Contributions of motor-unit recruitment and rate modulation of compensation for muscle yielding

Muscle and Limb Mechanics

Understanding of the musculoskeletal system has evolved from the collection of individual phenomena in highly selected experimental preparations under highly controlled and often unphysiological conditions. At the systems level, it is now possible to construct complete and reasonably accurate models of the kinetics and energetics of realistic muscles and to combine them to understand the dynamics of complete musculoskeletal systems performing natural behaviors. At the reductionist level, it is possible to relate most of the individual phenomena to the anatomical structures and biochemical processes that account for them. Two large challenges remain. At a systems level, neuroscience must now account for how the nervous system learns to exploit the many complex features that evolution has incorporated into muscle and limb mechanics. At a reductionist level, medicine must now account for the many forms of pathology and disability that arise from the many diseases and injuries to which this highly evolved system is inevitably prone. © 2017 American Physiological Society. Compr Physiol 7:429-462, 2017.

Cuticular receptor activation of postural motoneurons in the abdomen of the hermit crab, Pagurus pollicarus

Displacement of the abdominal cuticle of the hermit crab, Pagurus pollicarus, activates motoneurons of the ventral superficial muscles that mediate posture and slow movements. Five excitatory motoneurons innervating the right ventral superficial muscle of the fourth abdominal segment were activated in a phasic stereotyped fashion in the isolated nervous system. Intracellular records from these motoneurons showed an initial monosynaptic burst, a period of inhibition in which inhibitory post-synaptic potentials were present and then a later period of increased spike frequency generated by excitatory post-synaptic potentials. The reflex response was maintained after severing all ganglionic roots from peripheral structures, isolating the nerve cord from peripheral feedback pathways. The two excitatory components of the response showed a dependence on strain that was much smaller than that found in sensory afferents. There was no relationship between the site of touch to the cuticle and the intensity or pattern of activation of the motoneurons. The reflex burst produced a transient activation of both longitudinal and transverse/circular layers of the muscle with forces that varied between 10% and 25% of the maximum muscle force. These results are consistent with a feedforward regulation of muscle stiffness.

Intrinsic properties and reflex compensation in reinnervated triceps surae muscles of the cat: effect of activation level

The manner in which activation levels influence intrinsic muscular properties and contributions of the stretch reflex were studied in homogeneous soleus (SOL) and heterogeneous gastrocnemius (G) muscles in the decerebrate cat. Intrinsic mechanical properties were represented by the initial stiffness of the muscle, measured prior to reflex action, and by the tendency of the muscle to yield during stretch in the absence of the stretch reflex. Stiffness regulation by the stretch reflex was evaluated by measuring the extent to which reflex action reduces yielding and the extent to which stiffness depends on background force. Intrinsic mechanical properties were measured in muscles deprived of effective autogenic reflexes using the method of muscular reinnervation. Reinnervated muscles were recruited to force levels comparable to those achieved during natural locomotion. As force declined during crossed-extension reflexes in reinnervated and intact muscles, initial stiffness declined according to similar convex trajectories. The data did not support the hypothesis that, for a given force level, initial stiffness is greatest in populations of predominantly type I motor units. Incremental stiffness (Deltaf/Deltal) of both G and SOL increased in the presence of the stretch reflex. Yielding of SOL (ratio of incremental to initial stiffness) substantially decreased in the presence of the stretch reflex over the full range of forces. In reflexive G, yielding significantly decreased for low to intermediate forces, whereas at higher forces, yielding was similar irrespective of the presence or absence of the stretch reflex. The stretch reflex regulates stiffness in both homogeneous and heterogeneous muscles.

Damping actions of the neuromuscular system with inertial loads: soleus muscle of the decerebrate cat

A transient perturbation applied to a limb held in a given posture can induce oscillations. To restore the initial posture, the neuromuscular system must provide damping, which is the dissipation of the mechanical energy imparted by such a perturbation. Despite their importance, damping properties of the neuromuscular system have been poorly characterized. Accordingly, this paper describes the damping characteristics of the neuromuscular system interacting with inertial loads. To quantitatively examine damping, we coupled simulated inertial loads to surgically isolated, reflexively active soleus muscles in decerebrate cats. A simulated force impulse was applied to the load, causing a muscle stretch, which elicited a reflex response. The resulting deviation from the initial position gave rise to oscillations, which decayed progressively. Damping provided by the neuromuscular system was then calculated from the load kinetics. To help interpret our experimental results, we compared our kinetic measurements with those of an analogous linear viscoelastic system and found that the experimental damping properties differed in two respects. First, the amount of damping was greater for large oscillation amplitudes than for small (damping is independent of amplitude in a linear system). Second, plots of force against length during the induced movements showed that damping was greater for shortening than lengthening movements, reflecting greater effective viscosity during shortening. This again is different from the behavior of a linear system, in which damping effects would be symmetrical. This asymmetric and nonlinear damping behavior appears to be related to both the intrinsic nonlinear mechanical properties of the soleus muscle and to stretch reflex properties. The muscle nonlinearities include a change in muscle force-generating capacity induced by forced lengthening, akin to muscle yield, and the nonlinear force-velocity property of muscle, which is different for lengthening versus shortening. Stretch reflex responses are also known to be asymmetric and amplitude dependent. The finding that damping is greater for larger amplitude motion represents a form of automatic gain adjustment to a larger perturbation. In contrast, because of reduced damping at small amplitudes, smaller oscillations would tend to persist, perhaps contributing to normal or "physiological" tremor. This lack of damping for small amplitudes may represent an acceptable compromise for postural regulation in that there is substantial damping for larger movements, where energy dissipation is more critical. Finally, the directional asymmetry in energy dissipation provided by muscle and reflex properties must be reflected in the neural mechanisms for a stable posture.

Pattern of pulses that maximize force output from single human thenar motor units

We assessed the sequence of nerve impulses that maximize force output from individual human thenar motor units. When these motor units were stimulated intraneurally by a variable sequence of seven pulses, the pattern of pulses that elicited maximum force always started with a short (5-15 ms) interpulse interval termed a "doublet. " The twitch force summation caused by this "doublet" elicited, on average, 48 +/- 13% (SD) of the maximum tetanic force. The peak amplitude of "doublet" forces was 3.5 times that of the initial twitches, and twitch potentiation appeared to have little influence on twitch force summation elicited by the "doublets." For some units, the second optimal interpulse interval was also short. Peak forces elicited by the third to sixth interpulse intervals did not change substantially when the last interpulse interval was varied between 5 to 55 ms, so maximum force could not be attributed to any unique interpulse interval. Each successive pulse contributed a smaller force increment. When five to seven pulses were delivered in an optimal sequence, the evoked force was close to that recorded during maximal tetanic stimulation. In contrast, maximal force-time integral was evoked with one short interpulse interval (5-15 ms) then substantially longer interpulse intervals (>100 ms). Maximum force and force-time integrals were therefore elicited by different patterns of stimuli. We conclude that a brief initial interpulse interval (5-15 ms) is required to elicit maximum "doublet" force from human thenar motor units and that near-maximal tetanic forces can be elicited by only five or six additional post-"doublet" pulses if appropriately spaced in time. However, the rate at which these post-"doublet" stimuli must be provided is fairly uncritical. In contrast, maximum post-"doublet" force-time integrals were obtained at intervals corresponding to motoneuronal firing rates of approximately 7 Hz, rates close to that typically used to recruit motor units and to maintain weak voluntary contractions.

Measured and modeled properties of mammalian skeletal muscle. II. The effects of stimulus frequency on force-length and force-velocity relationships

Interactions between physiological stimulus frequencies, fascicle lengths and velocities were analyzed in feline caudofemoralis (CF), a hindlimb skeletal muscle composed exclusively of fast-twitch fibers. Split ventral roots were stimulated asynchronously to produce smooth contractions at sub-tetanic stimulus frequencies. As described previously, the peak of the sub-tetanic force-length relationship was found to shift to longer lengths with decreases in stimulus frequency, indicating a length dependence for activation that is independent of filament overlap. The sub-tetanic force-velocity (FV) relationship was affected strongly both by stimulus frequency and by length; decreases in either decreased the slope of the FV relationship around isometric. The shapes of the force transients following stretch or shortening revealed that these effects were not due to a change in the instantaneous FV relationship; the relative shape of the force transients following stretch or shortening was independent of stimulus frequency and hardly affected by length. The effects of stimulus frequency and length on the sub-tetanic FV relationship instead appear to be caused by a time delay in the length-dependent changes of activation. In contrast to feline soleus muscle, which is composed exclusively of slow-twitch fibers, CF did not yield at sub-tetanic stimulus frequencies for the range of stretch velocities tested (up to 2 L0/s). The data presented here were used to build a model of muscle that accounted well for all of the effects described. We extended our model to account for slow twitch muscle by comparing our fast-twitch model with previously published data and then changing the necessary parameters to fit the data. Our slow-twitch model accounts well for all previous findings including that of yielding.

Receptor mechanisms underlying heterogenic reflexes among the triceps surae muscles of the cat

The soleus (S), medial gastrocnemius (MG), and lateral gastrocnemius (LG) muscles of the cat are interlinked by rapid spinal reflex pathways. In the decerebrate state, these heterogenic reflexes are either excitatory and length dependent or inhibitory and force dependent. Mechanographic analysis was used to obtain additional evidence that the muscle spindle primary ending and the Golgi tendon organ provide the major contributions to these reflexes, respectively. The tendons of the triceps surae muscles were separated and connected to independent force transducers and servo-controlled torque motors in unanesthetized, decerebrate cats. The muscles were activated as a group using crossed-extension reflexes. Electrical stimulation of the caudal cutaneous sural nerve was used to provide a particularly strong activation of MG and decouple the forces of the triceps surae muscles. During either form of activation, the muscles were stretched either individually or in various combinations to determine the strength and characteristics of autogenic and heterogenic feedback. The corresponding force responses, including both active and passive components, were measured during the changing background tension. During activation of the entire group, the excitatory, heterogenic feedback linking the three muscles was found to be strongest onto LG and weakest onto MG, in agreement with previous results concerning the strengths of heteronymous Ia excitatory postsynaptic potentials among the triceps surae muscles. The inhibition, which is known to affect only the soleus muscle, was dependent on active contractile force and was detected essentially as rapidly as length dependent excitation. The inhibition outlasted the excitation and was blocked by intravenous strychnine. These results indicate that the excitatory and inhibitory effects are dominated by feedback from primary spindle receptors and Golgi tendon organs. The interactions between these two feedback pathways potentially can influence both the mechanical coupling between ankle and knee.

Modulation of short latency stretch reflexes during human hopping

To gain insight into central and peripheral reflex control mechanisms in moving humans we have investigated short latency stretch reflex activity in m. triceps surae during two legged hopping. The objectives were: (1) to compare movement induced short latency stretch reflexes in soleus and medial gastrocnemius (MG) muscles, (2) to determine the relationship between the size of these reflexes and the muscle spindle stretch velocities, and (3) to compare the size of the movement induced short latency stretch reflexes and the H-reflexes simultaneously. Six well-trained healthy male subjects participated and they hopped at three different work rates. Surface electromyogram (EMG) and H-reflexes were recorded during hopping. Muscle spindle length changes were estimated as the difference between estimated origin-to-insertion length changes and tendon length changes. The important findings were that during hopping: (1) movement induced short latency stretch reflexes were observed consistently in soleus, (2) the EMG amplitude of this stretch reflex was negatively correlated with the estimated peak muscle spindle stretch velocity (rs = -0.52, P < 0.02), and (3) the amplitude of the soleus H-reflex at touchdown did not change in parallel with the stretch reflex. The negative correlation observed between the stretch reflex and the estimated peak muscle spindle stretch velocity in soleus is opposite to the basic velocity sensitive behaviour of stretch reflexes mechanically elicited during resting conditions. Possible control mechanisms are discussed. Additionally, muscle spindle length changes estimated from changes in the skeletal movements (joint angles) should be inferred cautiously because of tendon compliance, especially at high tendon forces.

Isovelocity investigation of the lengthening behaviour of the erector spinae muscles

The purpose of this study was to investigate the force-velocity (F/v) relationship for the erector spinae muscles in submaximal activation movements, with particular attention to their response during lengthening movements and at lower shortening contraction velocities. Dynamic models that predict lower back muscle forces require reasonable representations of the modulating effect of instantaneous velocity. Ten males were observed performing trunk flexion and extension in the sagittal plane under constant load. Contraction velocities were measured as the first derivative from a devise sensitive to changes in spine curvature, and controlled by a visual feedback system while a constant load was applied through a chest harness. The erector spinae exhibited a yielding phenomenon which causes an abrupt drop in force during constant velocity stretching under constant, submaximal, stimulation. The findings were consistent with previous isovelocity muscle lengthening experiments. Yielding appeared dependent on the level of load/activation supporting the theory of a "state-variable" F/v relationship. The eccentric behaviour of the lower erectors (L3) seemed independent of velocity and length, while that of the upper erectors (T9) showed a dependence on length. At lower concentric velocities, concavity in torque-velocity curves was noted after a "threshold" velocity. The findings of this study strongly reinforce the notion that the F/v length relationship is not a continuous hyperbolic relationship during muscle shortening and that the commonly modelled force augmentation effect of lengthening is incorrect, at least for submaximal activation of the extensors of the lower back.

Autogenetic reflex action in tibialis anterior compared with that in soleus muscle in the decerebrate cat

The regulatory actions of autogenetic reflex pathways on the mechanical properties of an ankle flexor (tibialis anterior) and an extensor (soleus) in the premammillary decerebrate cat were studied. The two muscle were isolated in the same cat and each was stretched during its separate activation. The yield in stiffness shown by areflexive muscles during stretch was largely compensated for in tibialis anterior as well as in soleus by reflex action. Resultant (total) stiffness varied by less than a factor of two over a wide range of contractile forces in the two muscles. Further, resultant stiffness increased as stretch amplitude decreased in both muscles, but the variation was less for TA. In most preparations, the resultant stiffness in soleus was significantly larger than the resultant stiffness of tibialis anterior. It is concluded that autogenetic reflexes govern the mechanical properties of both flexors and extensors. In addition, the extensor bias in the decerebrate preparation is due not only to greater activation in extensors but to a greater resultant stiffness as well.

Viscoelastic properties of the wrist motor servo in man

Viscoelastic properties play an important role in posture and movement. Such properties arise from muscle mechanics and from stretch-reflex actions. We describe experiments designed to characterize both linear and nonlinear elastic and viscous properties of the wrist motor servo in human subjects. First, we describe a trial comparison method for the identification of reflex responses that are unmodified by triggered reaction-time movements. Elastic properties were studied by applying step changes in load force that stretched or released the wrist flexor and extensor muscles. The properties were basically spring-like, but there was a short-range enhancement of stiffness that gave rise to a prominent hysteresis. Viscous properties were studied by applying ramp stretches at different velocities. Both EMG and force responses showed a weak fractional-power dependence on velocity similar to that described recently for muscle spindle receptors. Consideration is given to the possible advantages of this type of nonlinear feedback in the damping of postural responses and movements.