Prediction of antagonistic muscle forces using inverse dynamic optimization during flexion/extension of the knee

Modeling Human Suboptimal Control: A Review

This review paper provides an overview of the approaches to model neuromuscular control, focusing on methods to identify nonoptimal control strategies typical of populations with neuromuscular disorders or children. Where possible, the authors tightened the description of the methods to the mechanisms behind the underlying biomechanical and physiological rationale. They start by describing the first and most simplified approach, the reductionist approach, which splits the role of the nervous and musculoskeletal systems. Static optimization and dynamic optimization methods and electromyography-based approaches are summarized to highlight their limitations and understand (the need for) their developments over time. Then, the authors look at the more recent stochastic approach, introduced to explore the space of plausible neural solutions, thus implementing the uncontrolled manifold theory, according to which the central nervous system only controls specific motions and tasks to limit energy consumption while allowing for some degree of adaptability to perturbations. Finally, they explore the literature covering the explicit modeling of the coupling between the nervous system (acting as controller) and the musculoskeletal system (the actuator), which may be employed to overcome the split characterizing the reductionist approach.

A Conceptual Blueprint for Making Neuromusculoskeletal Models Clinically Useful

The ultimate goal of most neuromusculoskeletal modeling research is to improve the treatment of movement impairments. However, even though neuromusculoskeletal models have become more realistic anatomically, physiologically, and neurologically over the past 25 years, they have yet to make a positive impact on the design of clinical treatments for movement impairments. Such impairments are caused by common conditions such as stroke, osteoarthritis, Parkinson’s disease, spinal cord injury, cerebral palsy, limb amputation, and even cancer. The lack of clinical impact is somewhat surprising given that comparable computational technology has transformed the design of airplanes, automobiles, and other commercial products over the same time period. This paper provides the author’s personal perspective for how neuromusculoskeletal models can become clinically useful. First, the paper motivates the potential value of neuromusculoskeletal models for clinical treatment design. Next, it highlights five challenges to achieving clinical utility and provides suggestions for how to overcome them. After that, it describes clinical, technical, collaboration, and practical needs that must be addressed for neuromusculoskeletal models to fulfill their clinical potential, along with recommendations for meeting them. Finally, it discusses how more complex modeling and experimental methods could enhance neuromusculoskeletal model fidelity, personalization, and utilization. The author hopes that these ideas will provide a conceptual blueprint that will help the neuromusculoskeletal modeling research community work toward clinical utility.

Impact of antagonistic muscle co-contraction on in vivo knee contact forces

Background

The onset and progression of osteoarthritis, but also the wear and loosening of the components of an artificial joint, are commonly associated with mechanical overloading of the structures. Knowledge of the mechanical forces acting at the joints, together with an understanding of the key factors that can alter them, are critical to develop effective treatments for restoring joint function. While static anatomy is usually the clinical focus, less is known about the impact of dynamic factors, such as individual muscle recruitment, on joint contact forces.

Methods

In this study, instrumented knee implants provided accurate in vivo tibio-femoral contact forces in a unique cohort of 9 patients, which were used as input for subject specific musculoskeletal models, to quantify the individual muscle forces during walking and stair negotiation.

Results

Even between patients with a very similar self-selected gait speed, the total tibio-femoral peak forces varied 1.7-fold, but had only weak correlation with static alignment (varus/valgus). In some patients, muscle co-contraction of quadriceps and gastrocnemii during walking added up to 1 bodyweight (~ 50%) to the peak tibio-femoral contact force during late stance. The greatest impact of co-contraction was observed in the late stance phase of stair ascent, with an increase of the peak tibio-femoral contact force by up to 1.7 bodyweight (66%).

Conclusions

Treatment of diseased and failed joints should therefore not only be restricted to anatomical reconstruction of static limb axes alignment. The dynamic activation of muscles, as a key modifier of lower limb biomechanics, should also be taken into account and thus also represents a promising target for restoring function, patient mobility, and preventing future joint failure.

Trial registration

German Clinical Trials Register: ID: DRKS00000606, date: 05.11.2010.

Electronic supplementary material

The online version of this article (10.1186/s12984-018-0434-3) contains supplementary material, which is available to authorized users.

Fast Forward-Dynamics Tracking Simulation: Application to Upper Limb and Shoulder Modeling

OBJECTIVE

Musculoskeletal simulation can be used to estimate muscle forces in clinical movement studies. However, such simulations typically only target movement measurements and are not applicable to force exertion tasks which are commonly used in rehabilitation therapy. Simulations can also produce nonphysiological joint forces or be too slow for real-time clinical applications, such as rehabilitation with real-time feedback. The objective of this study is to propose and evaluate a new formulation of forward-dynamics assisted tracking simulation that incorporates measured reaction forces as targets or constraints without any additional computational cost.

METHODS

We illustrate our method with idealized proof-of-concept models and evaluate it with two upper limb cases: Tracking of hand reaction forces during an isometric force-generation task and constraining glenohumeral joint reaction forces for stability during arm elevation.

RESULTS

We show that the addition of reaction force optimization terms within our simulations generates plausible muscle force predictions for these tasks, which are strongly related to reaction forces in addition to movement. Execution times for all models tested were not different when run with or without the reaction force optimization term, ensuring that the simulations are fast enough for real-time clinical applications.

CONCLUSION

Our novel reaction force optimization term leads to more realistic shoulder reaction forces, without any additional computational costs.

SIGNIFICANCE

Our formulation is not only valuable for shoulder simulations, but could be used in various clinical situations (e.g., for different joints and rehabilitation therapy tasks) where the direction and/or magnitude of reaction forces are of interest.

Simulation of movement in three-dimensional musculoskeletal human lumbar spine using directional encoding-based neurocontrollers

Despite development of accurate musculoskeletal models for human lumbar spine, the methods for prediction of muscle activity patterns in movements lack proper association with corresponding sensorimotor integrations. This paper uses the directional information of the Jacobian of the musculoskeletal system to orchestrate adaptive critic-based fuzzy neural controller modules for controlling a complex nonlinear redundant musculoskeletal system. The proposed controller is used to control a 3D 3-degree of freedom (DOF) musculoskeletal model of trunk, actuated by 18 muscles. The controller is capable of learning to control from sensory information, without relying on pre-assumed model parameters. Simulation results show satisfactory tracking of movements and the simulated muscle activation patterns conform to previous EMG experiments and optimization studies. The proposed controller can be used as a computationally inexpensive muscle activity generator to distinguish between neural and mechanical contributions to movement and for study of sensory versus motor origins of motor function and dysfunction in human spine.

Multi-objective optimisation for musculoskeletal modelling: application to a planar elbow model

One of the open issues in musculoskeletal modelling remains the choice of the objective function that is used to solve the muscular redundancy problem. Some authors have recently proposed to introduce joint reaction forces in the objective function, and the question of the weights associated with musculo-tendon forces and joint reaction forces arose. This question typically deals with a multi-objective optimisation problem. The aim of this study is to illustrate, on a planar elbow model, the ensemble of optimal solutions (i.e. Pareto front) and the solution of a global objective method that represent different compromises between musculo-tendon forces, joint compression force, and joint shear force. The solutions of the global objective method, based either on the minimisation of the sum of the squared musculo-tendon forces alone or on the minimisation of the squared joint compression force and shear force together, are in the same range. Minimising either the squared joint compression force or shear force alone leads to extreme force values. The exploration of the compromises between these forces illustrates the existence of major interactions between the muscular and joint structures. Indeed, the joint reaction forces relate to the projection of the sum of the musculo-tendon forces. An illustration of these interactions, due to the projection relation, is that the Pareto front is not a large surface, like in a typical three-objective optimisation, but almost a curve. These interactions, and the possibility to take them into account by a multi-objective optimisation, seem essential for the application of musculoskeletal modelling to joint pathologies.

Integrating dynamic stereo-radiography and surface-based motion data for subject-specific musculoskeletal dynamic modeling

This manuscript presents a new subject-specific musculoskeletal dynamic modeling approach that integrates high-accuracy dynamic stereo-radiography (DSX) joint kinematics and surface-based full-body motion data. We illustrate this approach by building a model in OpenSim for a patient who participated in a meniscus transplantation efficacy study, incorporating DSX data of the tibiofemoral joint kinematics. We compared this DSX-incorporated (DSXI) model to a default OpenSim model built using surface-measured data alone. The architectures and parameters of the two models were identical, while the differences in (time-averaged) tibiofemoral kinematics were of the order of magnitude of 10° in rotation and 10mm in translation. Model-predicted tibiofemoral compressive forces and knee muscle activations were compared against literature data acquired from instrumented total knee replacement components (Fregly et al., 2012) and the patient's EMG recording. The comparison demonstrated that the incorporation of DSX data improves the veracity of musculoskeletal dynamic modeling.

Intersegmental moment analysis characterizes the partial correspondence of jumping and jerking

The aim of this study was to quantify internal joint moments of the lower limb during vertical jumping and the weightlifting jerk to improve awareness of the control strategies and correspondence between these activities, and to facilitate understanding of the likely transfer of training effects. Athletic men completed maximal unloaded vertical jumps (n = 12) and explosive push jerks at 40 kg (n = 9). Kinematic data were collected using optical motion tracking and kinetic data via a force plate, both at 200 Hz. Joint moments were calculated using a previously described biomechanical model of the right lower limb. Peak moment results highlighted that sagittal plane control strategies differed between jumping and jerking (p < 0.05) with jerking being a knee dominant task in terms of peak moments as opposed to a more balanced knee and hip strategy in jumping and landing. Jumping and jerking exhibited proximal to distal joint involvement and landing was typically reversed. High variability was seen in nonsagittal moments at the hip and knee. Significant correlations were seen between jump height and hip and knee moments in jumping (p < 0.05). Although hip and knee moments were correlated between jumping and jerking (p < 0.05), joint moments in the jerk were not significantly correlated to jump height (p > 0.05) possibly indicating a limit to the direct transferability of jerk performance to jumping. Ankle joint moments were poorly related to jump performance (p > 0.05). Peak knee and hip moment generating capacity are important to vertical jump performance. The jerk appears to offer an effective strategy to overload joint moment generation in the knee relative to jumping. However, an absence of hip involvement would appear to make it a general, rather than specific, training modality in relation to jumping.

PREDICTION OF MUSCLE FORCES USING STATIC OPTIMIZATION FOR DIFFERENT CONTRACTILE CONDITIONS

In this study, we introduced a novel cost function for the prediction of individual muscle forces for a one degree-of-freedom musculoskeletal system. Unlike previous models, the new approach incorporates the instantaneous contractile conditions represented by the force-length and force-velocity relationships and accounts for physiological properties such as fiber type distribution and physiological cross-sectional area (PCSA) in the cost function. Using this cost function, it is possible to predict experimentally observed features of force-sharing among synergistic muscles that cannot be predicted using the classical approaches. Specifically, the new approach allows for predictions of force-sharing loops of agonistic muscles in one degree-of-freedom systems and for simultaneous increases in force in one muscle and decreases in a corresponding agonist. We concluded that the incorporation of the contractile conditions in the weighting of cost functions provides a natural way to incorporate observed force-sharing features in synergistic muscles that have eluded satisfactory description.

Effect of botulinum toxin injection on length and lengthening velocity of rectus femoris during gait in hemiparetic patients

BACKGROUND

In hemiparetic patients, rectus femoris spasticity is one of the main causes of reduced knee flexion in swing phase, known as stiff knee gait. Botulinum toxin is often used to reduce rectus femoris spasticity and to increase knee flexion during swing phase. However, the mechanisms behind these improvements remain poorly understood. The aim of this study was (1) to quantify maximal rectus femoris length and lengthening velocity during gait in ten adult hemiparetic subjects with rectus femoris spasticity and stiff knee gait and to compare these parameters with those of ten healthy subjects and (2) to study the effect of botulinum toxin injection in the rectus femoris muscle on the same parameters.

METHODS

10 patients with stiff knee gait and rectus femoris spasticity underwent 3D gait analysis before and one month after botulinum toxin injection of the rectus femoris (200 U Botox, Allergan Inc., Markham, Ontario, CANADA). Rectus femoris length and lengthening velocity were quantified using a musculoskeletal model (SIMM, MusculoGraphics, Inc., Santa Rosa, California, USA).

FINDINGS

Maximal length and lengthening velocity of the rectus femoris were significantly reduced on the paretic side. There was a significant increase in muscle length as well as lengthening velocity during gait following botulinum toxin injection.

INTERPRETATION

This study showed that botulinum toxin injection in the spastic rectus femoris of hemiparetic patients improves muscle kinematics during gait. However maximal rectus femoris length did not reach normal values following injection, suggesting that other mechanisms are likely involved.

Greater muscle co-contraction results in increased tibiofemoral compressive forces in females who have undergone anterior cruciate ligament reconstruction

Individuals who have undergone ACL reconstruction (ACLR) have been shown to have a higher risk of developing knee osteoarthritis (OA). The elevated risk of knee OA may be associated with increased tibiofemoral compressive forces. The primary purpose of this study was to examine whether females with ACLR demonstrate greater tibiofemoral compressive forces, as well as greater muscle co-contraction and decreased knee flexion during a single-leg drop-land task when compared to healthy females. Ten females with ACLR and 10 healthy females (control group) participated. Each participant underwent two data collection sessions: (1) MRI assessment and (2) biomechanical analysis (EMG, kinematics, and kinetics) during a single-leg drop-land task. Joint kinematics, EMG, and MRI-measured muscle volumes and patella tendon orientation were used as input variables into a MRI-based EMG-driven knee model to quantify the peak tibiofemoral compressive forces during landing. Peak tibiofemoral compressive forces were significantly higher in the ACLR group when compared to the control group (97.3 ± 8.0 vs. 88.8 ± 9.8 N · kg(-1)). The ACLR group also demonstrated significantly greater muscle co-contraction as well as less knee flexion than the control group. Our findings support the premise that individuals with ACLR demonstrate increased tibiofemoral compression as well as greater muscle co-contraction and decreased knee flexion during a drop-land task. Future studies are needed to examine whether correcting abnormal neuromuscular strategies and reducing tibiofemoral compressive forces following ACLR can slow the progression of joint degeneration in this population.

The development of lower limb musculoskeletal models with clinical relevance is dependent upon the fidelity of the mathematical description of the lower limb. Part I: Equations of motion

Contemporary musculoskeletal modelling research is based upon the assumption that such models will evolve into clinical tools that can be used to guide therapeutic interventions. However, there are a number of questions that must be addressed before this becomes a reality. At its heart, musculoskeletal modelling is a process of formulating and then solving the equations of motion that describe the movement of body segments. Both of these steps are challenging. This article argues that traditional approaches to musculoskeletal modelling have been heavily influenced by the need to simplify this process (and in particular the solution process), and that this has to some degree resulted in approaches that are contrary to the principles of classical mechanics. It is suggested that future work is required to understand how these simplifications affect the outputs of musculoskeletal modelling studies. Equally, to increase their clinical relevance, the models of the future should adhere more closely to the classical mechanics on which they are based.

Knee and hip joint forces – sensitivity to the degrees of freedom classification at the knee

Previous research has demonstrated that the number of degrees of freedom (DOF) modelled at a given joint affects the antagonistic muscle activity predicted by inverse dynamics optimization techniques. This higher level of muscle activity in turn results in greater joint contact forces. For instance, modelling the knee as a 3 DOF joint has been shown to result in higher hip and knee joint forces commensurate with a higher level of muscular activity than when the knee is modelled with 1 DOF. In this study, a previously described musculoskeletal model of the lower limb was used to evaluate the sensitivity of the knee and hip joint contact forces to the DOF at the knee during vertical jumping in both a 1 and a 3 DOF knee model. The 3 DOF knee was found to predict higher tibiofemoral and hip joint contact forces and lower patellofemoral joint contact forces. The magnitude of the difference in hip contact force was at least as significant as that found in previous research exploring the effect of subject-specific hip geometry on hip contact force. This study therefore demonstrates a key sensitivity of knee and hip joint contact force calculations to the DOF at the knee. Finally, it is argued that the results of this study highlight an important physiological question with practical implications for the loading of the structures of the knee; that is, the relative interaction of muscular, ligamentous, and articular structures in creating moment equilibrium at the knee.

Biomechanics of Off-Center Monoarticular Exercises with Lever Selectorized Equipment

We have developed a 2-D analytical biomechanical model for monoarticular open kinetic-chain exercises with lever selectorized equipment, and different relative placement between the joint center of rotation (J) and the center of rotation (C) of the resistance input lever (“off-center” exercises). All the relevant geometrical aspects of such exercises have been characterized: the change with the joint angle of the distance between the resistance pad (P) and J, and of the angle between CP and JP (i.e., the angle between the resistance input lever and the exercising limb). These changes may strongly affect the joint load and the muscle torque in inverse dynamic problems, given the joint kinematics and the mass of the selected weight stack. Therefore, the muscle torque, the shear and axial components of the joint load have been calculated analytically as a function of the relative positioning of C and J, and the length CP, in addition to the parameters that define the joint kinematics, the equipment mechanics, and the external load. From these results we have derived the optimal cam profiles for “off-center” exercises, as well as the geometrical “off-center” setting that minimizes the shear component of the tibiofemoral joint load in leg extension equipment.

How does the central nervous system address the kinetic redundancy in the lumbar spine? Three-dimensional isometric exertions with 18 Hill-model-based muscle fascicles at the L4—L5 level

The human motor system is organized for execution of various motor tasks in a different and flexible manner. The kinetic redundancy in the human musculoskeletal system is a significant property by which the central nervous system achieves many complementary goals. An equilibrium-based biomechanical model of isometric three-dimensional exertions of trunk muscles has been developed. Following the definition and role of the uncontrolled manifold, the kinetic redundancy concept is explored in mathematical terms. The null space of the kinetically redundant system when a certain joint moment and/or stiffness are needed is derived and discussed. The aforementioned concepts have been illustrated, using a three-dimensional three-degrees-of-freedom biomechanical model of the spine with 18 anatomically oriented Hill-type-model muscle fascicles. The considerations of stability and its consequence on the internal loading of the spine and coactivation consequences are discussed in both general and specific cases. The results can shed light on the interaction mechanisms in muscle activation patterns seen in various tasks and exertions and can provide a significant understanding for future research studies and clinical practices related to low-back disorders. Alteration of recruitment patterns in low-back-pain patients has been explained on the basis of this biomechanical analysis. The higher coactivation results in higher internal loading while providing higher joint stiffness that enhances spinal stability, which guards against spinal deformation in the presence of any perturbations.

A task-specific validation of homogeneous non-linear optimisation approaches

In biomechanics, musculoskeletal models are typically redundant. This situation is referred to as the distribution problem. Often, static, non-linear optimisation methods of the form "min: phi(f) subject to mechanical and muscular constraints" have been used to extract a unique set of muscle forces. Here, we present a method for validating this class of non-linear optimisation approaches where the homogeneous cost function, phi(f), is used to solve the distribution problem. We show that the predicted muscle forces for different loading conditions are scaled versions of each other if the joint loading conditions are just scaled versions. Therefore, we can calculate the theoretical muscle forces for different experimental conditions based on the measured muscle forces and joint loadings taken from one experimental condition and assuming that all input into the optimisation (e.g., moment arms, muscle attachment sites, size, fibre type distribution) and the optimisation approach are perfectly correct. Thus predictions of muscle force for other experimental conditions are accurate if the optimisation approach is appropriate, independent of the musculoskeletal geometry and other input required for the optimisation procedure. By comparing the muscle forces predicted in this way to the actual muscle forces obtained experimentally, we conclude that convex homogeneous non-linear optimisation approaches cannot predict individual muscle forces properly, as force-sharing among synergistic muscles obtained experimentally are not just scaled versions of joint loading, not even in a first approximation.

In vivo contact kinematics and contact forces of the knee after total knee arthroplasty during dynamic weight-bearing activities

Analysis of polyethylene component wear and implant loosening in total knee arthroplasty (TKA) requires precise knowledge of in vivo articular motion and loading conditions. This study presents a simultaneous in vivo measurement of tibiofemoral articular contact forces and contact kinematics in three TKA patients. These measurements were accomplished via a dual fluoroscopic imaging system and instrumented tibial implants, during dynamic single leg lunge and chair rising-sitting. The measured forces and contact locations were also used to determine mediolateral distribution of axial contact forces. Contact kinematics data showed a medial pivot during flexion of the knee, for all patients in the study. Average axial forces were higher for lunge compared to chair rising-sitting (224% vs. 187% body weight). In this study, we measured peak anteroposterior and mediolateral forces averaging 13.3% BW during lunge and 18.5% BW during chair rising-sitting. Mediolateral distributions of axial contact force were both patient and activity specific. All patients showed equitable medial-lateral loading during lunge but greater loads at the lateral compartment during chair rising-sitting. The results of this study may enable more accurate reproduction of in vivo loads and articular motion patterns in wear simulators and finite element models. This in turn may help advance our understanding of factors limiting longevity of TKA implants, such as aseptic loosening and polyethylene component wear, and enable improved TKA designs.

The effects of ACL deficiency on mediolateral translation and varus-valgus rotation

BACKGROUND

The anterior cruciate ligament (ACL) constrains the anterior translation and axial rotation of the tibia. However, the effect of ACL injury on the mediolateral translation and varus-valgus rotation of the tibia is unknown. Because of the oblique orientation of the ACL, we hypothesized that ACL deficiency alters mediolateral translation and varus-valgus rotation.

METHODS

The kinematics of 9 cadavers from full extension to 90 degrees of flexion under various loading conditions were measured before and after ACL resection using a robotic testing system.

RESULTS

ACL deficiency increased the medial translation of the tibia and valgus rotation, especially at 15 degrees and 30 degrees of flexion. For example, at 15 degrees, ACL deficiency increased the medial translation from 1.2 (SD 0.9) mm to 1.8 (SD 1.1) mm in response to a quadriceps load. The valgus rotation also increased from 0.8 degrees (SD 0.6) to 1.7 degrees (SD 0.8).

INTERPRETATION

ACL deficiency altered both the mediolateral tibial translation and valgus-varus rotation under various loading conditions. The increased medial tibial translation could shift the contact in the medial compartment towards the medial tibial spine, a region where degeneration is observed in ACL-deficient patients. In addition to restoring anterior laxity, ACL reconstruction might need to restore the mediolateral translation of the tibia and varus-valgus rotation of the knee.

Virtual Interactive Musculoskeletal System (VIMS) in orthopaedic research, education and clinical patient care

The ability to combine physiology and engineering analyses with computer sciences has opened the door to the possibility of creating the "Virtual Human" reality. This paper presents a broad foundation for a full-featured biomechanical simulator for the human musculoskeletal system physiology. This simulation technology unites the expertise in biomechanical analysis and graphic modeling to investigate joint and connective tissue mechanics at the structural level and to visualize the results in both static and animated forms together with the model. Adaptable anatomical models including prosthetic implants and fracture fixation devices and a robust computational infrastructure for static, kinematic, kinetic, and stress analyses under varying boundary and loading conditions are incorporated on a common platform, the VIMS (Virtual Interactive Musculoskeletal System). Within this software system, a manageable database containing long bone dimensions, connective tissue material properties and a library of skeletal joint system functional activities and loading conditions are also available and they can easily be modified, updated and expanded. Application software is also available to allow end-users to perform biomechanical analyses interactively. Examples using these models and the computational algorithms in a virtual laboratory environment are used to demonstrate the utility of these unique database and simulation technology. This integrated system, model library and database will impact on orthopaedic education, basic research, device development and application, and clinical patient care related to musculoskeletal joint system reconstruction, trauma management, and rehabilitation.

Model-based estimation of muscle forces exerted during movements

Estimation of individual muscle forces during human movement can provide insight into neural control and tissue loading and can thus contribute to improved diagnosis and management of both neurological and orthopaedic conditions. Direct measurement of muscle forces is generally not feasible in a clinical setting, and non-invasive methods based on musculoskeletal modeling should therefore be considered. The current state of the art in clinical movement analysis is that resultant joint torques can be reliably estimated from motion data and external forces (inverse dynamic analysis). Static optimization methods to transform joint torques into estimates of individual muscle forces using musculoskeletal models, have been known for several decades. To date however, none of these methods have been successfully translated into clinical practice. The main obstacles are the lack of studies reporting successful validation of muscle force estimates, and the lack of user-friendly and efficient computer software. Recent advances in forward dynamics methods have opened up new opportunities. Forward dynamic optimization can be performed such that solutions are less dependent on measured kinematics and ground reaction forces, and are consistent with additional knowledge, such as the force-length-velocity-activation relationships of the muscles, and with observed electromyography signals during movement. We conclude that clinical applications of current research should be encouraged, supported by further development of computational tools and research into new algorithms for muscle force estimation and their validation.

Antagonistic activity of one-joint muscles in three-dimensions using non-linear optimisation

Non-linear optimisation, such as the type presented by R.D. Crowninshield and R.A. Brand [The prediction of forces in joint structures: Distribution of intersegmental resultants, Exercise Sports Sci. Rev. 9 (1981) 159], has been frequently used to obtain a unique set of muscle forces during human or animal movements. In the past, analytical solutions of this optimisation problem have been presented for single degree-of-freedom models, and planar models with a specific number of muscles and a defined musculoskeletal geometry. Results of these studies have been generalised to three-dimensional problems and for general formulations of the musculoskeletal geometry without corresponding proofs. Here, we extend the general solution of the above non-linear, constrained, planar optimisation problem to three-dimensional systems of arbitrary geometry. We show that there always exists a set of intersegmental moments for which the given static optimisation formulation will predict co-contraction of a pair of antagonistic muscles unless they are exact antagonists. Furthermore, we provide, for a given three-dimensional system consisting of single joint muscles, a method that describes all the possible joint moments that give co-contraction for a given pair of antagonistic muscles.

Tibial forces measured in vivo after total knee arthroplasty

An instrumented tibial prosthesis was developed to measure forces in vivo after total tibial arthroplasty. This prosthesis was implanted in a 67-kg, 80-year-old man. The prosthesis measured forces at the 4 quadrants of the tibial tray. Tibial forces were measured postoperatively during rehabilitation, rising from a chair, standing, walking, and climbing stairs. By the sixth postoperative week, the peak tibial forces during walking averaged 2.2 times body weight (BW). Stair climbing increased from 1.9 times BW on day 6 to 2.5 times BW at 6 weeks. This represents the first direct in vivo measurement of tibial forces, which should lead to refined surgical techniques and enhanced prosthetic designs. Technical design improvements will enhance function, quality of life, and longevity of total knee arthroplasty.

A global optimization method for prediction of muscle forces of human musculoskeletal system

Inverse dynamic optimization is a popular method for predicting muscle and joint reaction forces within human musculoskeletal joints. However, the traditional formulation of the optimization method does not include the joint reaction moment in the moment equilibrium equation, potentially violating the equilibrium conditions of the joint. Consequently, the predicted muscle and joint reaction forces are coordinate system-dependent. This paper presents an improved optimization method for the prediction of muscle forces and joint reaction forces. In this method, the location of the rotation center of the joint is used as an optimization variable, and the moment equilibrium equation is formulated with respect to the joint rotation center to represent an accurate moment constraint condition. The predicted muscle and joint reaction forces are independent of the joint coordinate system. The new optimization method was used to predict muscle forces of an elbow joint. The results demonstrated that the joint rotation center location varied with applied loading conditions. The predicted muscle and joint reaction forces were different from those predicted by using the traditional optimization method. The results further demonstrated that the improved optimization method converged to a minimum for the objective function that is smaller than that reached by using the traditional optimization method. Therefore, the joint rotation center location should be involved as a variable in an inverse dynamic optimization method for predicting muscle and joint reaction forces within human musculoskeletal joints.

Anterior tibial post impingement in a posterior stabilized total knee arthroplasty

Despite the numerous long-term success reports of posterior stabilized (PS) total knee arthroplasty (TKA), recent retrieval studies of various PS TKA designs revealed wear and deformation on the anterior side of the tibial post. This study investigated the mechanisms of anterior impingement of the post with the femoral component. Seven cadaveric knees were tested to study kinematics and tibial post biomechanics during simulated heel strike using an in vitro robotic testing system. Intact knee kinematics and in situ anterior cruciate ligament (ACL) forces were determined at hyperextension (0 degree to -9 degrees) and low flexion angles (0 degrees to 30 degrees) under the applied loads. The same knee was reconstructed using a PS TKA. The kinematics and the tibial post contact forces of the TKA were measured under the same loading condition. The ACL in the intact knee carried load and contributed to knee stability at low flexion angles and hyperextension. After TKA, substantial in situ contact forces (252.4 +/- 173 N at 9 degrees of hyperextension) occurred in the tibial post, indicating anterior impingement with the femoral component. Consequently, the TKA showed less posterior femoral translation compared to the intact knee after the impingement. At 9 degrees of hyperextension, the medial condyle of the intact knee translated 0.1 +/- 1.1 mm whereas the medial condyle of the TKA knee translated 5.6 +/- 6.9 mm anteriorly. The lateral condyle of the intact knee translated 1.5 +/- 1.0 mm anteriorly whereas the lateral condyle of the TKA knee translated 2.1 +/- 5.8 mm anteriorly. The data demonstrated that anterior tibial post impingement functions as a substitute for the ACL during hyperextension, contributing to anterior stability. However, anterior post impingement may result in additional polyethylene wear and tibial post failure. Transmitted impingement forces might cause backside wear and component loosening. Understanding the advantages and disadvantages of the tibial post function at low flexion angles may help to further improve component design and surgical techniques and thus enhance knee stability and component longevity after TKA.

Predictions of co-contraction depend critically on degrees-of-freedom in the musculoskeletal model

In biomechanics, the calculation of individual muscle forces during movements is based on a model of the musculoskeletal system and a method for extracting a unique set of muscle forces. To obtain a unique set of muscle forces, non-linear, static optimisation is commonly used. However, the optimal solution is dependent on the musculoskeletal geometry, and single joints may be represented using one, two or three degrees-of-freedom. Frequently, a system with multiple degrees-of-freedom is replaced with a system that contains a subset of all the possible degrees-of-freedom. For example, the cat ankle joint is typically modelled as a planar joint with its primary degree-of-freedom (plantar-dorsiflexion), whereas, the actual joint has three rotational degrees-of-freedom. Typically, such simplifications are justified by the idea that the reduced case is contained as a specific solution of the more general case. However, here we demonstrate that the force-sharing solution space of a general, three degrees-of-freedom musculoskeletal system does not necessarily contain the solutions from the corresponding one or two degrees-of-freedom systems. Therefore, solutions of a reduced system, in general, are not sub-set solutions of the actual three degrees-of-freedom system, but are independent solutions that are often incompatible with solutions of the actual system. This result shows that representing a three degrees-of-freedom system as a one or two degrees-of-freedom system gives force-sharing solutions that cannot be extrapolated to the actual system, and vice-versa. These results imply that general solutions cannot be extracted from models with fewer degrees-of-freedom than the actual system. They further emphasise the need for precise geometric representation of the musculoskeletal system, if general force-sharing rules are to be derived.

Multibody dynamic simulation of knee contact mechanics

Multibody dynamic musculoskeletal models capable of predicting muscle forces and joint contact pressures simultaneously would be valuable for studying clinical issues related to knee joint degeneration and restoration. Current three-dimensional multibody knee models are either quasi-static with deformable contact or dynamic with rigid contact. This study proposes a computationally efficient methodology for combining multibody dynamic simulation methods with a deformable contact knee model. The methodology requires preparation of the articular surface geometry, development of efficient methods to calculate distances between contact surfaces, implementation of an efficient contact solver that accounts for the unique characteristics of human joints, and specification of an application programming interface for integration with any multibody dynamic simulation environment. The current implementation accommodates natural or artificial tibiofemoral joint models, small or large strain contact models, and linear or nonlinear material models. Applications are presented for static analysis (via dynamic simulation) of a natural knee model created from MRI and CT data and dynamic simulation of an artificial knee model produced from manufacturer's CAD data. Small and large strain natural knee static analyses required 1 min of CPU time and predicted similar contact conditions except for peak pressure, which was higher for the large strain model. Linear and nonlinear artificial knee dynamic simulations required 10 min of CPU time and predicted similar contact force and torque but different contact pressures, which were lower for the nonlinear model due to increased contact area. This methodology provides an important step toward the realization of dynamic musculoskeletal models that can predict in vivo knee joint motion and loading simultaneously.

An implantable telemetry device to measure intra-articular tibial forces

Tibial forces are important because they determine polyethylene wear, stress distribution in the implant, and stress transfer to underlying bone. Theoretic estimates of tibiofemoral forces have varied between three and six times the body weight depending on the mathematical models used and the type of activity analyzed. An implantable telemetry system was therefore developed to directly measure tibiofemoral compressive forces. This system was tested in a cadaver knee in a dynamic knee rig. A total knee tibial arthroplasty prosthesis was instrumented with four force transducers located at the four corners of the tibial tray. These transducers measured the total compressive forces on the tibial tray and the location of the center of pressure. A microprocessor performed analog-to-digital signal conversion and performed pulse code modulation of a surface acoustic wave radio frequency oscillator. This signal was then transmitted through a single pin hermetic feed-through tantalum wire antenna located at the tip of the stem. The radio frequency signal was received by an external antenna connected to a receiver and to a computer for data acquisition. The prosthesis was powered by external coil induction. The tibial transducer accurately measured both the magnitude and the location of precisely applied external loads. Successful transmission of the radio frequency signal up to a range of 3m was achieved through cadaveric bone, bone cement, and soft tissue. Reasonable accuracy was obtained in measuring loads applied through a polyethylene insert. The implant was also able to detect unicondylar loading with liftoff.

Muscle forces predicted using optimization methods are coordinate system dependent

Optimization methods are widely used to predict in vivo muscle forces in musculoskeletal joints. Moment equilibrium at the joint center (usually chosen as the origin of the joint coordinate system) has been used as a constraint condition for optimization procedures and the joint reaction moments were assumed zero. This study, through the use of a three-dimensional elbow model, investigated the effect of coordinate system origin (joint center) location on muscle forces predicted using a nonlinear static optimization method. The results demonstrated that moving the origin of the coordinate system medially and laterally along the flexion-extension axis caused dramatic variations in the predicted muscle forces. For example, moving the origin of the coordinate system from a position 5mm medial to 5mm lateral of the geometric elbow center caused the predicted biceps force to vary from 12% to 46% and the brachialis force to vary from 80% to 34% of the total muscle loading. The joint reaction force reduced by 24% with this medial to lateral variation of the coordinate system origin location. This data revealed that the muscle forces predicted using the optimization method are sensitive to the coordinate system origin location due to the zero joint reaction moment assumption in the moment constraint condition. For accurate prediction of muscle load distributions using optimization methods, it is necessary to determine the accurate coordinate system origin location where the condition of a zero joint reaction moment is satisfied.

The effect of anterior cruciate ligament reconstruction on knee joint kinematics under simulated muscle loads

BACKGROUND

Numerous studies have investigated anterior stability of the knee during the anterior drawer test after anterior cruciate ligament reconstruction. Few studies have evaluated anterior cruciate ligament reconstruction under physiological loads.

PURPOSE

To determine whether anterior cruciate ligament reconstruction reproduced knee motion under simulated muscle loads.

STUDY DESIGN

Controlled laboratory study.

METHODS

Eight human cadaveric knees were tested with the anterior cruciate ligament intact, transected, and reconstructed (using a bone-patellar tendon-bone graft) on a robotic testing system. Tibial translation and rotation were measured at 0 degrees, 15 degrees, 30 degrees, 60 degrees, and 90 degrees of flexion under anterior drawer loading (130 N), quadriceps muscle loading (400 N), and combined quadriceps and hamstring muscle loading (400 N and 200 N, respectively). Repeated-measures analysis of variance and the Student-Newman-Keuls test were used to detect statistically significant differences between knee states.

RESULTS

Anterior cruciate ligament reconstruction resulted in a clinically satisfactory anterior tibial translation. The anterior tibial translation of the reconstructed knee was 1.93 mm larger than the intact knee at 30 degrees of flexion under anterior load. Anterior cruciate ligament reconstruction overconstrained tibial rotation, causing significantly less internal tibial rotation in the reconstructed knee at low flexion angles (0 degrees-30 degrees) under muscle loads (P < .05). At 30 degrees of flexion, under muscle loads, the tibia of the reconstructed knee was 1.9 degrees externally rotated compared to the intact knee.

CONCLUSIONS

Anterior cruciate ligament reconstruction may not restore the rotational kinematics of the intact knee under muscle loads, even though anterior tibial translation was restored to a clinically satisfactory level under anterior drawer loads. These data suggest that reproducing anterior stability under anterior tibial loads may not ensure that knee joint kinematics is restored under physiological loading conditions.

CLINICAL RELEVANCE

Decreased internal rotation of the knee after anterior cruciate ligament reconstruction may lead to increased patellofemoral joint contact pressures. Future anterior cruciate ligament reconstruction techniques should aim at restoring 3-dimensional knee kinematics under physiological loads.

Knee kinematics with a high-flexion posterior stabilized total knee prosthesis: an in vitro robotic experimental investigation

BACKGROUND

An analysis of contemporary total knee arthroplasty reveals that, on the average, patients rarely flex the knee beyond 120 degrees. The biomechanical mechanisms that inhibit further flexion after total knee arthroplasty are unknown. The objective of the present study was to investigate the capability of a single design of a fixed-bearing, high-flexion posterior stabilized total knee arthroplasty system (LPS-Flex) to restore the range of flexion to that of the intact knee.

METHODS

Thirteen cadaveric human knees were tested, with use of a robotic testing system, before and after total knee arthroplasty with the LPS-Flex prosthesis. The passive path and the kinematics under an isolated quadriceps force of 400 N, under an isolated hamstring force of 200 N, and with these forces combined were determined. Posterior femoral translation of the lateral and medial femoral condyles and tibial rotation were recorded from 0 degrees to 150 degrees of flexion.

RESULTS

The medial and lateral condyles of the intact knee translated posteriorly from full extension to 150 degrees, reaching a mean peak (and standard deviation) of 22.9 +/- 11.3 mm and 31.9 +/- 12.5 mm, respectively, under the combined muscle forces. Following total knee arthroplasty, the amount of posterior femoral translation was lower than that observed in the intact knee. At 150 degrees, approximately 90% of the intact posterior femoral translation was recovered by the total knee replacement. Internal tibial rotation was observed for all knees throughout the range of motion. The cam-spine mechanism engaged at approximately 80 degrees and disengaged at 135 degrees. Despite the absence of cam-spine engagement, further posterior femoral translation occurred from 135 degrees to 150 degrees.

CONCLUSIONS

The tibiofemoral articular geometry of the intact knee and the knee after total knee arthroplasty with use of the LPS-Flex design demonstrated similar kinematics at high flexion angles. The cam-spine mechanism enhanced posterior femoral translation only at the mid-range of flexion. The femoral component geometry of the LPS-Flex total knee prosthesis may improve posterior tibiofemoral articulation contact in high flexion angles.

Knee adduction moment and development of chronic knee pain in elders

OBJECTIVE

To determine whether the adduction moment at the knee during locomotor activity contributes to the development of future chronic knee pain.

METHODS

We studied 132 community-dwelling elders who had undergone a full kinetic and kinematic motion analysis while performing 4 different activities: standing, walking, rising from a chair, and descending stairs. We contacted the participants 3-4 years after their baseline locomotion analysis and identified those who reported no knee pain at the time of motion analysis but who subsequently developed new chronic knee pain at followup. We examined whether the development of new chronic knee pain was associated with higher peak adduction moment at the knee during activities, measured at baseline.

RESULTS

Of the 132 elders evaluated in 1995-1996, 118 (89%) were contacted in 1999. Of the 118 contacted, 80 (mean age 75 years; 78% women) had no lower extremity prosthetic joints at baseline, no known underlying inflammatory arthritis at baseline nor followup, and no baseline knee pain. At followup, 7 had developed new chronic knee pain defined as pain or stiffness on most days of the month and with walking 2 blocks or using stairs. Compared with those who did not develop knee pain, those who did develop new chronic knee pain had higher baseline adduction moments for all activities (P = 0.01), ranging from 8% higher during chair rise to 39% higher during stair descent.

CONCLUSION

We found that greater adduction moment at the knee during activities contributes to the development of future chronic knee pain. Our results suggest that biomechanical factors may play an important role in the pathogenesis of knee pain and should be studied further.

The effect of tibiofemoral joint kinematics on patellofemoral contact pressures under simulated muscle loads

Altered patellofemoral joint contact pressures are thought to contribute to patellofemoral joint symptoms. However, little is known about the relationship between tibiofemoral joint kinematics and patellofemoral joint contact pressures. The objective of this paper was to investigate the effect of tibiofemoral joint kinematics on patellofemoral joint pressures using an established in vitro robotic testing experimental setup. Eight cadaveric knee specimens were tested at 0 degrees, 30 degrees, 60 degrees, 90 degrees, and 120 degrees of flexion under an isolated quadriceps load of 400 N and a combined quadriceps/hamstrings load of 400 N/200 N. Tibiofemoral joint kinematics were measured by the robot and contact pressures by a TekScan pressure sensor. The isolated quadriceps loading caused anterior translation and internal rotation of the tibia up to 60 degrees of flexion and posterior translation and external rotation of the tibia beyond 60 degrees. The co-contraction of the hamstring muscles caused a posterior translation and external rotation of the tibia relative to the motion of the tibia under the quadriceps load. Correspondingly, the contact pressures were elevated significantly at all flexion angles. For example, at 60 degrees of flexion, the hamstrings co-contraction increased the posterior tibial translation by approximately 2.8 mm and external tibial rotation by approximately 3.6 degrees. The peak contact pressure increased from 1.4+/-0.8 to 1.7+/-1.0 MPa, a 15% increase. The elevated contact pressures after hamstrings co-contraction indicates an intrinsic relation between the tibiofemoral joint kinematics and the patellofemoral joint biomechanics. An increase in posterior tibial translation and external rotation is accompanied by an increase in contact pressure in the patellofemoral joint. These results imply that excessive strength conditioning with the hamstring muscles might not be beneficial to the patellofemoral joint. Knee pathology that causes an increase in tibial posterior translation and external rotation might contribute to degeneration of the patellofemoral joint. These results suggest that conservative treatment of posterior cruciate ligament injury should be reconsidered.

Effect of the posterior cruciate ligament on posterior stability of the knee in high flexion

Most biomechanical studies of the knee have focused on knee flexion angles between 0 degrees and 120 degrees. The posterior cruciate ligament (PCL) has been shown to constrain posterior laxity of the knee in this range of flexion. However, little is known about PCL function in higher flexion angles (greater than 120 degrees ). This in vitro study examined knee kinematics before and after cutting the PCL at high flexion under a posterior tibial load and various muscle loads. The results demonstrated that although the PCL plays an important role in constraining posterior tibial translation at low flexion angles, the PCL had little effect in constraining tibial translation at 150 degrees of flexion under the applied loads.

In situ forces of the anterior and posterior cruciate ligaments in high knee flexion: an in vitro investigation

The function of the anterior and posterior cruciate ligaments (ACL and PCL) in the first 120 degrees of flexion has been reported extensively, but little is known of their behavior at higher flexion angles. The aim of this investigation was to study the effects of muscle loads on the in situ forces in both ligaments at high knee flexion (>120 degrees). Eighteen fresh-frozen human knee specimens were tested on a robotic testing system from full extension to 150 degrees of flexion in response to quadriceps (400 N), hamstrings (200 N), and combined quadriceps and hamstrings (400 N/200 N) loads. The in situ forces in the ACL and PCL were measured using the principle of superposition. The force in the ACL peaked at 30 degrees of flexion (71.7 +/- 27.9 N in response to the quadriceps load, 52.3 +/- 24.4 N in response to the combined muscle load, 32.3 +/- 20.9 N in response to the hamstrings load). At 150 degrees, the ACL force was approximately 30 N in response to the quadriceps load and 20 N in response to the combined muscle load and isolated hamstring load. The PCL force peaked at 90 degrees (34.0 +/- 15.3 N in response to the quadriceps load, 88.6 +/- 23.7 N in response to the combined muscle load, 99.8 +/- 24.0 N in response to the hamstrings load) and decreased to around 35 N at 150 degrees in response to each of the loads. These results demonstrate that the ACL and PCL carried significantly less load at high flexion in response to the simulated muscle loads compared to the peak loads they carried in response to the same muscle loads at other flexion angles. The data could provide a reference point for the investigation of non-weight bearing flexion and extension knee exercises in high flexion. Furthermore, these data could be useful in designing total knee implants to achieve high flexion.

Differences between measured and resultant joint moments during voluntary and artificially elicited isometric knee extension contractions

OBJECTIVE

Examine two hypotheses: (a) during isometric knee extension contractions the moment measured at the dynamometer is different from the resultant moment in the same plane around the knee joint and (b) during isometric contractions, at the same given resultant moment the knee angle while loading is different from the knee angle while unloading.

DESIGN

Comparative study in which the geometrical and the kinetic differences between joint and dynamometer were determined.

BACKGROUND

It is usually assumed that the moment measured by the dynamometer is equivalent to the resultant joint moment. The non-rigidity of the dynamometer-leg system can influence the equivalence of these two moments.

METHOD

Twenty seven subjects performed isometric maximal knee extension contractions and contractions induced by electrostimulation on a dynamometer. The kinematics of the leg were recorded using 8 cameras (120 Hz).

RESULTS

The resultant moment at the knee joint and the moment measured by the dynamometer are different. During a knee extension effort the knee angle changes significantly. At identical resultant knee joint moments the knee angles are different when comparing the loading and the unloading phases.

CONCLUSIONS

The differences between the measured and the resultant joint moments might influence the estimation of parameters as: muscle forces, moment-angle relationship and strain and hysteresis of tendons and aponeuroses.

RELEVANCE

Torque dynamometers have been often used to estimate muscle forces, to examine neuromuscular processes and to determine the mechanical properties of tendons and aponeuroses.

Kinematics of the knee at high flexion angles: an in vitro investigation

Restoration of knee function after total knee, meniscus, or cruciate ligament surgery requires an understanding of knee behavior throughout the entire range of knee motion. However, little data are available regarding knee kinematics and kinetics at flexion angles greater than 120 degrees (high flexion). In this study, 13 cadaveric human knee specimens were tested using an in vitro robotic experimental setup. Tibial anteroposterior translation and internal-external rotation were measured along the passive path and under simulated muscle loading from full extension to 150 degrees of flexion. Anterior tibial translation was observed in the unloaded passive path throughout, with a peak of 31.2+/-13.2 mm at 150 degrees. Internal tibial rotation increased with flexion to 150 degrees on the passive path to a maximum of 11.1+/-6.7 degrees. The simulated muscle loads affected tibial translation and rotation between full extension and 120 degrees of knee flexion. Interestingly, at high flexion, the application of muscle loads had little effect on tibial translation and rotation when compared to values at 120 degrees. The kinematic behavior of the knee at 150 degrees was markedly different from that measured at other flexion angles. Muscle loads appear to play a minimal role in influencing tibial translation and rotation at maximal flexion. The results imply that the knee is highly constrained at high flexion, which could be due in part to compression of the posterior soft tissues (posterior capsule, menisci, muscle, fat, and skin) between the tibia and the femur.

Neuromuscular objectives of the human masticatory apparatus during static biting

OBJECTIVE

The central nervous system controls the muscles of mastication and may dictate muscle outputs according to a biologically important objective. This study tested the hypotheses that (a) the effective sagittal TMJ eminence morphology, and (b) the outputs of the masticatory muscles during static biting, are consistent with minimisation of joint loads or minimisation of muscle effort.

DESIGN

Numerical modelling predicted effective eminence morphology (from sagittal plane directions of TMJ force for centred loading over a range from molar to incisor biting) and TMJ and muscle forces during static unilateral biting in seven subjects. In vivo effective eminence morphology was measured from jaw tracking recorded from each subject. Muscle activities during biting tasks on first molar and incisor teeth were measured by electromyography using surface or indwelling electrodes.

RESULTS

Subject-specific predicted effective eminence morphology correlated with in vivo data (0.85< or =R2< or =0.99). Mixed and random coefficient analysis of covariance indicated good agreement between predicted and measured muscle outputs for all muscles of mastication investigated. Individual linear regression analysis showed that modelled muscle outputs accurately predicted EMG data, with average errors of 8% for molar and 15% for incisor biting.

CONCLUSIONS

Effective sagittal eminence morphology was consistent with minimisation of joint loads for all subjects. Masticatory muscle outputs during unilateral biting were consistent with minimisation of joint loads or minimisation of muscle effort, or both, depending on the subject. These results are believed to be the first to test model predictions of muscle output during biting for all muscles of mastication.

Muscle and temporomandibular joint forces associated with chincup loading predicted by numerical modeling

Development of the components of the temporomandibular joint (TMJ) is thought to reflect joint loading. The aims of this project were to test 3 hypotheses: whether effective eminence morphology, masticatory muscle forces, and predicted TMJ forces during chincup loading of the mandible were consistent with the objectives of minimization of joint loads (MJL) or muscle effort (MME), or both. Regression relationships of MJL model-predicted versus measured eminence shapes in 9 subjects indicated a high degree of correlation (mean slope = 0.99, compared with perfect-match slope = 1.00). Model predictions of muscle output during chincup loading of the mandible were tested by comparison with data gathered in 6 subjects. Midsagittal plane chin loads were applied over a range of 60 degrees while bilateral masticatory muscle surface electromyography was quantified. The regression relationships of predicted versus measured masseter and anterior digastric muscle outputs indicated that model predictions were highly correlated (mean slope (masseter muscle) = 1.02; mean slope (digastric muscle) = 0.96). TMJ forces predicted by modeling showed intersubject differences of up to 34% for similar chincup loading conditions. Intrasubject variation in TMJ forces was as high as 57%, depending on chin load angle. The results demonstrated that TMJ eminence shape and masticatory muscle forces were consistent with objectives of both MJL and MME. Variation in TMJ forces depended on the subject and the direction of chincup loading.

Graphic-based musculoskeletal model for biomechanical analyses and animation

The ability to combine physiology and engineering analyses with computer sciences has opened the door to the possibility of creating the 'Virtual Human' reality. This paper presents a broad foundation for a full-featured biomechanical simulator for the human musculoskeletal system physiology. This simulation technology unites the expertise in biomechanical analysis and graphic modeling to investigate joint and connective tissue mechanics at the structural level and to visualize the results in both static and animated forms together with the model. Adaptable anatomical models including prosthetic implants and fracture fixation devices and a robust computational infrastructure for static, kinematic, kinetic, and stress analyses under varying boundary and loading conditions are incorporated on a common platform, the VIMS (Virtual Interactive Musculoskeletal System). Within this software system, a manageable database containing long bone dimensions, connective tissue material properties and a library of skeletal joint system functional activities and loading conditions are also available and they can easily be modified, updated and expanded. Application software is also available to allow end-users to perform biomechanical analyses interactively. This paper details the design, capabilities, and features of the VIMS development at Johns Hopkins University, an effort possible only through academic and commercial collaborations. Examples using these models and the computational algorithms in a virtual laboratory environment are used to demonstrate the utility of this unique database and simulation technology. This integrated system will impact on medical education, basic research, device development and application, and clinical patient care related to musculoskeletal diseases, trauma, and rehabilitation.

The soleus muscle acts as an agonist for the anterior cruciate ligament. An in vitro experimental study

BACKGROUND

Although the quadriceps muscles are known antagonists for the anterior cruciate ligament and the hamstring muscles are known agonists, the influence of the calf muscles on knee stability is not well understood.

HYPOTHESIS

The soleus muscle acts as an anterior cruciate ligament agonist and the gastrocnemius muscle acts as an anterior cruciate ligament antagonist.

STUDY DESIGN

Controlled laboratory study.

METHODS

Six cadaveric knees were tested with individual and combined activation of the gastrocnemius and soleus muscles to determine the influence of simulated muscle contraction on tibiofemoral motion.

RESULTS

At all flexion angles, applying the soleus muscle force tended to translate the tibia posteriorly, whereas applying the gastrocnemius muscle force tended to translate the tibia anteriorly. Applying the soleus and gastrocnemius muscle forces together also tended to translate the tibia anteriorly. The average anterior and posterior tibial translations were greatest at 50 degrees of flexion.

CONCLUSIONS

The soleus muscle is capable of acting as an agonist for the anterior cruciate ligament and the gastrocnemius muscle can act as an antagonist.

CLINICAL RELEVANCE

A better understanding of the agonistic behavior of the soleus muscle on the anterior cruciate ligament may lead to the development of training and rehabilitation strategies that could reduce the incidence of injury and improve function in both patients with anterior cruciate ligament deficiency and patients who have undergone anterior cruciate ligament reconstruction.

Biomechanics of posterior-substituting total knee arthroplasty: an in vitro study

The cam-spine system in posterior-substituting total knee arthroplasty was designed to improve posterior stability and to increase posterior femoral translation (rollback). Little is known on its effectiveness in the restoration of femoral rollback under functional loads. In the current study, the effect of cam-spine engagement on knee motion under simulated muscle loads was investigated using knees from cadavers. The translations of the lateral and medial femoral condyles of the knee before and after total knee arthroplasty were compared from 0 degrees to 120 degrees flexion. Cam-spine contact forces were measured under the same muscle loads. The posterior translations of both femoral condyles in the total knee arthroplasty were significantly lower than that of the native knee beyond full extension. Cam-spine engagement occurred between 60 degrees and 90 degrees flexion followed by an increase in posterior translation of both femoral condyles. However, the resultant femoral translation of the total knee arthroplasty was still lower than that of the native knee from 90 degrees to 120 degrees flexion. Knee motion after cam-spine engagement was independent of muscle loads, indicating the importance of the cam-spine mechanism at high flexion angles. Decreased posterior translation of both femoral condyles after total knee arthroplasty may be a limiting factor at high flexion.

Biomechanical consequences of PCL deficiency in the knee under simulated muscle loads--an in vitro experimental study

The mechanism of chronic degeneration of the knee after posterior cruciate ligament (PCL) injury is still not clearly understood. While numerous biomechanical studies have been conducted to investigate the function of the PCL with regard to antero-posterior stability of the knee, little has been reported on its effect on the rotational stability of the knee. In this study, eight cadaveric human knee specimens were tested on a robotic testing system from full extension to 120 degrees of flexion with the PCL intact and with the PCL resected. The antero-posterior tibial translation and the internal-external tibial rotation were measured when the knee was subjected to various simulated muscle loads. Under a quadriceps load (400 N) and a combined quadriceps/hamstring load (400/200 N), the tibia moved anteriorly at low flexion angles (below 60 degrees). Resection of the PCL did not significantly alter anterior tibial translation. At high flexion angles (beyond 60 degrees), the tibia moved posteriorly and rotated externally under the muscle loads. PCL deficiency significantly increased the posterior tibial translation and external tibial rotation. The results of this study indicate that PCL deficiency not only changed tibial translation, but also tibial rotation. Therefore, only evaluating the tibial translation in the anteroposterior direction may not completely describe the effect of PCL deficiency on knee joint function. Furthermore, the increased external tibial rotations were further hypothesized to cause elevated patello-femoral joint contact pressures. These data may help explain the biomechanical factors causing long-term degenerative changes of the knee after PCL injury. By fully understanding the etiology of these changes, it may be possible to develop an optimal surgical treatment for PCL injury that is aimed at minimizing the long-term arthritic changes in the knee joint.

Biomechanical analysis of the canine hind limb: calculation of forces during three-legged stance

This paper presents a three-dimensional biomechanical model of the canine hind limb, and describes the process of determining the muscle forces and joint reaction forces and moments occurring in the hind limb during three-legged stance. The model was based on anatomical and morphometric data presented in a previous paper. Equations of equilibrium were formulated for the different components of the hind limb. Since the number of unknowns exceeded the number of equations, the problem was statically indeterminate. Two optimization techniques were applied to solve this statically indeterminate problem. The resultant hip-joint reaction force (acting on the acetabulum) predicted by these optimization methods ranged between 0.73 and 1.04 times body weight, and was directed dorsally, medially and caudally. The resultant knee-joint reaction force (acting on the femur) ranged between 1.05 and 1.08 times body weight, and was directed dorsally, laterally and cranially. The largest muscle forces predicted by the minimization of maximal muscle stress (MMMS) criterion were in the biceps femoris (0.24 times body weight), rectus femoris (0.15 times body weight), medial gluteal (0.18 times body weight), semi-membranosus (0.09 times body weight), the lateral and intermediate vastus (0.18 times body weight) and the medial vastus (0.17 times body weight). The largest muscle forces predicted by the minimization of the sum of muscle forces (MSMF) criterion were in the biceps femoris (0.29 times body weight), lateral and intermediate vastus (0.45 times body weight)), and the deep gluteal (0.16 times body weight). The magnitudes and directions of the forces in the joints of the canine hind limb, as well as in the muscles that surround these joints, provide a database needed for future biomechanical analyses of the physiology and pathophysiology of the canine hind limb.

The contribution of type of daily activity to loading across the hip and knee joints in the elderly

OBJECTIVE

In the elderly, we evaluated loading across the hip or knee joints during different daily activities.

METHODS

Elderly people drawn from the community entering an exercise study underwent a full kinetic and kinematics analysis of five different activities, standing, walking, arising from a chair, going downstairs and bending over. Inverse dynamic equations were used to compute forces and torques across the knees and hips during all of these activities.

RESULTS

132 elderly people, mean age 75, participated. Compressive forces across the knees and hips were, by far, the greatest vector forces and were highest during stair descent and, to a lesser extent, during walking. Compressive forces were lowest during standing. The highest moments were flexion and adduction moments, and these were maximal during stair descent.

CONCLUSION

Of the five activities we studied, descending stairs was associated with the highest calculated forces and torques across the knees and hips, and that may account for its tendency to cause joint symptoms and for its possible association with osteoarthritis incidence.

Validated numerical modeling of the effects of combined orthodontic and orthognathic surgical treatment on TMJ loads and muscle forces

Investigations of the changes in the mechanics of the craniomandibular system as a result of treatment have been limited by the lack of validated models of this system. The aims of this project were to (1) validate numerical model predictions of temporomandibular joint (TMJ) eminence morphology and muscle forces produced during molar biting and (2) use the validated models to calculate the changes in TMJ and muscle forces as a consequence of treatment involving orthognathic surgery. Ten volunteers participated; their combined orthodontic and orthognathic surgical treatments were completed. Three-dimensional anatomical data from each subject were used in computer models to predict the sagittal TMJ eminence morphology and joint and muscle forces for each subject, consistent with the neuromuscular objectives of minimizing joint loads and muscle effort. The actual shape of the eminence in each subject was measured with jaw tracking. Surface electromyographic recordings were a measure of the muscle forces involved in static molar biting. Model predictions were compared with measured data from the subjects for eminence shape (R(2) = 0.96) and for muscle activity ratios (R(2) = 0.98). The strength of these relationships validated the models for use in calculating changes in joint loads and muscle forces after treatment. The results suggested that the mechanics of the masticatory system are affected by the combined treatments. The TMJ loads increased in 8 subjects. The average increases in condylar and muscle forces were 4% relative to the applied bite force, but in 1 case the increases were up to 20%. Therefore, although average increases in the forces were small, some persons may experience biologically significant increases in joint and muscle forces as a result of treatment.