The hindlimb in walking horses: 2. Net joint moments and joint powers

Effects of sand, asphalt and 3-degree hind toe or heel elevation on horse kinematics

BACKGROUND

Although the effects of both the surfaces and plantar angles on equine locomotion have been widely discussed, limited scientific data are available.

METHODS

Our objectives were to determine the effects of two surfaces (asphalt and sand) and of 3-degree hind toe or heel elevation on horse kinematics in an experimental study. Six saddle horses were shod with a reference shoeing (REF), characterized by a fore aluminium (REF F) and hind steel racehorse (REF H) shoeing. Two dimensional kinematic videos compared horse's kinematic parameters when walking and trotting on asphalt and sand. On asphalt, REF was also compared with REF F and a modified REF H with additional 3-degree hind-toe or -heel wedges.

RESULTS

On asphalt versus sand, horses had, at the trot, a shorter stride duration and forelimb maximal retraction, and at walk and trot, a greater fetlock, carpus, elbow and tarsus extension, a greater fore and hind limbs maximal protraction and a shorter hind limbs maximal retraction. Increasing the plantar angle decreased the tarsus and hind fetlock extension, in contrast to fore-limb, on asphalt during the stance phase.

CONCLUSIONS

These findings could be useful to adapt rehabilitation programs related to fore and hind limb pathologies, at slow gaits.

The biomechanics of locomotor compensation after peripheral nerve lesion in the rat

Functional recovery in animal models of nervous system disorders commonly involves behavioural compensation, in which animals alter the use of their limbs after injury, making it difficult to distinguish 'true' recovery from substitution of novel movements. The purpose of this study is to investigate how abnormal movements are produced by using biomechanical assessment of limb joint motion, an approach commonly used to diagnose human pathological gait. Rats were trained to cross a runway whilst kinetic (ground reaction forces) and kinematic (limb segment positions) data were synchronously recorded. Inverse dynamic analysis was used to calculate limb joint moments, or torques, and joint mechanical power throughout the stride for major joints of the forelimbs and hindlimbs, both before and after denervation of a major ankle extensor muscle. Before surgery, rats moved with joint moment and power profiles comparable to other quadrupeds, with differences attributable to species variation in limb posture. After surgery, rats trotted asymmetrically, with a near plantigrade stance of the left hindlimb. Surprisingly, ankle joint moments and power were largely preserved, with dramatic reductions in range of motion and joint moments at the proximal joints of the affected limb. Stiffening of the proximal limb compensated for increased compliance at the ankle but decreased the total mechanical work done by the injured limb. In turn, more work was done by the opposite, i.e. uninjured, hindlimb. This is the first study to quantify the biomechanical adjustments made within and between limbs in laboratory rodents after nervous system injury.

Inertial properties of equine limb segments

Quantifying the dynamics of limb movements requires knowledge of the mass distribution between and within limb segments. We measured segment masses, positions of segmental center of mass and moments of inertia of the fore and hind limb segments for 38 horses of different breeds and sizes. After disarticulation by dissections, segments were weighed and the position of the center of mass was determined by suspension. Moment of inertia was measured using a trifilar pendulum. We found that mass distribution does not change with size for animals under 600 kg and report ratios of segmental masses to total body mass. For all segments, the scaling relationship between segmental mass and moment of inertia was predicted equally well or better by a 5/3 power fit than by the more classic mass multiplied by segmental length squared fit. Average values taken from previous studies generally confirmed our data but scaling relationships often needed to be revised. We did not detect an effect of morphotype on segment inertial properties. Differences in segmental inertial properties between published studies may depend more on segmental segmentation techniques than on size or body type of the horse.

Swing phase kinematic and kinetic response to weighting the hind pasterns

REASONS FOR PERFORMING STUDY

It is considered that specific exercises to strengthen limb musculature would be helpful.

OBJECTIVE

To describe swing phase kinematic and kinetic changes in the hindlimbs of trotting horses in response to the addition of leg weights to the hind pasterns.

METHODS

Six horses were prepared by placing reflective skin markers on the hindlimbs, the withers and fore hooves. Horses were evaluated at trot for 6 trials with and without leg weights (700 g) attached around the pasterns, with the 2 conditions applied in random order. The markers were tracked to determine peak heights of the flight arc of the hind hooves and swing phase joint angulations. Inverse dynamic analysis was used to calculate positive and negative work done across each joint in the first and second halves of the swing phase. Comparisons between conditions were made using paired t tests (normally distributed data) or the Wilcoxon rank-sum test (non-normally distributed data).

RESULTS

Peak height of the flight arc of the hind hooves was significantly higher with leg weights as a result of increased flexions of the stifle, tarsal and metatarsophalangeal joints. Increased positive (concentric) work was performed by the hip and tarsal musculature to protract and raise the limb in early swing, then to retract and lower the limb in late swing. Increased negative (eccentric) work was performed across the stifle and metatarsophalangeal joints to control their movements in response to increases in inertia and momentum due to the weights.

CONCLUSIONS

The addition of weight to the hind pasterns stimulates increased muscular activity across all the hindlimb joints from the hip to the metatarsophalangeal joint.

CLINICAL SIGNIFICANCE

The addition of weight to the hind pasterns may have therapeutic applications in activating and strengthening the hindlimb musculature. This is particularly relevant in the hip region, which appears more sensitive and responsive to the effect of weights than to tactile stimulation alone.

Recent developments in canine locomotor analysis: a review

Subjective evaluation of canine gait has been used for many years. However, our ability to perceive minute details during the gait cycle can be difficult and in some respects impossible even for the most talented gait specialist. The evolution of computer technology in computer assisted gait analysis over the past 20 years has improved the ability to quantitatively define temporospatial gait characteristics. These technological advances and new developments in methodological approaches have assisted researchers and clinicians in gaining a better understanding of canine locomotion. The use of kinematic and kinetic analysis has been validated as a useful tool in veterinary medicine. This paper is an overview of the kinematic and kinetic analytical techniques of the last decade.

Functional specialisation of pelvic limb anatomy in horses (Equus caballus)

We provide quantitative anatomical data on the muscle-tendon units of the equine pelvic limb. Specifically, we recorded muscle mass, fascicle length, pennation angle, tendon mass and tendon rest length. Physiological cross sectional area was then determined and maximum isometric force estimated. There was proximal-to-distal reduction in muscle volume and fascicle length. Proximal limb tendons were few and, where present, were relatively short. By contrast, distal limb tendons were numerous and long in comparison to mean muscle fascicle length, increasing potential for elastic energy storage. When compared with published data on thoracic limb muscles, proximal pelvic limb muscles were larger in volume and had shorter fascicles. Distal limb muscle architecture was similar in thoracic and pelvic limbs with the exception of flexor digitorum lateralis (lateral head of the deep digital flexor), the architecture of which was similar to that of the pelvic and thoracic limb superficial digital flexors, suggesting a functional similarity.

Distribution of power across the hind limb joints in Labrador Retrievers and Greyhounds

OBJECTIVE

To quantify angular excursions; net joint moments; and powers across the stifle, tarsal, and metatarsophalangeal (MTP) joints in Labrador Retrievers and Greyhounds and investigate differences in joint mechanics between these 2 breeds of dogs.

ANIMALS

12 clinically normal dogs (6 Greyhounds and 6 Labrador Retrievers) with no history of hind limb lameness.

PROCEDURE

Small retroreflective markers were applied to the skin over the pelvic limb joints, and a 4-camera kinematic system captured data at 200 Hz in tandem with force platform data while the dogs trotted on a runway. Breed-specific morphometric data were combined with kinematic and force data in an inverse-dynamics solution for stance-phase net joint moments and powers at the stifle, tarsal, and MTP joints.

RESULTS

There were gross differences in kinematic patterns between Greyhounds and Labradors. At the stifle and tarsal joints, moment and power patterns were similar in shape, but amplitudes were larger for the Greyhounds. The MTP joint was a net absorber of energy, and this was greater in the Greyhounds. Greyhounds had a positive phase across the stifle, tarsal, and MTP joints at the end of stance for an active push-off, whereas for the Labrador Retrievers, the only positive phase was across the tarsus, and this was small, compared with values for the Greyhounds.

CONCLUSIONS AND CLINICAL RELEVANCE

Gross differences in pelvic limb mechanics are evident between Greyhounds and Labrador Retrievers. Joint kinetics in specific dogs should be compared against breed-specific patterns.

Two-dimensional link-segment model of the forelimb of dogs at a walk

OBJECTIVE

To calculate normative joint angle, intersegmental forces, moment of force, and mechanical power at elbow, antebrachiocarpal, and metacarpophalangeal joints of dogs at a walk.

ANIMALS

6 clinically normal mixed-breed dogs.

PROCEDURE

Kinetic data were collected via a force platform, and kinematic data were collected from forelimbs by use of 3-dimensional videography. Length, location of the center of mass, total mass, and mass moment of inertia about the center of mass were determined for each of 4 segments of the forelimb. Kinematic data and inertial properties were combined with vertical and craniocaudal ground reaction forces to calculate sagittal plane forces and moments across joints of interest throughout stance phase. Mechanical power was calculated as the product of net joint moment and the angular velocity. Joint angles were calculated directly from kinematic data.

RESULTS

All joint intersegmental forces were similar to ground reaction forces, with a decrease in magnitude the more proximal the location of each joint. Flexor moments were observed at metacarpophalangeal and antebrachiocarpal joints, and extensor moments were observed at elbow and shoulder joints, which provided a net extensor support moment for the forelimb. Typical profiles of work existed for each joint.

CONCLUSIONS AND CLINICAL RELEVANCE

For clinically normal dogs of a similar size at a walk, inverse dynamic calculation of intersegmental forces, moments of force, and mechanical power for forelimb joints yielded values of consistent patterns and magnitudes. These values may be used for comparison in evaluations of gait in other studies and in treatment of dogs with forelimb musculoskeletal disease.

Effect of trotting speed, load and incline on hindlimb stance-phase kinematics

The objective was to understand how the stance-phase kinematics of the hindlimb of trotting horses change with speed under 3 conditions (level, loaded and incline), to compare our results with the predictions of the spring-mass model and to help focus our future studies of muscle function. Video recordings were made of 5 Arabian horses trotting on a treadmill. Five consecutive strides were digitised and averaged for each trial. The angle-time diagrams were qualitatively similar to those reported previously. As speed increases, the range of motion of the hindlimb increases, as predicted by the spring-mass model. This is the result of increased range of motion in the coxofemoral and tarsal joints. The hindlimb does not 'land short-take off long'. When trotting up an incline, the hindlimb undergoes a greater range of motion because of increased retraction resulting from increased extension of the coxofemoral joint. At hoof contact on an incline, the 3 proximal joints are more flexed than on the level. Carrying a load had no effect on kinematics. These results suggest that there may be larger changes in strain with speed in muscles acting at the coxofemoral and tarsal joints than at the femorotibial joint, and that locomotion up an incline will change muscle strain more than carrying a load.

Hindlimb net joint energies during swing phase as a function of trotting velocity

Net joint powers and energies have been described in walking horses during the swing phase of the stride in the fore- and hindlimb (Clayton et al. 2001). During trotting, swing phase net joint powers have been described in the forelimb but not in the hindlimb. The effects of velocity on power profiles and energy patterns are important in relation to locomotor energetics. The objective of this study was to evaluate velocity-dependent changes in hindlimb net energy profiles of the swing phase during trotting. Inverse dynamic analysis was used to calculate net joint energies at the hindlimb joints of 6 horses trotting overground at velocities ranging from 2.27-5.17 m/s. At all velocities, there was net energy generation at the hip and tarsus and net energy absorption at the stifle, fetlock and coffin joints. Velocity-dependent bursts of energy generation at the hip actively protracted the limb in early swing and initiated retraction in late swing. Synchronous with the bursts of energy generation at the hip were velocity-dependent bursts of energy absorption across the stifle that acted to control flexion in early swing and extension in late swing. The distal limb was raised and lowered by velocity-dependent bursts of energy generation that flexed the tarsus in early swing and extended it in late swing. The energy bursts in early swing increased linearly with velocity, whereas the energy bursts in late swing increased as a function of the square or cube of velocity. The results contribute to understanding the mechanisms used to accelerate and decelerate the limbs more rapidly as velocity increases, which is an important consideration in racing and sporting performance.

The hindlimb in walking horses: 1. Kinematics and ground reaction forces

The objective was to study associations between kinematics and ground reaction forces in the hindlimb of walking horses. Video (60 Hz) and force (2000 Hz) data were gathered for 8 strides from each of 5 sound horses during the walk. Sagittal plane kinematics were measured concurrently with the vertical and longitudinal ground reaction forces. The hindlimb showed rapid loading and braking in the initial 10% stride. The stifle, tarsal and coffin joints flexed and the fetlock joint extended during this period of rapid loading. The vertical ground reaction force showed 2 peaks separated by a dip; this pattern was similar to the fetlock joint angle-time graph. Peaks in the longitudinal ground reaction force did not appear to correspond with kinematic events. Total braking impulse was equal to total propulsive impulse over the entire stride. Flexion and extension of the hip were responsible for protraction and retraction of the entire limb. Maximal protraction occurred shortly before the end of swing and maximal retraction occurred during breakover. During the middle part of stance the tarsal joint extended slowly, while the stifle began to flex when the limb was retracted beyond the midstance position at 28% stride. Flexion cycles of the stifle and tarsal joints were well coordinated during the swing phase to raise the distal limb as it was protracted. The results demonstrate a relationship between limb kinematics and vertical limb loading in the hindlimbs of sound horses. Future studies will elucidate the alterations in response to lameness.