Running springs: speed and animal size

The contribution of lower-limb joint quasi-stiffness to theoretical leg stiffness during level, uphill and downhill running at different speeds

Humans change joint quasi-stiffness (k joint) and leg stiffness (kleg) when running at different speeds on level ground and during uphill and downhill running. These mechanical properties can inform device designs for running such as footwear, exoskeletons and prostheses. We measured kinetics and kinematics from 17 runners (10 M; 7 F) at three speeds on 0°, ±2°, ±4° and ±6° slopes. We calculated ankle and knee k joint, the quotient of change in joint moment and angular displacement, and theoretical leg stiffness (klegT) based on the joint external moment arms and k joint. Runners increased k ankle at faster speeds (p < 0.01). Runners increased and decreased the ankle and knee contributions to klegT, respectively, by 2.89% per 1° steeper uphill slope (p < 0.01) during the first half of stance. Runners decreased and increased ankle and knee joint contributions to klegT, respectively, by 3.68% during the first half and 0.86% during the second half of stance per 1° steeper downhill slope (p < 0.01). Thus, biomimetic devices require stiffer k ankle for faster speeds, and greater ankle contributions and greater knee contributions to klegT during the first half of stance for steeper uphill and downhill slopes, respectively.

The Lower Limb Muscle Co-Activation Map during Human Locomotion: From Slow Walking to Running

The central nervous system (CNS) controls movements and regulates joint stiffness with muscle co-activation, but until now, few studies have examined muscle pairs during running. This study aims to investigate differences in lower limb muscle coactivation during gait at different speeds, from walking to running. Nineteen healthy runners walked and ran at speeds ranging from 0.8 km/h to 9.3 km/h. Twelve lower limb muscles' co-activation was calculated using the time-varying multi-muscle co-activation function (TMCf) with global, flexor-extension, and rostro-caudal approaches. Spatiotemporal and kinematic parameters were also measured. We found that TMCf, spatiotemporal, and kinematic parameters were significantly affected by gait speed for all approaches. Significant differences were observed in the main parameters of each co-activation approach and in the spatiotemporal and kinematic parameters at the transition between walking and running. In particular, significant differences were observed in the global co-activation (CIglob, main effect F(1,17) = 641.04, p < 0.001; at the transition p < 0.001), the stride length (main effect F(1,17) = 253.03, p < 0.001; at the transition p < 0.001), the stride frequency (main effect F(1,17) = 714.22, p < 0.001; at the transition p < 0.001) and the Center of Mass displacement in the vertical (CoMy, main effect F(1,17) = 426.2, p < 0.001; at the transition p < 0.001) and medial-lateral (CoMz, main effect F(1,17) = 120.29 p < 0.001; at the transition p < 0.001) directions. Regarding the correlation analysis, the CoMy was positively correlated with a higher CIglob (r = 0.88, p < 0.001) and negatively correlated with Full Width at Half Maximum (FWHMglob, r = -0.83, p < 0.001), whereas the CoMz was positively correlated with the global Center of Activity (CoAglob, r = 0.97, p < 0.001). Positive and negative strong correlations were found between global co-activation parameters and center of mass displacements, as well as some spatiotemporal parameters, regardless of gait speed. Our findings suggest that walking and running have different co-activation patterns and kinematic characteristics, with the whole-limb stiffness exerted more synchronously and stably during running. The co-activation indexes and kinematic parameters could be the result of global co-activation, which is a sensory-control integration process used by the CNS to deal with more demanding and potentially unstable tasks like running.

Dynamic similarity and the peculiar allometry of maximum running speed

Animal performance fundamentally influences behaviour, ecology, and evolution. It typically varies monotonously with size. A notable exception is maximum running speed; the fastest animals are of intermediate size. Here we show that this peculiar allometry results from the competition between two musculoskeletal constraints: the kinetic energy capacity, which dominates in small animals, and the work capacity, which reigns supreme in large animals. The ratio of both capacities defines the physiological similarity index Γ, a dimensionless number akin to the Reynolds number in fluid mechanics. The scaling of Γ indicates a transition from a dominance of muscle forces to a dominance of inertial forces as animals grow in size; its magnitude defines conditions of "dynamic similarity" that enable comparison and estimates of locomotor performance across extant and extinct animals; and the physical parameters that define it highlight opportunities for adaptations in musculoskeletal "design" that depart from the eternal null hypothesis of geometric similarity. The physiological similarity index challenges the Froude number as prevailing dynamic similarity condition, reveals that the differential growth of muscle and weight forces central to classic scaling theory is of secondary importance for the majority of terrestrial animals, and suggests avenues for comparative analyses of locomotor systems.

A Conceptual Exploration of Hamstring Muscle-Tendon Functioning during the Late-Swing Phase of Sprinting: The Importance of Evidence-Based Hamstring Training Frameworks

An eccentrically lengthening, energy-absorbing, brake-driven model of hamstring function during the late-swing phase of sprinting has been widely touted within the existing literature. In contrast, an isometrically contracting, spring-driven model of hamstring function has recently been proposed. This theory has gained substantial traction within the applied sporting world, influencing understandings of hamstring function while sprinting, as well as the development and adoption of certain types of hamstring-specific exercises. Across the animal kingdom, both spring- and motor-driven muscle-tendon unit (MTU) functioning are frequently observed, with both models of locomotive functioning commonly utilising some degree of active muscle lengthening to draw upon force enhancement mechanisms. However, a method to accurately assess hamstring muscle-tendon functioning when sprinting does not exist. Accordingly, the aims of this review article are three-fold: (1) to comprehensively explore current terminology, theories and models surrounding muscle-tendon functioning during locomotion, (2) to relate these models to potential hamstring function when sprinting by examining a variety of hamstring-specific research and (3) to highlight the importance of developing and utilising evidence-based frameworks to guide hamstring training in athletes required to sprint. Due to the intensity of movement, large musculotendinous stretches and high mechanical loads experienced in the hamstrings when sprinting, it is anticipated that the hamstring MTUs adopt a model of functioning that has some reliance upon active muscle lengthening and muscle actuators during this particular task. However, each individual hamstring MTU is expected to adopt various combinations of spring-, brake- and motor-driven functioning when sprinting, in accordance with their architectural arrangement and activation patterns. Muscle function is intricate and dependent upon complex interactions between musculoskeletal kinematics and kinetics, muscle activation patterns and the neuromechanical regulation of tensions and stiffness, and loads applied by the environment, among other important variables. Accordingly, hamstring function when sprinting is anticipated to be unique to this particular activity. It is therefore proposed that the adoption of hamstring-specific exercises should not be founded on unvalidated claims of replicating hamstring function when sprinting, as has been suggested in the literature. Adaptive benefits may potentially be derived from a range of hamstring-specific exercises that vary in the stimuli they provide. Therefore, a more rigorous approach is to select hamstring-specific exercises based on thoroughly constructed evidence-based frameworks surrounding the specific stimulus provided by the exercise, the accompanying adaptations elicited by the exercise, and the effects of these adaptations on hamstring functioning and injury risk mitigation when sprinting.

A snapshot of 100 years of discovery

With a century of literature behind Journal of Experimental Biology (JEB) in 2023, I look at some of the extraordinary papers contained within its archive. From publishing Nobel Prize-inspiring discoveries to founding fields and solving long-standing mysteries, the journal has been at the hub of experimental biology for 10 decades, leading the way and shining a light on the physiology of many remarkable animal species. In this Perspective, I highlight some of the key players in the field, summarise their seminal works and consider their long-term impact as JEB embarks on its next 100 years.

On the variability and dependence of human leg stiffness across strides during running and some consequences for the analysis of locomotion data

Typically, animal locomotion studies involve consecutive strides, which are frequently assumed to be independent with parameters that do not vary across strides. This assumption is often not tested. However, failing in particular to account for dependence across strides may cause an incorrect estimate of the uncertainty of the measurements and thereby lead to either missing (overestimating variance) or over-evaluating (underestimating variance) biological signals. In turn, this impacts replicability of the results because variability is accounted for differently across experiments. In this paper, we analyse the changes of a couple of measures of human leg stiffness across strides during running experiments, using a publicly available dataset. A major finding of this analysis is that the time series of these measurements of stiffness show autocorrelation even at large lags and so there is dependence between individual strides, even when separated by many intervening strides. Our results question the practice in biomechanics research of using each stride as an independent observation or of sub-selecting strides at small lags. Following the outcome of our analysis, we strongly recommend caution in doing so without first confirming the independence of the measurements across strides and without confirming that sub-selection does not produce spurious results.

Muscle force-length dynamics during walking over obstacles indicates delayed recovery and a shift towards more 'strut-like' function in birds with proprioceptive deficit

Recent studies of in vivo muscle function in guinea fowl revealed that distal leg muscles rapidly modulate force and work to stabilize running in uneven terrain. Previous studies focused on running only, and it remains unclear how muscular mechanisms for stability differ between walking and running. Here, we investigated in vivo function of the lateral gastrocnemius (LG) during walking over obstacles. We compared muscle function in birds with intact (iLG) versus self-reinnervated LG (rLG). Self-reinnervation results in proprioceptive feedback deficit due to loss of monosynaptic stretch reflex. We tested the hypothesis that proprioceptive deficit results in decreased modulation of EMG activity in response to obstacle contact, and a delayed obstacle recovery compared with that for iLG. We found that total myoelectric intensity (Etot) of iLG increased by 68% in obstacle strides (S 0) compared with level terrain, suggesting a substantial reflex-mediated response. In contrast, Etot of rLG increased by 31% in S 0 strides compared with level walking, but also increased by 43% in the first post-obstacle (S +1) stride. In iLG, muscle force and work differed significantly from level walking only in the S 0 stride, indicating a single-stride recovery. In rLG, force increased in S 0, S +1 and S +2 compared with level walking, indicating three-stride obstacle recovery. Interestingly, rLG showed little variation in work output and shortening velocity in obstacle terrain, indicating a shift towards near-isometric strut-like function. Reinnervated birds also adopted a more crouched posture across level and obstacle terrains compared with intact birds. These findings suggest gait-specific control mechanisms in walking and running.

Effect of speed and leading or trailing limbs on surface muscle activities during canter in Thoroughbred horses

Given that Thoroughbred horses' canter is an asymmetric gait, not only speed but also leading or trailing limbs could affect muscle activities. However, the muscle activity during a canter remains poorly understood. Hence, we aimed to investigate speed and lead-side (leading or trailing) effects on surface electromyography (sEMG) during a canter. The sEMG data were recorded from left Musculus brachiocephalicus (Br), M. infraspinatus (Inf), long head of M. triceps brachii (TB), M. gluteus medius (GM), M. semitendinosus (ST), and M. flexor digitorum longus of seven Thoroughbreds with hoof-strain gauges at the left hooves. Horses cantered on a flat treadmill at 7, 10, and 13 m/s for 25 s each without lead change. Subsequently, the horses trotted for 3 min and cantered at the same speed and duration in the opposite lead side ("leading" at the left lead and "trailing" at the right lead). The order of the lead side and speed was randomized. The mean of 10 consecutive stride durations, duty factors, integrated-EMG values (iEMG) for a stride, and muscle onset and offset timing were compared using a generalized mixed model (P < 0.05). Stride durations and duty factors significantly decreased with speed regardless of the lead side. In all muscles, iEMG at 13 m/s significantly increased compared with 7 m/s (ranging from +15% to +134%). The lead-side effect was noted in the iEMG of Br (leading > trailing, +47%), Inf (leading > trailing, +19%), GM (leading < trailing, +20%), and ST (leading < trailing, +19%). In TB, GM, and ST, muscle onset in trailing was earlier than the leading, while offset in the leading was earlier in Br. In conclusion, different muscles have different responses to speed and lead side; thus, both the lead side and running speed should be considered during training and/or rehabilitation including canter or gallop.

Modern three-dimensional digital methods for studying locomotor biomechanics in tetrapods

Here, we review the modern interface of three-dimensional (3D) empirical (e.g. motion capture) and theoretical (e.g. modelling and simulation) approaches to the study of terrestrial locomotion using appendages in tetrapod vertebrates. These tools span a spectrum from more empirical approaches such as XROMM, to potentially more intermediate approaches such as finite element analysis, to more theoretical approaches such as dynamic musculoskeletal simulations or conceptual models. These methods have much in common beyond the importance of 3D digital technologies, and are powerfully synergistic when integrated, opening a wide range of hypotheses that can be tested. We discuss the pitfalls and challenges of these 3D methods, leading to consideration of the problems and potential in their current and future usage. The tools (hardware and software) and approaches (e.g. methods for using hardware and software) in the 3D analysis of tetrapod locomotion have matured to the point where now we can use this integration to answer questions we could never have tackled 20 years ago, and apply insights gleaned from them to other fields.

Effects of Aging and Fitness on Hopping Biomechanics

Physical exercise promotes healthy aging and is associated with greater functionality and quality of life. Muscle strength and power are established factors in the ability to perform daily tasks and live independently. Stiffness, for mechanical reasons, is another important constituent of running performance and locomotion. This study aims to analyze the impact of age and training status on one-legged hopping biomechanics and to evaluate whether age-related power decline can be reduced with regular physical exercise. Forty-three male subjects were recruited according to their suitability for one of four groups (young athletes, senior athletes, young controls and senior controls) according to their age (young between 21 and 35, vs. older between 59 and 75) and training status (competing athletes vs. non-physically active). The impact of age and training status on one-legged hopping biomechanics were evaluated using the two-way analysis of variance (ANOVA) method. Significant differences among groups were found for hopping height (p < 0.05), ground contact time (p < 0.05), peak ground reaction force (p < 0.05) and peak power (p < 0.01). No differences among groups were found in ground-phase vertical displacement and vertical stiffness (p > 0.05). Young athletes and older non-physically active people achieved the best and worst performance, respectively. Interestingly, there were not any differences found between young non-physically active people and senior athletes, suggesting that chronic training can contribute to partly offset effects that are normally associated with aging.

Adaptive locomotion: Foot strike pattern and limb mechanical stiffness while running over an obstacle

Previous studies of level running suggest runners adjust foot strike to control leg stiffness. This study aimed to determine how runners adjusted mechanical stiffness and foot strike prior to, during, and after a drop in surface height. Ten healthy subjects (5 male, 5 female; 24.32 ± 5.0 years) were video recorded as they ran on an outdoor path with a single drop in surface height (12.5 cm). Foot strike was recorded, while subject velocity, duty factor (DF), normalized maximum ground reaction force (GRF_bw), vertical hip displacement (Δy), leg compression (ΔL), vertical (K_vert) and leg stiffness (K_leg), touchdown (TD) and takeoff angle (TO), and flight (T_f) and contact time (T_c) were calculated. Compared to the step before the drop, T_f, GRF_bw, K_vert, K_leg, and TO increased, while T_c, DF, Δy, ΔL, and TD decreased in the step after the drop. Across trials, runners had either consistent or variable foot strike patterns. Runners using a consistent pattern most often shifted from rear to fore-foot strike in the steps before and after the drop, while those with a variable pattern showed less dramatic shifts. All parameters, except TD, were significantly different (p < 0.04) based on foot strike pattern, and comparisons between steps before and after the drop (except TD) were significantly different (p < 0.004). Runners with a variable foot strike pattern experienced smaller shifts within mechanical parameters when traveling over the drop, suggesting these runners may be able to stabilize limb mechanics on interrupted surfaces.

Inside the coupling of ladybird beetle elytra: elastic setae can facilitate swift deployment

The ladybird beetle (Coccinella septempunctata) is known for swift deployment of its elytra, an action that requires considerable power. However, actuation by thoracic muscles alone may be insufficient to deploy elytra at high speed because the maximum mechanical power that elytral muscles can produce is only 70% of that required for initiation of deployment. Nevertheless, the elytra open rapidly, within 3 ms in the initial phase, at a maximum angular velocity of 66.49±21.29 rad s-1, rivaling the strike velocity of antlion (Myrmeleon crudelis) mandibles (65±21 rad s-1). Here we hypothesize that elytra coupling may function as an energy storage mechanism that facilitates rapid opening by releasing elastic strain energy upon deployment. To test this hypothesis and better understand the biomechanics of elytra deployment, we combined micro-computed tomography and scanning electron microscopy to examine the microstructure of the coupling of paired elytra. We found that two rows of setae on the internal edges of the elytra coupling structure undergo elastic deformation when the elytra are locked together. Kinematics observations and mathematical modelling suggest that the elastic potential energy stored in the compressed setae generates 40% of the power required for deployment of elytra. Our findings broaden insights into how ladybirds actuate elytra opening by a strategy of using both muscles and elastic microstructures, and demonstrate a distributed pattern of actuation that adapts to geometrical constraints in elytra locking.

The spring-mass model and other reductionist models of bipedal locomotion on inclines

The spring-mass model is a model of locomotion aimed at giving the essential mathematical laws of the trajectory of the center of mass of an animal during bouncing gaits, such as hopping (one-dimensional) and running (two-dimensional). This reductionist mechanical system has been extensively investigated for locomotion over horizontal surfaces, whereas it has been largely neglected on other ecologically relevant surfaces, including inclines. For example, how the degree of inclination impacts the dynamics of the center of mass of the spring-mass model has not been investigated thoroughly. In this work, we derive a mathematical model which extends the spring-mass model to inclined surfaces. Among our results, we derive an approximate solution of the system, assuming a small angular sweep of the limb and a small spring compression during stance, and show that this approximation is very accurate, especially for small inclinations of the ground. Furthermore, we derive theoretical bounds on the difference between the Lagrangian and Lagrange equations of the true and approximate system, and discuss locomotor stability questions of the approximate solutions. We test our models through a sensitivity analysis using parameters relevant to the locomotion of bipedal animals (quail, pheasant, guinea fowl, turkey, ostrich, and humans) and compare our approximate solution to the numerically derived solution of the exact system. We compare the two-dimensional spring-mass model on inclines with the one-dimensional spring-mass model to which it reduces under the limit of no horizontal velocity; we compare the two-dimensional spring-mass model on inclines with the inverted-pendulum model on inclines towards which it converges in the case of high stiffness-to-mass ratio. We include comparisons with historically prevalent no-gravity approximations of these models, as well. The insights we have gleaned through all these comparisons and the ability of our approximation to replicate some of the kinematic changes observed in animals moving on different inclines (e.g. reduction in vertical oscillation of the center of mass and decreased stride length) underlines the valuable and reasonable contributions that very simple, reductionist models, like the spring-mass model, can provide.

Fore-Aft Asymmetry Improves the Stability of Trotting in the Transverse Plane: A Modeling Study

Quadrupedal mammals have fore-aft asymmetry in their body structure, which affects their walking and running dynamics. However, the effects of asymmetry, particularly in the transverse plane, remain largely unclear. In this study, we examined the effects of fore-aft asymmetry on quadrupedal trotting in the transverse plane from a dynamic viewpoint using a simple model, which consists of two rigid bodies connected by a torsional joint with a torsional spring and four spring legs. Specifically, we introduced fore-aft asymmetry into the model by changing the physical parameters between the fore and hind parts of the model based on dogs, which have a short neck, and horses, which have a long neck. We numerically searched the periodic solutions for trotting and investigated the obtained solutions and their stability. We found that three types of periodic solutions with different foot patterns appeared that depended on the asymmetry. Additionally, the asymmetry improved gait stability. Our findings improve our understanding of gait dynamics in quadrupeds with fore-aft asymmetry.

Kinematic trajectories in response to speed perturbations in walking suggest modular task-level control of leg angle and length

Navigating complex terrains requires dynamic interactions between the substrate, musculoskeletal and sensorimotor systems. Current perturbation studies have mostly used visible terrain height perturbations, which do not allow us to distinguish among the neuromechanical contributions of feedforward control, feedback-mediated and mechanical perturbation responses. Here, we use treadmill belt speed perturbations to induce a targeted perturbation to foot speed only, and without terrain-induced changes in joint posture and leg loading at stance onset. Based on previous studies suggesting a proximo-distal gradient in neuromechanical control, we hypothesized that distal joints would exhibit larger changes in joint kinematics, compared to proximal joints. Additionally, we expected birds to use feedforward strategies to increase the intrinsic stability of gait. To test these hypotheses, seven adult guinea fowl were video recorded while walking on a motorized treadmill, during both steady and perturbed trials. Perturbations consisted of repeated exposures to a deceleration and acceleration of the treadmill belt speed. Surprisingly, we found that joint angular trajectories and center of mass fluctuations remain very similar, despite substantial perturbation of foot velocity by the treadmill belt. Hip joint angular trajectories exhibit the largest changes, with the birds adopting a slightly more flexed position across all perturbed strides. Additionally, we observed increased stride duration across all strides, consistent with feedforward changes in the control strategy. The speed perturbations mainly influenced the timing of stance and swing, with the largest kinematic changes in the strides directly following a deceleration. Our findings do not support the general hypothesis of a proximo-distal gradient in joint control, as distal joint kinematics remain largely unchanged. Instead, we find that leg angular trajectory and the timing of stance and swing are most sensitive to this specific perturbation, and leg length actuation remains largely unchanged. Our results are consistent with modular task-level control of leg length and leg angle actuation, with different neuromechanical control and perturbation sensitivity in each actuation mode. Distal joints appear to be sensitive to changes in vertical loading but not foot fore-aft velocity. Future directions should include in vivo studies of muscle activation and force-length dynamics to provide more direct evidence of the sensorimotor control strategies for stability in response to belt speed perturbations.

Performance and Kinematic Differences Between Terrestrial and Aquatic Running in Anolis Sagrei

Many animals frequently transition between different media while navigating their heterogeneous environments. These media vary in compliance, moisture content, and other characteristics that affect their physical properties. As a result, animals may need to alter their kinematics to adapt to potential changes in media while maintaining performance during predator escape and foraging. Due to its fluid nature, water is highly compliant, and although usually associated with swimming, water running has evolved in a variety of animals ranging from insects to mammals. While the best studied large water runners are the bipedal basilisk lizards (Basiliscus spp.), other lizards have also been observed to run across the surface of water, namely Hemidactylus platyurus, a house gecko, and in this study, Anolis sagrei, the brown anole. Unlike the basilisk lizard, the primarily arboreal Anolis sagrei is not adapted for water running. Moreover, water running in A. sagrei, similar to that of the house gecko, was primarily quadrupedal. Here, we tested for performance and kinematic differences between aquatic and terrestrial running and if the variance in performance and kinematic variables differed between the two media. We found no difference in average and maximum velocity between running on land and water. We also found that Anolis sagrei had higher hindlimb stride frequencies, decreased duty factor, and shorter stride lengths on water, as well as more erect postures. Finally, we found that most kinematics did not differ in variance between the two media, but of those that were different, almost all were more variable during terrestrial running. Our findings show that animals may be capable of specialized modes of locomotion, even if they are not obviously adapted for them, and that they may do this by modulating their kinematics to facilitate locomotion through novel environments.

A Template Model Explains Jerboa Gait Transitions Across a Broad Range of Speeds

For cursorial animals that maintain high speeds for extended durations of locomotion, transitions between footfall patterns (gaits) predictably occur at distinct speed ranges. How do transitions among gaits occur for non-cursorial animals? Jerboas (Jaculus) are bipedal hopping rodents that frequently transition between gaits throughout their entire speed range. It has been hypothesized that these non-cursorial bipedal gait transitions are likely to enhance their maneuverability and predator evasion ability. However, it is difficult to use the underlying dynamics of these locomotion patterns to predict gait transitions due to the large number of degrees of freedom expressed by the animals. To this end, we used empirical jerboa kinematics and dynamics to develop a unified spring Loaded Inverted Pendulum model with defined passive swing leg motions. To find periodic solutions of this model, we formulated the gait search as a boundary value problem and described an asymmetrical running gait exhibited by the jerboas that emerged from the numerical search. To understand how jerboas change from one gait to another, we employed an optimization approach and used the proposed model to reproduce observed patterns of jerboa gait transitions. We then ran a detailed numerical study of the structure of gait patterns using a continuation approach in which transitions are represented by bifurcations. We found two primary mechanisms to increase the range of speeds at which gait transitions can occur. Coupled changes in the neutral leg swing angle alter leg dynamics. This mechanism generates changes in gait features (e.g., touchdown leg angle and timings of gait events) that have previously been shown to induce gait transitions. This mechanism slightly alters the speeds at which existing gait transitions occur. The model can also uncouple the left and right neutral leg swing angle, which generates asymmetries between left and right leg dynamics. New gait transitions emerge from uncoupled models across a broad range of speeds. In both the experimental observations and in the model, the majority of the gait transitions involve the skipping and asymmetrical running gaits generated by the uncoupled neutral leg swing angle mechanism. This simulated jerboa model is capable of systematically reproducing all biologically relevant gait transitions at a broad range of speeds.

Three Characteristics of Cheetah Galloping Improve Running Performance Through Spinal Movement: A Modeling Study

Cheetahs are the fastest land animal. Their galloping shows three characteristics: small vertical movement of their center of mass, small whole-body pitching movement, and large spine bending movement. We hypothesize that these characteristics lead to enhanced gait performance in cheetahs, including higher gait speed. In this study, we used a simple model with a spine joint and torsional spring, which emulate the body flexibility, to verify our hypothesis from a dynamic perspective. Specifically, we numerically searched periodic solutions and evaluated what extent each solution shows the three characteristics. We then evaluated the gait performance and found that the solutions with the characteristics achieve high performances. This result supports our hypothesis. Furthermore, we revealed the mechanism for the high performances through the dynamics of the spine movement. These findings extend the current understanding of the dynamic mechanisms underlying high-speed locomotion in cheetahs.

BirdBot achieves energy-efficient gait with minimal control using avian-inspired leg clutching

Designers of legged robots are challenged with creating mechanisms that allow energy-efficient locomotion with robust and minimalistic control. Sources of high energy costs in legged robots include the rapid loading and high forces required to support the robot's mass during stance and the rapid cycling of the leg's state between stance and swing phases. Here, we demonstrate an avian-inspired robot leg design, BirdBot, that challenges the reliance on rapid feedback control for joint coordination and replaces active control with intrinsic, mechanical coupling, reminiscent of a self-engaging and disengaging clutch. A spring tendon network rapidly switches the leg's slack segments into a loadable state at touchdown, distributes load among joints, enables rapid disengagement at toe-off through elastically stored energy, and coordinates swing leg flexion. A bistable joint mediates the spring tendon network's disengagement at the end of stance, powered by stance phase leg angle progression. We show reduced knee-flexing torque to a 10th of what is required for a nonclutching, parallel-elastic leg design with the same kinematics, whereas spring-based compliance extends the leg in stance phase. These mechanisms enable bipedal locomotion with four robot actuators under feedforward control, with high energy efficiency. The robot offers a physical model demonstration of an avian-inspired, multiarticular elastic coupling mechanism that can achieve self-stable, robust, and economic legged locomotion with simple control and no sensory feedback. The proposed design is scalable, allowing the design of large legged robots. BirdBot demonstrates a mechanism for self-engaging and disengaging parallel elastic legs that are contact-triggered by the foot's own lever-arm action.

Legs as linkages: an alternative paradigm for the role of tendons and isometric muscles in facilitating economical gait

Considerable attention has been given to the spring-like behaviour of stretching and recoiling tendons, and how this can reduce the work demanded from muscle for a given loss-return cycling of mechanical energy during high-speed locomotion. However, even completely isometric muscle-tendon units have the potential to act as tension struts, forming links in linkages that avoid the demand for mechanical work-cycling in the first place. Here, forelimb and hindlimb structures and geometries of quadrupeds are considered in terms of linkages that avoid mechanical work at the level of both the whole limb and the individual muscles. The scapula, isometric serratus muscles and forelimb can be viewed as a modified Roberts' straight-line mechanism that supports an approximately horizontal path of the body with vertically orientated forces, resulting in low work demand at the level of both limb and muscle. Modelled isometric triceps brachii inserting to the olecranon form part of a series of four-bar linkages (forelimb) and isometric biceps femoris cranial, rectus femoris and tensor fascia latae form part of a series of six-bar linkages (hindlimb), in both cases potentially resulting in straight-line horizontal motion, generating appropriate moments about shoulder and hip to maintain vertical ground reaction forces and again low mechanical work demand from the limb. Analysing part of the complexity of animal limb structure as linkages that avoid work at the level of both the whole limb and the supporting muscles suggests a new paradigm with which to appreciate the role of isometric muscle-tendon units and multiple muscle origins.

Center of Mass Offset Enhances the Selection of Transverse Gallop in High-Speed Running by Horses: A Modeling Study

Horses use the transverse gallop in high-speed running. However, different animals use different gaits, and the gait preference of horses remains largely unclear. Horses have fore-aft asymmetry in their body structure and their center of mass (CoM) is anteriorly located far from the center of the body. Since such a CoM offset affects the running dynamics, we hypothesize that the CoM offset of horses is important in gait selection. In order to verify our hypothesis and clarify the gait selection mechanisms by horses from a dynamic viewpoint, we developed a simple model with CoM offset and investigated its effects on running. Specifically, we numerically obtained periodic solutions and classified these solutions into six types of gaits, including the transverse gallop, based on the footfall pattern. Our results show that the transverse gallop is optimal when the CoM offset is located at the position estimated in horses. Our findings provide useful insight into the gait selection mechanisms in high-speed running of horses.

Best practices for measuring and reporting ground reaction forces in dogs

Kinetic gait analysis and ground reaction forces (GRFs) have been used in hundreds of scientific manuscripts. Specific methodology, interpretation of results, and translation to clinical veterinary medicine have been inconsistent. This impedes the advance of veterinary medicine and poses a risk to patients. The objective of this report was to address methodological variations and share our consensus on a recommended approach with viable alternatives to data collection methods, analysis, reporting, and interpretation for GRFs in the dog. Investigators with experience performing kinetic gait analysis reviewed the literature and discussed the topics that most influenced GRF data collection, reporting, and interpretation. Methodological variations were reported and a consensus from the group was devised. There are several reasonable alternatives to collect, report, and interpret GRFs in dogs appropriately. Attention to detail is required in several areas to collect and report them. This review and consensus report should assist future investigations and interpretations of studies, optimize comparison between publications, minimize use of animals, and limit the investment in cost and time.

External Mechanical Work in Runners With Unilateral Transfemoral Amputation

Carbon-fiber running-specific prostheses have enabled individuals with lower extremity amputation to run by providing a spring-like leg function in their affected limb. When individuals without amputation run at a constant speed on level ground, the net external mechanical work is zero at each step to maintain a symmetrical bouncing gait. Although the spring-like “bouncing step” using running-specific prostheses is considered a prerequisite for running, little is known about the underlying mechanisms for unilateral transfemoral amputees. The aim of this study was to investigate external mechanical work at different running speeds for unilateral transfemoral amputees wearing running-specific prostheses. Eight unilateral transfemoral amputees ran on a force-instrumented treadmill at a range of speeds (30, 40, 50, 60, 70, and 80% of the average speed of their 100-m personal records). We calculated the mechanical energy of the body center of mass (COM) by conducting a time-integration of the ground reaction forces in the sagittal plane. Then, the net external mechanical work was calculated as the difference between the mechanical energy at the initial and end of the stance phase. We found that the net external work in the affected limb tended to be greater than that in the unaffected limb across the six running speeds. Moreover, the net external work of the affected limb was found to be positive, while that of the unaffected limb was negative across the range of speeds. These results suggest that the COM of unilateral transfemoral amputees would be accelerated in the affected limb’s step and decelerated in the unaffected limb’s step at each bouncing step across different constant speeds. Therefore, unilateral transfemoral amputees with passive prostheses maintain their bouncing steps using a limb-specific strategy during running.

Lower Limb Joint Functions during Single-Leg Hopping in-Place in Children and Adults

Children often display different whole-body dynamics compared to adults during locomotion such as walking and hopping. However, it is unknown whether these differences result in diverging functional usage of the lower limb joints. This study aimed to compare the mechanical functions of the ankle, knee, and hip joints between children and adults during single-leg hopping in-place at different frequencies. Children aged 5-11 years and adults aged 18-35 years performed hopping at their preferred frequency and slower and faster frequencies. Function of the joint was modeled as a combination of a strut, spring, motor, and damper. At the preferred frequency, children hopped equally with strut and spring functions at the ankle and knee joints while adults primarily used the spring function. When increasing frequency, both children and adults decreased the spring index and increased the strut index at the ankle and knee joints. Across all conditions, both children and adults used the strut function primarily at the hip joint. Results suggest that preadolescent children are still developing the adult-like spring function of their ankle and knee joints during hopping in-place. Quantification of spring function during hopping in-place may present an innovative approach to understand the maturation of the stretch-shortening cycle in children.

Sprinting with prosthetic versus biological legs: insight from experimental data

Running-prostheses have enabled exceptional athletes with bilateral leg amputations to surpass Olympic 400 m athletics qualifying standards. Due to the world-class performances and relatively fast race finishes of these athletes, many people assume that running-prostheses provide users an unfair advantage over biologically legged competitors during long sprint races. These assumptions have led athletics governing bodies to prohibit the use of running-prostheses in sanctioned non-amputee (NA) competitions, such as at the Olympics. However, here we show that no athlete with bilateral leg amputations using running-prostheses, including the fastest such athlete, exhibits a single 400 m running performance metric that is better than those achieved by NA athletes. Specifically, the best experimentally measured maximum running velocity and sprint endurance profile of athletes with prosthetic legs are similar to, but not better than those of NA athletes. Further, the best experimentally measured initial race acceleration (from 0 to 20 m), maximum velocity around curves, and velocity at aerobic capacity of athletes with prosthetic legs were 40%, 1-3% and 19% slower compared to NA athletes, respectively. Therefore, based on these 400 m performance metrics, use of prosthetic legs during 400 m running races is not unequivocally advantageous compared to the use of biological legs.

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

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

Phase transformation-driven artificial muscle mimics the multifunctionality of avian wing muscle

Skeletal muscle provides a compact solution for performing multiple tasks under diverse operational conditions, a capability lacking in many current engineered systems. Here, we evaluate if shape memory alloy (SMA) components can serve as artificial muscles with tunable mechanical performance. We experimentally impose cyclic stimuli, electric and mechanical, to an SMA wire and demonstrate that this material can mimic the response of the avian humerotriceps, a skeletal muscle that acts in the dynamic control of wing shapes. We next numerically evaluate the feasibility of using SMA springs as artificial leg muscles for a bipedal walking robot. Altering the phase offset between mechanical and electrical stimuli was sufficient for both synthetic and natural muscle to shift between actuation, braking and spring-like behaviour.

Animal lifestyle affects acceptable mass limits for attached tags

Animal-attached devices have transformed our understanding of vertebrate ecology. To minimize any associated harm, researchers have long advocated that tag masses should not exceed 3% of carrier body mass. However, this ignores tag forces resulting from animal movement. Using data from collar-attached accelerometers on 10 diverse free-ranging terrestrial species from koalas to cheetahs, we detail a tag-based acceleration method to clarify acceptable tag mass limits. We quantify animal athleticism in terms of fractions of animal movement time devoted to different collar-recorded accelerations and convert those accelerations to forces (acceleration × tag mass) to allow derivation of any defined force limits for specified fractions of any animal's active time. Specifying that tags should exert forces that are less than 3% of the gravitational force exerted on the animal's body for 95% of the time led to corrected tag masses that should constitute between 1.6% and 2.98% of carrier mass, depending on athleticism. Strikingly, in four carnivore species encompassing two orders of magnitude in mass (ca 2–200 kg), forces exerted by ‘3%' tags were equivalent to 4–19% of carrier body mass during moving, with a maximum of 54% in a hunting cheetah. This fundamentally changes how acceptable tag mass limits should be determined by ethics bodies, irrespective of the force and time limits specified.

Acute Effects of Whole-Body Vibration Warm-up on Leg and Vertical Stiffness During Running

ABSTRACT

Paradisis, GP, Pappas, P, Dallas, G, Zacharogiannis, E, Rossi, J, and Lapole, T. Acute effects of whole-body vibration warm-up on leg and vertical stiffness during running. J Strength Cond Res 35(9): 2433-2438, 2021-Although whole-body vibration (WBV) has been suggested as a suitable and efficient alternative to the classic warm-up routines, it is still unknown how this may impact running mechanics. Therefore, the aim of this study was to investigate the effect of a WBV warm-up procedure on lower-limb stiffness and other spatiotemporal variables during running at submaximal speed. Twenty-two males performed 30-second running bouts at 4.44 m·s-1 on a treadmill before and after a WBV and control warm-up protocols. The WBV protocol (vibration frequency: 50 Hz, peak-to-peak displacement: 4 mm) consisted of 10 sets of 30-second dynamic squatting exercises with 30-second rest periods within sets. Leg and vertical stiffness values were calculated using the spring mass model. The results indicated significant increases only after the WBV protocol for leg stiffness (3.4%), maximal ground reaction force (1.9%), and flight time (4.7%). Consequently, the WBV warm-up protocol produced a change in running mechanics, suggesting a shift toward a more aerial pattern. The functional significance of such WBV-induced changes needs further investigation to clearly determine whether it may influence running economy and peak velocity.

Single limb dynamics of jumping turns in dogs

Maneuverability is of paramount importance for many animals, e.g., in predator-prey interactions. Despite this fact, quadrupedal limb behavior in complicated maneuvers like simultaneous jumping and turning are not well studied. Twenty adult sport Border Collies were recorded while jumping over an obstacle and simultaneously turning. Kinetic and kinematic data were captured in synchrony using eight force plates and sixteen infrared cameras. These dogs were familiar with the task through regular participation in the dog sport agility. The experiments revealed that during landing, higher lateral forces acting in the forelimbs compared to hindlimbs. During landing, the outer limbs produced about twice the inner limbs' force in both vertical and lateral directions, showing their dominant contribution to turning. Advanced dogs showed significantly higher lateral impulse and stronger inner-outer limb asymmetry regarding lateral impulses than beginner dogs, leading to significantly stronger turning for advanced dogs. Somewhat unexpected, skill effects rarely explained global limb dynamics, indicating that landing a turn jump is a constrained motion. Constrained motions leave little space for individual techniques suggesting that the results can be generalized to quadrupedal turn jumps in other animals.

Leg and Joint Stiffness Adaptations to Minimalist and Maximalist Running Shoes

The running footwear literature reports a conceptual disconnect between shoe cushioning and external impact loading: footwear or surfaces with greater cushioning tend to result in greater impact force characteristics during running. Increased impact loading with maximalist footwear may reflect an altered lower-extremity gait strategy to adjust for running in compliant footwear. The authors hypothesized that ankle and knee joint stiffness would change to maintain the effective vertical stiffness, as cushioning changed with minimalist, traditional, and maximalist footwear. Eleven participants ran on an instrumental treadmill (3.5 m·s-1) for a 5-minute familiarization in each footwear, plus an additional 110 seconds before data collection. Vertical, leg, ankle, and knee joint stiffness and vertical impact force characteristics were calculated. Mixed model with repeated measures tested differences between footwear conditions. Compared with traditional and maximalist, the minimalist shoes were associated with greater average instantaneous and average vertical loading rates (P < .050), greater vertical stiffness (P ≤ .010), and less change in leg length between initial contact and peak resultant ground reaction force (P < .050). No other differences in stiffness or impact variables were observed. The shoe cushioning paradox did not hold in this study due to a similar musculoskeletal strategy for running in traditional and maximalist footwear and running with a more rigid limb in minimalist footwear.

The evolutionary biomechanics of locomotor function in giant land animals

Giant land vertebrates have evolved more than 30 times, notably in dinosaurs and mammals. The evolutionary and biomechanical perspectives considered here unify data from extant and extinct species, assessing current theory regarding how the locomotor biomechanics of giants has evolved. In terrestrial tetrapods, isometric and allometric scaling patterns of bones are evident throughout evolutionary history, reflecting general trends and lineage-specific divergences as animals evolve giant size. Added to data on the scaling of other supportive tissues and neuromuscular control, these patterns illuminate how lineages of giant tetrapods each evolved into robust forms adapted to the constraints of gigantism, but with some morphological variation. Insights from scaling of the leverage of limbs and trends in maximal speed reinforce the idea that, beyond 100-300 kg of body mass, tetrapods reduce their locomotor abilities, and eventually may lose entire behaviours such as galloping or even running. Compared with prehistory, extant megafaunas are depauperate in diversity and morphological disparity; therefore, turning to the fossil record can tell us more about the evolutionary biomechanics of giant tetrapods. Interspecific variation and uncertainty about unknown aspects of form and function in living and extinct taxa still render it impossible to use first principles of theoretical biomechanics to tightly bound the limits of gigantism. Yet sauropod dinosaurs demonstrate that >50 tonne masses repeatedly evolved, with body plans quite different from those of mammalian giants. Considering the largest bipedal dinosaurs, and the disparity in locomotor function of modern megafauna, this shows that even in terrestrial giants there is flexibility allowing divergent locomotor specialisations.

Bouncing behavior of sub-four minute milers

Elite middle distance runners present as a unique population in which to explore biomechanical phenomena in relation to running speed, as their training and racing spans a broad spectrum of paces. However, there have been no comprehensive investigations of running mechanics across speeds within this population. Here, we used the spring-mass model of running to explore global mechanical behavior across speeds in these runners. Ten elite-level 1500 m and mile runners (mean 1500 m best: 3:37.3 ± 3.6 s; mile: 3:54.6 ± 3.9 s) and ten highly trained 1500 m and mile runners (mean 1500 m best: 4:07.6 ± 3.7 s; mile: 4:27.4 ± 4.1 s) ran on a treadmill at 10 speeds where temporal measures were recorded. Spatiotemporal and spring-mass characteristics and their corresponding variation were calculated within and across speeds. All spatiotemporal measures changed with speed in both groups, but the changes were less substantial in the elites. The elite runners ran with greater approximated vertical forces (+ 0.16 BW) and steeper impact angles (+ 3.1°) across speeds. Moreover, the elites ran with greater leg and vertical stiffnesses (+ 2.1 kN/m and + 3.6 kN/m) across speeds. Neither group changed leg stiffness with increasing speeds, but both groups increased vertical stiffness (1.6 kN/m per km/h), and the elite runners more so (further + 0.4 kN/m per km/h). The elite runners also demonstrated lower variability in their spatiotemporal behavior across speeds. Together, these findings suggested that elite middle distance runners may have distinct global mechanical patterns across running speeds, where they behave as stiffer, less variable spring-mass systems compared to highly trained, but sub-elite counterparts.

Leg Joint Mechanics When Hopping at Different Frequencies

Although the dynamics of center of mass can be accounted for by a spring-mass model during hopping, less is known about how each leg joint (ie, hip, knee, and ankle) contributes to center of mass dynamics. This work investigated the function of individual leg joints when hopping unilaterally and vertically at 4 frequencies (ie, 1.6, 2.0, 2.4, and 2.8 Hz). The hypotheses are (1) all leg joints maintain the function as torsional springs and increase their stiffness when hopping faster and (2) leg joints are controlled to maintain the mechanical load in the joints or vertical peak accelerations at different body locations when hopping at different frequencies. Results showed that all leg joints behaved as torsional springs during low-frequency hopping (ie, 1.6 Hz). As hopping frequency increased, leg joints changed their functions differently; that is, the hip and knee shifted to strut, and the ankle remained as spring. When hopping fast, the body's total mechanical energy decreased, and the ankle increased the amount of energy storage and return from 50% to 62%. Leg joints did not maintain a constant load at the joints or vertical peak accelerations at different body locations when hopping at different frequencies.

Dynamical determinants enabling two different types of flight in cheetah gallop to enhance speed through spine movement

Cheetahs use a galloping gait in their fastest speed range. It has been reported that cheetahs achieve high-speed galloping by performing two types of flight through spine movement (gathered and extended). However, the dynamic factors that enable cheetahs to incorporate two types of flight while galloping remain unclear. To elucidate this issue from a dynamical viewpoint, we developed a simple analytical model. We derived possible periodic solutions with two different flight types (like cheetah galloping), and others with only one flight type (unlike cheetah galloping). The periodic solutions provided two criteria to determine the flight type, related to the position and magnitude of ground reaction forces entering the body. The periodic solutions and criteria were verified using measured cheetah data, and provided a dynamical mechanism by which galloping with two flight types enhances speed. These findings extend current understanding of the dynamical mechanisms underlying high-speed locomotion in cheetahs.

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

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

Computational modelling of muscle fibre operating ranges in the hindlimb of a small ground bird (Eudromia elegans), with implications for modelling locomotion in extinct species

The arrangement and physiology of muscle fibres can strongly influence musculoskeletal function and whole-organismal performance. However, experimental investigation of muscle function during in vivo activity is typically limited to relatively few muscles in a given system. Computational models and simulations of the musculoskeletal system can partly overcome these limitations, by exploring the dynamics of muscles, tendons and other tissues in a robust and quantitative fashion. Here, a high-fidelity, 26-degree-of-freedom musculoskeletal model was developed of the hindlimb of a small ground bird, the elegant-crested tinamou (Eudromia elegans, ~550 g), including all the major muscles of the limb (36 actuators per leg). The model was integrated with biplanar fluoroscopy (XROMM) and forceplate data for walking and running, where dynamic optimization was used to estimate muscle excitations and fibre length changes throughout both gaits. Following this, a series of static simulations over the total range of physiological limb postures were performed, to circumscribe the bounds of possible variation in fibre length. During gait, fibre lengths for all muscles remained between 0.5 to 1.21 times optimal fibre length, but operated mostly on the ascending limb and plateau of the active force-length curve, a result that parallels previous experimental findings for birds, humans and other species. However, the ranges of fibre length varied considerably among individual muscles, especially when considered across the total possible range of joint excursion. Net length change of muscle-tendon units was mostly less than optimal fibre length, sometimes markedly so, suggesting that approaches that use muscle-tendon length change to estimate optimal fibre length in extinct species are likely underestimating this important parameter for many muscles. The results of this study clarify and broaden understanding of muscle function in extant animals, and can help refine approaches used to study extinct species.

Series elasticity facilitates safe plantar flexor muscle-tendon shock absorption during perturbed human hopping

In our everyday lives, we negotiate complex and unpredictable environments. Yet, much of our knowledge regarding locomotion has come from studies conducted under steady-state conditions. We have previously shown that humans rely on the ankle joint to absorb energy and recover from perturbations; however, the muscle-tendon unit (MTU) behaviour and motor control strategies that accompany these joint-level responses are not yet understood. In this study, we determined how neuromuscular control and plantar flexor MTU dynamics are modulated to maintain stability during unexpected vertical perturbations. Participants performed steady-state hopping and, at an unknown time, we elicited an unexpected perturbation via rapid removal of a platform. In addition to kinematics and kinetics, we measured gastrocnemius and soleus muscle activations using electromyography and in vivo fascicle dynamics using B-mode ultrasound. Here, we show that an unexpected drop in ground height introduces an automatic phase shift in the timing of plantar flexor muscle activity relative to MTU length changes. This altered timing initiates a cascade of responses including increased MTU and fascicle length changes and increased muscle forces which, when taken together, enables the plantar flexors to effectively dissipate energy. Our results also show another mechanism, whereby increased co-activation of the plantar- and dorsiflexors enables shortening of the plantar flexor fascicles prior to ground contact. This co-activation improves the capacity of the plantar flexors to rapidly absorb energy upon ground contact, and may also aid in the avoidance of potentially damaging muscle strains. Our study provides novel insight into how humans alter their neural control to modulate in vivo muscle-tendon interaction dynamics in response to unexpected perturbations. These data provide essential insight to help guide design of lower-limb assistive devices that can perform within varied and unpredictable environments.

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

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

The use of a running power-meter for performance analysis in five-a-side football

BACKGROUND

Power output considers all movement aspects of the game of football and could have meaningful impact for teams.

PURPOSE & METHODS

To assess inter-reliability of ten power meters designed for running; and as a descriptor of individual and team performance during a five-a-side football match. The work aimed to assess inter-device reliability of running power-meters combined with data analysis from intermittent running, along with descriptives of player work rate, gait and team performance during a small-sided game of football.

METHODS

10 different running power meters inter-reliability were on a treadmill at 8, 10, 12, and 16 km h^-1 for 60 s in a random order. Football players (N = 10) performed the Yo-Yo ET1 with the running power meters to determine participants' endurance capability, while assessing the ability to record metrics of gait and power output during intermittent running. Following a period of 7-days participants took part in a 20 min small-sided game of football wearing the running power meters to provide descriptors of work and gait.

RESULTS

Good inter-device reliability for the power meters (CV 1.67, range 1.51-1.94 %) during continuous treadmill running were found. Overall mean ± SD results for Yo-Yo ET1 power output 263 ± 36W, power:weight 3.59 ± 0.34W∙kg^-1 significantly (p < 0.05) increased with successive stages, while ground-contact time 234 ± 17 ms, and vertical oscillation 90.7 ± 27 mm did not change (p > 0.05). Descriptive analysis of the small-sided game presented mean ± SD absolute and relative power outputs of 148 ± 44W and 1.98 ± 0.53W∙kg^-1, equating to 54 ± 21 %W_max and 74 ± 5%HR_max. Characteristics of gait included cadence 125 ± 22 rpm, ground contact time 266 ± 19 ms, and vertical oscillation 76.7 ± 7 mm. The winning team worked relatively harder than the losing team (53.3 ± 0.7 %W_max vs 46.7 ± 0.4 %W_max, p < 0.0001) with more time (398 s vs 141 s) spent above 70 %W_max.

SIGNIFICANCE

As such, the use of a running power-meter is a useful tool for comparing work rate and aspects of gait between team members while more research is required to investigate relative work rate (%W_max) within the field.

Locomotor mechanism of Haplopelma hainanum based on energy conservation analysis

Spiders use their special hydraulic system to achieve superior locomotor performance and high drive efficiency. To evaluate the variation in hydraulic joint angles and energy conversion during the hydraulic drive of spiders, kinematic data of Haplopelma hainanum were collected through a 3D motion capture and synchronization analysis system. Complete stride datasets in the speed range of 0.027 to 0.691 m s-1 were analyzed. Taking the tibia-metatarsu joint as an example, it was found that speed did not affect the angle variation range of the hydraulic joint. Based on the analysis of locomotor mechanics, a bouncing gait was mainly used by H. hainanum during terrestrial locomotion and their locomotor mechanism did not change with increasing speed. Because of the spiders' hydraulic system, the mass-specific power per unit weight required to move the center of mass increased exponentially with increasing speed. The bouncing gait and the hydraulic system contributed to the lower transport cost at low speed, while the hydraulic system greatly increased the transport cost at high speed. The results of this study could provide a reference for the design of high-efficiency driving hydraulic systems of spider-like robots.

Forelimb joints contribute to locomotor performance in reindeer (Rangifer tarandus) by maintaining stability and storing energy

Reindeer (Rangifer tarandus) have lengthy seasonal migrations on land and their feet possess excellent locomotor characteristics that can adapt to complex terrains. In this study, the kinematics and vertical ground reaction force (GRF) of reindeer forelimb joints (interphalangeal joint b, metacarpophalangeal joint c, and wrist joint d) under walk, trot 1, and trot 2 were measured using a motion tracking system and Footscan pressure plates. Significant differences among different locomotor activities were observed in the joint angles, but not in changes of the joint angles (α_b, α_c, α_d) during the stance phase. Peak vertical GRF increased as locomotor speed increased. Net joint moment, power, and work at the forelimb joints were calculated via inverse dynamics. The peak joint moment and net joint power related to the vertical GRF increased as locomotor speed increased. The feet absorbed and generated more energy at the joints. During different locomotor activities, the contribution of work of the forelimbs changed with both gait and speed. In the stance phase, the metacarpophalangeal joint absorbed more energy than the other two joints while trotting and thus performed better in elastic energy storage. The joint angles changed very little (∼5°) from 0 to 75% of the stance phase, which reflected the stability of reindeer wrist joints. Compared to typical ungulates, reindeer toe joints are more stable and the stability and energy storage of forelimb joints contribute to locomotor performance in reindeer.

Survey of biomechanical aspects of arthropod terrestrialisation - Substrate bound legged locomotion

Arthropods are the most diverse clade on earth with regard to both species number and variability of body plans. Their general body plan is characterised by variable numbers of legs, and many-legged locomotion is an essential aspect of many aquatic and terrestrial arthropod species. Moreover, arthropods belong to the first groups of animals to colonise subaerial habitats, and they did so repeatedly and independently in a couple of clades. Those arthropod clades that colonised land habitats were equipped with highly variable body plans and locomotor apparatuses. Proceeding from their respective specific anatomies, they were challenged with strongly changing environmental conditions as well as altered physical and physiological constraints. This review explores the transitions from aquatic to terrestrial habitats across the different arthropod body plans and explains the major mechanisms and principles that constrain design and function of a range of locomotor apparatuses. Important aspects of movement physiology addressed here include the effects of different numbers of legs, different body sizes, miniaturisation and simplification of body plans and different ratios of inertial and damping forces. The article's focus is on continuous legged locomotion, but related ecological and behavioural aspects are also taken into account.

'Whip from the hip': thigh angular motion, ground contact mechanics, and running speed

During high-speed running, lower limb vertical velocity at touchdown has been cited as a critical factor needed to generate large vertical forces. Additionally, greater leg angular velocity has also been correlated with increased running speeds. However, the association between these factors has not been comprehensively investigated across faster running speeds. Therefore, this investigation aimed to evaluate the relationship between running speed, thigh angular motion and vertical force determinants. It was hypothesized that thigh angular velocity would demonstrate a positive linear relationship with both running speed and lower limb vertical velocity at touchdown. A total of 40 subjects (20 males, 20 females) from various athletic backgrounds volunteered and completed 40 m running trials across a range of sub-maximal and maximal running speeds during one test session. Linear and angular kinematic data were collected from 31-39 m. The results supported the hypotheses, as across all subjects and trials (range of speeds: 3.1-10.0 m s-1), measures of thigh angular velocity demonstrated a strong positive linear correlation to speed (all R2>0.70, P<0.0001) and lower limb vertical velocity at touchdown (all R2=0.75, P<0.001). These findings suggest thigh angular velocity is strongly related to running speed and lower limb impact kinematics associated with vertical force application.

Body torsional flexibility effects on stability during trotting and pacing based on a simple analytical model

Quadruped animals use not only their legs but also their trunks during walking and running. Although many previous studies have investigated the flexion, extension, and lateral bending of the trunk, few studies have investigated the body torsion, and its dynamic effects on locomotion thus remain unclear. In this study, we investigated the effects of body torsion on gait stability during trotting and pacing. Specifically, we constructed a simple model consisting of two rigid bodies connected via a torsional joint that has a torsional spring and four leg springs. We then derived periodic solutions for trotting and pacing and evaluated the stabilities of these motion types using a Poincaré map. We found that the moments of inertia of the bodies and the spring constant ratio of the torsional spring and the leg springs determine the stability of these periodic solutions. We then determined the stability conditions for these parameters and elucidated the relevant mechanisms. In addition, we clarified the importance of the body torsion to the gait stability by comparison with a rigid model. Finally, we analyzed the biological relevance of our findings and provided a design principle for development of quadruped robots.

Limb dynamics in agility jumps of beginner and advanced dogs

A considerable body of work has examined the dynamics of different dog gaits, but there are no studies that have focused on limb dynamics in jumping. Jumping is an essential part of dog agility, a dog sport in which handlers direct their dogs through an obstacle course in a limited time. We hypothesized that limb parameters like limb length and stiffness indicate the skill level of dogs. We analyzed global limb parameters in jumping for 10 advanced and 10 beginner dogs. In experiments, we collected 3D kinematics and ground reaction forces during dog jumping at high forward speeds. Our results revealed general strategies of limb control in jumping and highlighted differences between advanced and beginner dogs. In take-off, the spatially leading forelimb was 75% (P<0.001) stiffer than the trailing forelimb. In landing, the trailing forelimb was 14% stiffer (P<0.001) than the leading forelimb. This indicates a strut-like action of the forelimbs to achieve jumping height in take-off and to transfer vertical velocity into horizontal velocity in landing (with switching roles of the forelimbs). During landing, the more (24%) compliant forelimbs of beginner dogs (P=0.005) resulted in 17% (P=0.017) higher limb compression during the stance phase. This was associated with a larger amount of eccentric muscle contraction, which might in turn explain the soft tissue injuries that frequently occur in the shoulder region of beginner dogs. For all limbs, limb length at toe-off was greater for advanced dogs. Hence, limb length and stiffness might be used as objective measures of skill.

Simple method for measuring center of mass work during field running

The purpose of this study was to propose and validate a new simple method for calculation of center of mass work during field running, in order to avoid the use of costly and inconvenient measurement devices. This method relies on spring-mass model and measurements of average horizontal velocity, and contact and flight times during running. Ten male, recreational subjects ran on a dynamometer treadmill at different velocities ranging from 2.22 to 4.44 m·s^-1 during 4 min 30 s for each velocity. Twenty consecutive steps were analyzed after 3 min 30 s. The potential (W_pot), forward kinetic (W_kinf) and the total center of mass (W_ext) work data obtained with this new method were compared with the reference data calculated from ground reaction force measurements. W_ext, W_pot and W_kinf values calculated with the proposed method were respectively +3.39 ± 0.77% higher, -4.14 ± 0.72% lower and +7.34 ± 1.08% higher than values obtained by the reference method. Furthermore, significant linear regressions close to the identity line were obtained between the reference and the proposed method values of works (r = 0.99, p < 0.05 for W_ext; r = 0.98, p < 0.05 for W_pot; r = 0.98, p < 0.05 for W_kinf). It was concluded that this new method could provide a good estimate of center of mass work in field running thanks to a few simple mechanical parameters.

A Review of Biomechanical Gait Classification with Reference to Collected Trot, Passage and Piaffe in Dressage Horses

Simple Summary

This paper reviews the biomechanical classification of diagonally coordinated gaits of dressage horses, specifically, collected trot, passage and piaffe. Each gait was classified as a walking gait or a running gait based on three criteria: limb kinematics, ground reaction forces and center of mass mechanics. The data for trot and passage were quite similar and both were classified as running gaits according to all three criteria. In piaffe, the limbs have relatively long stance durations and there are no aerial phases, so kinematically it was classified as a walking gait. However, the shape of the vertical ground reaction force curve and the strategies used to control movements of the center of mass were more similar to those of a running gait. The hind limbs act as springs with limb compression increasing progressively from collected trot to passage to piaffe, whereas the forelimbs show less compression in passage and piaffe and behave more like struts.

Abstract

Gaits are typically classified as walking or running based on kinematics, the shape of the vertical ground reaction force (GRF) curve, and the use of inverted pendulum or spring-mass mechanics during the stance phase. The objectives of this review were to describe the biomechanical characteristics that differentiate walking and running gaits, then apply these criteria to classify and compare the enhanced natural gait of collected trot with the artificial gaits of passage and piaffe as performed by highly trained dressage horses. Limb contact and lift off times were used to determine contact sequence, limb phase, duty factor, and aerial phase duration. Ground reaction force data were plotted to assess fore and hind limb loading patterns. The center of mass (COM) trajectory was evaluated in relation to changes in potential and kinetic energy to assess the use of inverted pendulum and spring-mass mechanics. Collected trot and passage were classified as running gaits according to all three criteria whereas piaffe appears to be a hybrid gait combining walking kinematics with running GRFs and COM mechanics. The hind limbs act as springs and show greater limb compression in passage and piaffe compared with trot, whereas the forelimbs behave more like struts showing less compression in passage and piaffe than in trot.