the gait cycle or in the transverse plane. On this basis, the goal of the present study was to analyze the effects of exhaustive middle-distance running on expert runners by means of both discrete parameters and time series analysis in 3D. In this study, 13 runners ran on a treadmill to voluntary exhaustion at their individually determined fatigue speeds which was held constant during the measurements. Kinematic data were collected by means of a 3D motion capture system. Spatiotemporal and stiffness parameters as well as the RoM of joints and of center of mass (CoM) within the stance and flight phases were calculated. Independent t-tests were performed to investigate any changes in means and coefficients of variation (CV) of these parameters between the rested (PRE) and fatigued (POST) state. Statistical parametric mapping method was applied on the time series data of the joints and the CoM. Results from this exploratory study revealed that during a middle-distance run, expert runners change their stance time, rather than their step frequency or step length in order to maintain the constant running speed as long as possible. Increased upper body movements occurred to counteract the increased angular moment of the lower body possibly due to longer stance times. These findings provide insights into adaptation strategies of expert runners during a fatiguing middle-distance run and may serve a valuable information particularly for comparisons with other group of runners (e.g., females or non-athletes) as well with other conditions (e.g., non-constant speed or interval training), and might be useful for the definition of training goals (e.g., functional core training).

Giraffes and hominins: reductionist model predictions of compressive loads at the spine base for erect exponents of the animal kingdom

In humans, compressive stress on intervertebral discs is commonly deployed as a measurand for assessing the loads that act within the spine. Examining this physical quantity is crucially beneficial: the intradiscal pressure can be directly measured in vivo in humans, and is immediately related to compressive stress. Hence, measured intradiscal pressure data are very useful for validating such biomechanical animal models that have the spine incorporated, and can, thus, compute compressive stress values. Here, we use human intradiscal pressure data to verify the predictions of a reductionist spine model, which has in fact only one joint degree of freedom. We calculate the pulling force of one lumped anatomical structure that acts past this (intervertebral) joint at the base of the spine, lumbar in hominins, cervical in giraffes, to compensate the torque that is induced by the weight of all masses located cranially to the base. Given morphometric estimates of the human and australopith trunks, respectively, and the giraffe's neck, as well as the respective structures’ lever arms and disc areas, we predict, for all three species, the compressive stress on the intervertebral disc at the spine base, while systematically varying the angular orientation of the species’ spinal columns with respect to gravity. The comparison between these species demonstrates that hominin everyday compressive disc stresses are lower than those in big quadrupedal animals. Within each species, erecting the spine from being bent forward by, for example, thirty degrees to fully upright posture reduces the compressive disc stress roughly to a third. We conclude that erecting the spine immediately allows the carrying of extra loads of the order of body weight, and yet the compressive disc stress is lower than in a moderately forward-bent posture with no extra load.

Summary: Using a simple biomechanical model, we predict the compressive stress on vertebrates’ intervertebral discs loaded by all cranial masses being held anywhere between fully upright and horizontal bow.

Trunk and leg kinematics of grounded and aerial running in bipedal macaques

Across a wide range of Froude speeds, non-human primates such as macaques prefer to use grounded and aerial running when locomoting bipedally. Both gaits are characterized by bouncing kinetics of the center of mass. In contrast, a discontinuous change from pendular to bouncing kinetics occurs in human locomotion. To clarify the mechanism underlying these differences in bipedal gait mechanics between humans and non-human primates, we investigated the influence of gait on joint kinematics in the legs and trunk of three macaques crossing an experimental track. The coordination of movement was compared with observations available for primates. Compared with human running, macaque leg retraction cannot merely be produced by hip extension, but needs to be supported by substantial knee flexion. As a result, despite quasi-elastic whole-leg operation, the macaque's knee showed only minor rebound behavior. Ankle extension resembled that observed during human running. Unlike human running and independent of gait, torsion of the trunk represents a rather conservative feature in primates, and pelvic axial rotation added to step length. Pelvic lateral lean during grounded running by macaques (compliant leg) and human walking (stiff leg) depends on gait dynamics at the same Froude speed. The different coordination between the thorax and pelvis in the sagittal plane as compared with human runners indicates different bending modes of the spine. Morphological adaptations in non-human primates to quadrupedal locomotion may prevent human-like operation of the leg and limit exploitation of quasi-elastic leg operation despite running dynamics.

Tendon release reduced joint stiffness with unaltered leg stiffness during gait in spastic diplegic cerebral palsy

Biomechanical deviations at individual joints are often identified by gait analysis of patients with cerebral palsy (CP). Analysis of the control of joint and leg stiffness of the locomotor system during gait in children with spastic diplegic CP has been used to reveal their control strategy, but the differences between before and after surgery remain unknown. The current study aimed to bridge the gap by comparing the leg stiffness—both skeletal and muscular components—and associated joint stiffness during gait in 12 healthy controls and 12 children with spastic diplegic CP before and after tendon release surgery (TRS). Each subject walked at a self-selected pace on a 10-meter walkway while their kinematic and forceplate data were measured to calculate the stiffness-related variables during loading response, mid-stance, terminal stance, and pre-swing. The CP group altered the stiffness of the lower limb joints and decreased the demand on the muscular components while maintaining an unaltered leg stiffness during stance phase after the TRS. The TRS surgery improved the joint and leg stiffness control during gait, although residual deficits and associated deviations still remained. It is suggested that the stiffness-related variables be included in future clinical gait analysis for a more complete assessment of gait in children with CP.

The human foot functions like a spring of adjustable stiffness during running

Like other animals, humans use their legs like springs to save energy during running. One potential contributor to leg stiffness in humans is the longitudinal arch (LA) of the foot. Studies of cadaveric feet have demonstrated that the LA can function like a spring, but it is unknown whether humans can adjust LA stiffness in coordination with more proximal joints to help control leg stiffness during running. Here, we used 3D motion capture to record 27 adult participants running on a forceplate-instrumented treadmill, and calculated LA stiffness using beam bending and midfoot kinematics models of the foot. Because changing stride frequency causes humans to adjust overall leg stiffness, we had participants run at their preferred frequency and frequencies 35% above and 20% below preferred frequency to test for similar adjustments in the LA. Regardless of which foot model we used, we found that participants increased LA quasi-stiffness significantly between low and high frequency runs, mirroring changes at the ankle, knee and leg overall. However, among foot models, we found that the model incorporating triceps surae force into bending force on the foot produced unrealistically high LA work estimates, leading us to discourage this modeling approach. Additionally, we found that there was not a consistent correlation between LA height and quasi-stiffness values among the participants, indicating that static LA height measurements are not good predictors of dynamic function. Overall, our findings support the hypothesis that humans dynamically adjust LA stiffness during running in concert with other structures of the leg.

The influence of sagittal trunk lean on uneven running mechanics

The role of trunk orientation during uneven running is not well understood. This study compared the running mechanics during the approach step to and the step down for a 10 cm expected drop, positioned halfway through a 15 m runway, with that of the level step in 12 participants at a speed of 3.5 m s-1 while maintaining self-selected (17.7±4.2 deg; mean±s.d.), posterior (1.8±7.4 deg) and anterior (26.6±5.6 deg) trunk leans from the vertical. Our findings reveal that the global (i.e. the spring-mass model dynamics and centre-of-mass height) and local (i.e. knee and ankle kinematics and kinetics) biomechanical adjustments during uneven running are specific to the step nature and trunk posture. Unlike the anterior-leaning posture, running with a posterior trunk lean is characterized by increases in leg angle, leg compression, knee flexion angle and moment, resulting in a stiffer knee and a more compliant spring-leg compared with the self-selected condition. In the approach step versus the level step, reductions in leg length and stiffness through the ankle stiffness yield lower leg force and centre-of-mass position. Contrariwise, significant increases in leg length, angle and force, and ankle moment, reflect in a higher centre-of-mass position during the step down. Plus, ankle stiffness significantly decreases, owing to a substantially increased leg compression. Overall, the step down appears to be dominated by centre-of-mass height changes, regardless of having a trunk lean. Observed adjustments during uneven running can be attributed to anticipation of changes to running posture and height. These findings highlight the role of trunk posture in human perturbed locomotion relevant for the design and development of exoskeleton or humanoid bipedal robots.

Leg and lower limb dynamic joint stiffness during different walking speeds in healthy adults

BACKGROUND

The differences and relationship between joint stiffness and leg stiffness can be used to characterize the lower limb behavior during different walking speeds.

RESEARCH QUESTION

This study aimed to investigate the differences in whole leg and lower limb joint stiffness at different walking speeds and the interactions between leg and lower limb joint stiffness.

METHODS

Twenty-seven healthy adults, seventeen males (age: 19.6 ± 2.2 years, height: 176.0 ± 6.0 cm, mass: 69.7 ± 8.9 kg), and ten females (age: 19.1 ± 1.9 years, height: 164.0 ± 3.0 cm, mass: 59.6 ± 3.8 kg), were recruited. Dynamic leg and joint stiffness were calculated during eccentric loading from data recorded using 3D infrared motion analysis and force plates at slow, normal, and fast walking speeds. Differences in dynamic stiffness, joint angles and moments were explored between the walking speeds using Repeated Measures ANOVA with Sidak post-hoc tests. Correlations between leg, joint stiffness, and walking speed were also explored.

RESULTS

The results indicated that the leg dynamic stiffness is decreased by walking speed, however, hip and ankle joint stiffness were increased (p < 0.001) and knee stiffness was unaffected. Leg stiffness showed no correlation with hip, knee, or ankle stiffness. A positive significant correlation was seen between hip and ankle stiffness (p < 0.01) and between knee and ankle stiffness (p < 0.001), however, no correlation was seen between hip and knee stiffness.

SIGNIFICANCE

These results suggest leg stiffness is not associated with lower limb joint stiffness during eccentric loading. This provides new information on the responses of ankle, knee and hip joint stiffness to walking speed.

Leg Joint Stiffness Affects Dynamics of Backward Falling From Standing Height: A Simulation Work

Falling backward can lead to injuries including hip fracture, back injury, and traumatic brain impact among older adults. A loss of consciousness is associated with falling backward and accounts for about 13% of all falls among older adults. Little is known about the dynamics of backward falls, such as the falling duration, the impact severity, and how the fall dynamics are affected by the biomechanical properties of the lower limb joints, particularly the rotational stiffness. The purpose of this study was to investigate the influence of the stiffness of individual leg joints on the dynamics of backward falls after losing consciousness in terms of the falling duration and impact velocities. Based on a 15-segment human model, we simulated the process of falling backward by sweeping the parameter space of ankle, knee, and hip's stiffnesses varying from 0 to 8.73 N·m·deg-1 (or 500 N·m·rad-1). The results revealed that the falling duration and impact speeds of the head and hip ranged from 0.27 to 0.63 s, 2.65 to 7.88 m·s-1, and 0.35 to 3.36 m·s-1, respectively, when the stiffness of the leg joints changed within their limits. Overall, the influence of the joint stiffness on the falling dynamics (falling duration and impact speed) is comparable between hip and knee joints, whereas ankle stiffness showed little influence on the backward falling dynamics. Our findings could provide references for designing protective devices to prevent impact-induced injuries after a backward fall.

Bilateral symmetry in leg and joint stiffness in children with spastic hemiplegic cerebral palsy during gait

Deviations are often identified at individual joints in the gait analysis of patients with cerebral palsy. Previous gait studies on hemiplegic cerebral palsy (HCP) have focused mainly on deviations of the affected side. The current study aimed to quantify and compare the joint and leg stiffness, the contributions of skeletal and muscular components, and the associated joint angles and moments of the affected and nonaffected lower limbs during level walking in children with spastic HCP. A total of 12 children with spastic HCP and 12 healthy controls walked at a self-selected speed in a gait laboratory while their kinematic and forceplate data were measured and analyzed during loading response, midstance, terminal stance, and preswing. The altered joint kinematics and kinetics in the nonaffected limb in the HCP group appeared to be mainly a compensatory strategy to minimize the bilateral asymmetry in leg stiffness during the double-limb support phase and joint stiffness during the entire stance phase. The current results suggest that therapeutic planning and decision-making for children with HCP should consider not only the mechanics of the affected side but also the control of the nonaffected side.

Ankle Control in Walking and Running: Speed- and Gait-Related Changes in Dynamic Mean Ankle Moment Arm

The human foot-ankle complex uses heel-to-toe ground contact progression in walking, but primarily forefoot contact in high-speed running. This qualitative change in ankle control is clear to the runner, but current measures of ankle behavior cannot isolate the effect, and it is unknown how it changes across moderate speeds. We investigated this dynamic ankle control across a range of walking and running speeds using a new measure, the dynamic mean ankle moment arm (DMAMA): the ratio of sagittal ankle moment impulse to ground reaction force impulse on a single limb. We hypothesized that DMAMA would increase with speed in both walking and running, indicating more forefoot-dominated gait with ground reaction forces more anterior to the ankle. Human subjects walked (1.0-2.0 m/s) and ran (2.25-5.25 m/s) on an instrumented treadmill with motion capture and pressure insoles to estimate DMAMA. DMAMA decreased with increasing walking speed, then increased upon the transition to running, and increased further with increasing running speed. These results provide quantitative evidence that walking becomes more hindfoot-dominated as speed increases-similar to behavior during acceleration-and that running is more forefoot-dominated than walking. The instantaneous center of pressure (COP) at initial ground contact did not follow the same trends. The discrepancy highlights the value of DMAMA in summarizing ankle control across the whole stance phase. DMAMA may provide a useful outcome metric for evaluating biomimetic prostheses and for quantifying foot contact styles in running.

Low leg compliance permits grounded running at speeds where the inverted pendulum model gets airborne

Animals typically switch from grounded (no flight phases) to aerial running at dimensionless speeds u^ < 1. But some birds use grounded running far above u^ = 1, which puzzles biologists because the inverted pendulum becomes airborne at this speed. Here, we combine computer experiments using the spring-mass model with locomotion data from small birds, macaques and humans to understand the relationship between leg function (stiffness, angle of attack), locomotion speed and gait. With our model, we found three-humped ground reaction force profiles for slow grounded running speeds. The minimal single-humped grounded running speed is u^ = 0.4. This speed value roughly coincides with the transition speed from vaulting to bouncing mechanics in bipeds. Maximal grounded running speed in the model is not limited. In experiments, animals changed from grounded to aerial running at dimensionless contact time around 1. Considering these real-world contact times reduces the solution space drastically, but experimental data fit well. The model still predicts maximal grounded running speed  u^ > 1 for low stiffness values used by birds but decreases below u^ = 1 for increasing stiffness. For stiffer legs used in human walking and running, periodic grounded running vanishes. At speeds at which birds and macaques change to aerial running, we found periodic aerial running to intersect grounded running. This could explain why animals can alternate between grounded and aerial running at the same speed and identical leg parameters. Compliant legs enable different gaits and speeds with similar leg parameters, stiff legs require parameter adaptations.

The Effect of Prolonged Running on the Symmetry of Biomechanical Variables of the Lower Limb Joints

The aim of this study was to examine whether there are kinematic and kinetic differences in the lower limb and whether the symmetry of the lower extremities is different after prolonged-running. Fifteen healthy male amateur runners (age: 22 ± 1 years, height: 173 ± 8 cm, mass: 65 ± 7 kg, BMI: 21.62 ± 2 kg/m2) were recruited as participants for this study. A Vicon eight-camera motion capture system and Kistler force plate were used to collect kinematic and kinetic parameters. A motorized treadmill, 15-point Borg scale and heart rate bands were used to monitor fatigue during a running-induced fatigue protocol. Paired sample T tests were used to check statistical difference (p = 0.05) between the lower limbs and the symmetry changes in pre-fatigue and post-fatigue running sessions. The symmetry angle (SA) of the knee flexion angle, hip flexion angle and hip extension angle in post-fatigue was significantly greater than in pre-fatigue, increasing by 4.32%, 10.71%, and 23.12%, respectively. Moreover, the SA of hip flexion moment increased by 2.61%. However, the knee extension velocity and hip flexion velocity became more symmetrical than in pre-fatigue (p < 0.05), the SA decreased by 5.91% and 5.45%, respectively. Differences in limb function during post-fatigue may lead to changes of symmetry in the lower limbs. The variables of asymmetry may be used as a compensation mechanism to maintain gait stability. Physical therapy assessment of fatigue injuries and long-distance running training programs may want to consider the changes in symmetry due to limb dominance.

Adaptability of a jump movement pattern to a non-constant force field elicited via centrifugation

Humans are accustomed to Earth's constant gravitational acceleration of 1g. Here we assessed if complex movements such as jumps can be adapted to different acceleration levels in a non-constant force field elicited through centrifugation. Kinematics, kinetics and muscle activity of 14 male subjects (age 27±5years, body mass 77±6kg, height 181±7cm) were recorded during repetitive hopping in a short-arm human centrifuge for five different acceleration levels (0.5g, 0.75g, 1g, 1.25g, 1.5g). These data were compared to those recorded during normal hops on the ground, and hops in a previously validated sledge jump system. Increasing acceleration from 0.5g to 1.5g resulted in increased peak ground reaction forces (+80%, p<0.001), rate of force development (+100%, p<0.001) and muscle activity (+30 to +140%, depending on phase, side and muscle). However, most of the recorded parameters did not attain the level observed for jumps on the ground or in the jump system. For instance, peak forces during centrifugation with 1g amounted to 60% of the peak forces during jumps on the ground, ground contact time was prolonged by 90%, and knee joint excursions were reduced by 50%. We conclude that in principle, a quick adaptation to acceleration levels other than the normal constant gravitational acceleration of 1g is possible, even in the presence of a non-constant force field and Coriolis forces. However, centrifugation introduced additional constraints compared to a constant force field without rotation, resulting in lower peak forces and changes in kinematics. These changes can be interpreted as a movement strategy aimed at reducing lower limb deflections caused by Coriolis forces.

A biarticular passive exosuit to support balance control can reduce metabolic cost of walking

Nowadays, the focus on the development of assistive devices just for people with mobility disorders has shifted towards enhancing physical abilities of able-bodied humans. As a result, the interest in the design of cheap and soft wearable exoskeletons (called exosuits) is distinctly growing. In this paper, a passive lower limb exosuit with two biarticular variable stiffness elements is introduced. These elements are in parallel to the hamstring muscles of the leg and controlled based on a new version of the FMCH (force modulated compliant hip) control framework in which the force feedback is replaced by the length feedback (called LMCH). The main insight to employ leg length feedback is to develop a passive exosuit. Fortunately, similar to FMCH, the LMCH method also predicts human-like balance control behaviours, such as the VPP (virtual pivot point) phenomenon, observed in human walking. Our simulation results, using a neuromuscular model of human walking, demonstrate that this method could reduce the metabolic cost of human walking by 10%. Furthermore, to validate the design and simulation results, a preliminary version of this exosuit comprised of springs with constant stiffness was built. An experiment with eight healthy subjects was performed. We made a comparison between the walking experiments while the exosuit is worn but the springs were slack and those when the appropriate springs were contributing. It shows that passive biarticular elasticity can result in a metabolic reduction of 14.7 [Formula: see text] 4.27%. More importantly, compared to unassisted walking (when exosuit is not worn), such a passive device can reduce walking metabolic cost by 4.68 [Formula: see text] 4.24%.

Ankle and midtarsal joint quasi-stiffness during walking with added mass

Examination of how the ankle and midtarsal joints modulate stiffness in response to increased force demand will aid understanding of overall limb function and inform the development of bio-inspired assistive and robotic devices. The purpose of this study is to identify how ankle and midtarsal joint quasi-stiffness are affected by added body mass during over-ground walking. Healthy participants walked barefoot over-ground at 1.25 m/s wearing a weighted vest with 0%, 15% and 30% additional body mass. The effect of added mass was investigated on ankle and midtarsal joint range of motion (ROM), peak moment and quasi-stiffness. Joint quasi-stiffness was broken into two phases, dorsiflexion (DF) and plantarflexion (PF), representing approximately linear regions of their moment-angle curve. Added mass significantly increased ankle joint quasi-stiffness in DF (p < 0.001) and PF (p < 0.001), as well as midtarsal joint quasi-stiffness in DF (p < 0.006) and PF (p < 0.001). Notably, the midtarsal joint quasi-stiffness during DF was ~2.5 times higher than that of the ankle joint. The increase in midtarsal quasi-stiffness when walking with added mass could not be explained by the windlass mechanism, as the ROM of the metatarsophalangeal joints was not correlated with midtarsal joint quasi-stiffness (r = -0.142, p = 0.540). The likely source for the quasi-stiffness modulation may be from active foot muscles, however, future research is needed to confirm which anatomical structures (passive or active) contribute to the overall joint quasi-stiffness across locomotor tasks.

Ankle Joint Dynamic Stiffness in Long-Distance Runners: Effect of Foot Strike and Shoes Features

Foot strike mode and footwear features are known to affect ankle joint kinematics and loading patterns, but how those factors are related to the ankle dynamic properties is less clear. In our study, two distinct samples of experienced long-distance runners: habitual rearfoot strikers (n = 10) and habitual forefoot strikers (n = 10), were analysed while running at constant speed on an instrumented treadmill in three footwear conditions. The joint dynamic stiffness was analysed for three subphases of the moment–angle plot: early rising, late rising and descending. Habitual rearfoot strikers displayed a statistically (p < 0.05) higher ankle dynamic stiffness in all combinations of shoes and subphases, except in early stance in supportive shoes. In minimal-supportive shoes, both groups had the lowest dynamic stiffness values for early and late rising (initial contact through mid-stance), whilst the highest stiffness values were at late rising in minimal shoes for both rearfoot and forefoot strikers (0.21 ± 0.04, 0.24 ± 0.06 (Nm/kg/°∙100), respectively). In conclusion, habitual forefoot strikers may have access to a wider physiological range of the muscle torque and joint angle. This increased potential may allow forefoot strikers to adapt to different footwear by regulating ankle dynamic stiffness depending upon the motor task.

Ankle Mechanical Impedance During the Stance Phase of Running

OBJECTIVE

Differences in locomotor biomechanics between walking and running provide fundamental information about human ambulation. Joint mechanical impedance is a biomechanical property that governs the body's instantaneous response to disturbances, and is important for stability and energy transfer. Ankle impedance has been characterized during walking, but little is known about how humans alter joint impedance during running. The purpose of this study was to estimate ankle impedance during the stance phase of running, and compare to previously reported estimates during walking.

METHODS

Perturbations were applied to the ankle using a one-degree-of-freedom (DOF) mechatronic platform. Least-squares system identification was performed using a parametric model consisting of stiffness, damping, and inertia.

RESULTS

The model accounted for 89% ± 16% of variance. Ankle stiffness reached a maximum of 10 Nm/rad/kg at the end of mid-stance, decreasing in terminal stance phase to values previously reported during swing phase. Quasi-stiffness values differed significantly from stiffness across the stance phase of running. Comparing ankle impedance estimates between walking and running showed differences in both magnitude, and temporal variation.

CONCLUSION

Ankle impedance differs significantly between walking and running.

SIGNIFICANCE

This study provides novel information about the biomechanics of running and broadens our understanding of how the mechanical impedance of the ankle joint differs between locomotor tasks, motivating the need for future studies.

The relationship between leg stiffness, forces and neural control of the leg musculature during the stretch-shortening cycle is dependent on the anticipation of drop height

PURPOSE

This study aimed at investigating how prior knowledge of drop heights affects proactive and reactive motor control in drop jumps (DJ).

METHODS

In 22 subjects, the effect of knowledge of three different drop heights (20, 30, 40 cm) during DJs was evaluated in seven conditions: three different drop heights were either known, unknown or cheated (announced 40 cm, but actual drop height was 20 cm). Peak ground reaction force (F_max) to body weight (BW) ratio (F_max/BW) and electromyographic (EMG) activities of three shank and five thigh muscles were assessed 150 ms before and during ground contact (GC). Ankle, knee and hip joint kinematics were recorded in the sagittal plane.

RESULTS

Leg stiffness, proactive and reactive EMG activity of the leg muscles diminished in unknown and cheat conditions for all drop heights (7-33% and 2-26%, respectively). Antagonistic co-activation increased in unknown (3-37%). At touchdown, increased flexion in knee (~ 5.3° ± 1.9°) and hip extension (~ 2° ± 0.6°) were observed in unknown, followed by an increased angular excursion in hip (~ 2.3° ± 0.2°) and knee joints (~ 5.6° ± 0.2°) during GC (p < 0.05). Correlations between changes in activation intensities, joint kinematics, leg stiffness and F_max/BW (p < 0.05) indicate that anticipation changes the neuromechanical coupling of DJs. No dropouts were recorded.

CONCLUSION

These findings underline that anticipation influences timing and adjustment of motor responses. It is argued that proactive and reactive modulations associated with diminished activation intensities in leg extensors are functionally relevant in explaining changes in leg stiffness and subsequent decline in performance.

Goats decrease hindlimb stiffness when walking over compliant surfaces

Leg stiffness, commonly estimated as the 'compression' of a defined leg element in response to a load, has long been used to characterize terrestrial locomotion. This study investigated how goats adjust the stiffness of their hindlimbs to accommodate surfaces of different stiffness. Goats provide a compelling animal model for studying leg stiffness modulation, because they skillfully ambulate over a range of substrates that vary in compliance. To investigate the adjustments that goats make when walking over such substrates, ground reaction forces and three-dimensional trajectories of hindlimb markers were recorded as goats walked on rigid, rubber and foam surfaces. Net joint moments, power and work at the hip, knee, ankle and metatarsophalangeal joints were estimated throughout stance via inverse dynamics. Hindlimb stiffness was estimated from plots of total leg force versus total leg length, and individual joint stiffness was estimated from plots of joint moment versus joint angle. Our results support the hypothesis that goats modulate hindlimb stiffness in response to surface stiffness; specifically, hindlimb stiffness decreased on the more compliant surfaces (P<0.002). Estimates of joint stiffness identified hip and ankle muscles as the primary drivers of these adjustments. When humans run on compliant surfaces, they generally increase leg stiffness to preserve their center-of-mass mechanics. We did not estimate center-of-mass mechanics in this study; nevertheless, our estimates of hindlimb stiffness suggest that goats exhibit a different behavior. This study offers new insight into mechanisms that allow quadrupeds to modulate their gait mechanics when walking on surfaces of variable compliance.

Efficacy of instrument-assisted soft tissue mobilization in comparison to gastrocnemius-soleus stretching for dorsiflexion range of motion: A randomized controlled trial

OBJECTIVES

To determine the efficacy of IASTM of the gastrocnemius-soleus complex in comparison to a traditional stretching intervention on dorsiflexion ROM.

METHODS

Sixty healthy participants were randomly allocated to one of 3 groups: IASTM (n = 20), stretching (n = 20), or control group (n = 20). The dependent variables for this study was dorsiflexion range of motion (ROM) via three measurement methods which included Modified root position 1- knee extended (MRP1), Modified root position 2- knee flexed (MRP2), and weight bearing lunge test (WBLT). A multivariate analysis of variance (MANOVA) was utilized to analyze the ROM differences between the groups (IASTM, stretching, and control groups), with a post-hoc Tukey and pairwise least significant difference tests to assess individual pairwise differences between the groups.

RESULTS

The MANOVA found significant ROM differences between the three intervention groups (F_6,110 = 2.40, p = .032). Statistically significant differences were identified between both the IASTM and control as well as the stretching and control group through the WBLT and MRP2 assessments, but not in the MRP1 assessment. Further, there was no statistically significant difference between the IASTM and stretching groups using any of the three methods.

CONCLUSION

A single session of IASTM or stretching increased ankle dorsiflexion ROM in WBLT and MRP2. No significant difference was noted in the MRP1. Both IASTM and stretching appear to have a greater effect on soleus muscle flexibility as evidenced by ROM gains measured with the knee in a flexed position. No clinically significant difference was identified between the intervention groups in weight-bearing conditions; thus empowering patients with the use of self-stretching would seemingly be reasonable and efficient. Combined effects of stretching and IASTM warrant further investigation for increasing dorsiflexion range of motion as a summative effect is unknown.

Effects of Plyometrics Training on Muscle Stiffness Changes in Male Volleyball Players

Dariusz, M, Krzysztof, M, Paweł, C, Edward, S, Marek, K, Tomasz, S, Dorota, B, Rektor, Z, and Jan, C. Effects of plyometrics training on muscle stiffness changes in male volleyball players. J Strength Cond Res 33(4): 910-921, 2019-We investigated whether 6 weeks of specific plyometric training (PT) impacts on changes in muscle stiffness and enhances the vertical jumping ability as the indirect evaluation of the explosive power of the lower extremities of male volleyball players. Sixteen male collegiate volleyball players participated in this experiment. Regular PT was performed twice per week for 60-90 minutes each time. During each PT session, heart rate and muscle stiffness data were collected. Two series of 10 single measurements of each muscle (23 points of the front and back legs) were measured the day before the first enhanced training session and after completing each week of PT. Participants were tested for maximum effort in vertical jumping using the squat jump (SJ) with hands on thighs, countermovement jump (CMJ), and CMJ with a 2-step to 3-step approach. Jumping motor ability tests were completed. Data were collected 1 day before PT. The last measurement was performed 3 days after completing the last week of PT. The 6-week PT program only had an effect on the statistically relevant increase in muscle stiffness in the tibialis anterior (highest value, 593.86 ± 60.24 N·m) and quadriceps. Improvements in the explosive power of leg muscles resulted in a significant increase in the vertical jumping ability; there were improvements in SJ and CMJ (p = 0.0338 and p = 0.0007, respectively). If PT involves a moderate workload and if players never exceed the intensity target of the workout, then less muscle stiffness and muscle soreness may occur.

Athletes With Versus Without Leg Amputations: Different Biomechanics, Similar Running Economy

Athletes with transtibial amputations use carbon-fiber prostheses to run. Compared with biological legs, these devices differ in structure and function, and consequently yield affected leg running biomechanics that are theoretically more economical than those of nonamputees. However, experimental data indicate that athletes with unilateral and bilateral transtibial amputations exhibit running economy values that are well within the range of nonamputee values.

Determination of Ankle and Metatarsophalangeal Stiffness During Walking and Jogging

Forefoot stiffness has been shown to influence joint biomechanics. However, little or no data exist on metatarsophalangeal stiffness. Twenty-four healthy rearfoot strike runners were recruited from a staff and student population at the University of Central Lancashire. Five repetitions of shod, self-selected speed level walking, and jogging were performed. Kinetic and kinematic data were collected using retroreflective markers placed on the lower limb and foot to create a 3-segment foot model using the calibrated anatomical system technique. Ankle and metatarsophalangeal moments and angles were calculated. Stiffness values were calculated using a linear best fit line of moment versus of angle plots. Paired t tests were used to compare values between walking and jogging conditions. Significant differences were seen in ankle range of motion, but not in metatarsophalangeal range of motion. Maximum moments were significantly greater in the ankle during jogging, but these were not significantly different at the metatarsophalangeal joint. Average ankle joint stiffness exhibited significantly lower stiffness when walking compared with jogging. However, the metatarsophalangeal joint exhibited significantly greater stiffness when walking compared with jogging. A greater understanding of forefoot stiffness may inform the development of footwear, prosthetic feet, and orthotic devices, such as ankle foot orthoses for walking and sporting activities.

Using stiffness to assess injury risk: comparison of methods for quantifying stiffness and their reliability in triathletes

Background

A review of the literature has indicated that lower body stiffness, defined as the extent to which the lower extremity joints resists deformation upon contact with the ground, may be a useful measure for assessing Achilles injury risk in triathletes. The nature of overuse injuries suggests that a variety of different movement patterns could conceivably contribute to the final injury outcome, any number and combination of which might be observed in a single individual. Measurements which incorporate both kinetics and kinematics (such as stiffness) of a movement may be better able to shed light on individuals at risk of injury, with further analysis then providing the exact mechanism of injury for the individual. Stiffness can be measured as vertical, leg or joint stiffness to model how the individual interacts with the environment upon landing. However, several issues with stiffness assessments limit the effectiveness of these measures to monitor athletes’ performance and/or injury risk. This may reflect the variety of common biomechanical stiffness calculations (dynamic, time, true leg and joint) that have been used to examine these three stiffness levels (vertical, leg and joint) across a variety of human movements (i.e. running or hopping) as well as potential issues with the reliability of these measures, especially joint stiffness. Therefore, the aims of this study were to provide a comparison of the various methods for measuring stiffness during two forms of human bouncing locomotion (running and hopping) along with the measurement reliability to determine the best methods to assess links with injury risk in triathletes.

Methods

Vertical, leg and joint stiffness were estimated in 12 healthy male competitive triathletes on two occasions, 7 days apart, using both running at 5.0 ms⁻¹ and hopping (2.2 Hz) tasks.

Results

Inter-day reliability was good for vertical (ICC = 0.85) and leg (ICC = 0.98) stiffness using the time method. Joint stiffness reliability was poor when assessed individually. Reliability was improved when taken as the sum of the hip, knee and ankle (ICC = 0.86). The knee and ankle combination provided the best correlation with leg stiffness during running (Pearson’s Correlation = 0.82).

Discussion

The dynamic and time methods of calculating leg stiffness had better reliability than the “true” method. The time and dynamic methods had the best correlation with the different combinations of joint stiffness, which suggests that they should be considered for biomechanical screening of triathletes. The knee and ankle combination had the best correlation with leg stiffness and is therefore proposed to provide the most information regarding lower limb mechanics during gait in triathletes.

Lower limb stiffness testing in athletic performance: a critical review

Stiffness describes the resistance of a body to deformation. In regard to athletic performance, a stiffer leg-spring would be expected to augment performance by increasing utilisation of elastic energy. Two-dimensional spring-mass and torsional spring models can be applied to model whole-body (vertical and/or leg stiffness) and joint stiffness. Various tasks have been used to characterise stiffness, including hopping, gait, jumping, sledge ergometry and change of direction tasks. Appropriate levels of reliability have been reported in most tasks, although they vary between investigations. Vertical stiffness has demonstrated the strongest reliability across tasks and may be more sensitive to changes in high-velocity running performance than leg stiffness. Joint stiffness demonstrates the weakest reliability, with ankle stiffness more reliable than knee stiffness. Determination of stiffness has typically necessitated force plate analyses; however, validated field-based equations permit determination of whole-body stiffness without force plates. Vertical, leg and joint stiffness measures have all demonstrated relationships with performance measures. Greater stiffness is typically demonstrated with increasing intensity (i.e., running velocity or hopping frequency). Greater stiffness is observed in athletes regularly subjecting the limb to high ground reaction forces (i.e., sprinters). Careful consideration should be given to the most appropriate assessment of stiffness on a team/individual basis.

Instantaneous stiffness and hysteresis of dynamic elastic response prosthetic feet

BACKGROUND

Dynamic elastic response prosthetic feet are designed to mimic the functional characteristics of the native foot/ankle joint. Numerous designs of dynamic elastic response feet exist which make the prescription process difficult, especially because of the lack of empirical evidence describing the objective performance characteristics of the feet.

OBJECTIVES

To quantify the mechanical properties of available dynamic elastic response prosthetic feet, specifically the stiffness and hysteresis.

STUDY DESIGN

Mechanical testing of dynamic elastic response prosthetic feet.

METHODS

Static Proof Testing in accordance with ISO 10328 was conducted on seven dynamic elastic response prosthetic feet. Load-displacement data were used to calculate the instantaneous stiffness in both the heel and forefoot regions, as well as hysteresis associated with each foot.

RESULTS

Heel stiffness was greater than forefoot stiffness for all feet. The heel of the glass composite prosthetic foot was stiffer than the carbon fiber feet and it exhibited less hysteresis. Two different carbon fiber feet had the stiffest forefoot regions.

CONCLUSION

Mechanical testing is a reproducible method that can be used to provide objective evidence about dynamic elastic response prosthetic foot performance and aid in the prescription process. Clinical relevance The quantitative stiffness and hysteresis data from this study can be used by prosthetists to aid the prescription process and make it more objective.

Increase in Leg Stiffness Reduces Joint Work During Backpack Carriage Running at Slow Velocities

Optimal tuning of leg stiffness has been associated with better running economy. Running with a load is energetically expensive, which could have a significant impact on athletic performance where backpack carriage is involved. The purpose of this study was to investigate the impact of load magnitude and velocity on leg stiffness. We also explored the relationship between leg stiffness and running joint work. Thirty-one healthy participants ran overground at 3 velocities (3.0, 4.0, 5.0 m·s^-1), whilst carrying 3 load magnitudes (0%, 10%, 20% weight). Leg stiffness was derived using the direct kinetic-kinematic method. Joint work data was previously reported in a separate study. Linear models were used to establish relationships between leg stiffness and load magnitude, velocity, and joint work. Our results found that leg stiffness did not increase with load magnitude. Increased leg stiffness was associated with reduced total joint work at 3.0 m·s^-1, but not at faster velocities. The association between leg stiffness and joint work at slower velocities could be due to an optimal covariation between skeletal and muscular components of leg stiffness, and limb attack angle. When running at a relatively comfortable velocity, greater leg stiffness may reflect a more energy efficient running pattern.