Development and validation of a novel ankle joint musculoskeletal model

An improved understanding of contact mechanics in the ankle joint is paramount for implant design and ankle disorder treatment. However, existing models generally simplify the ankle joint as a revolute joint that cannot predict contact characteristics. The current study aimed to develop a novel musculoskeletal ankle joint model that can predict contact in the ankle joint, together with muscle and joint reaction forces. We modelled the ankle joint as a multi-axial joint and simulated contact mechanics between the tibia, fibula and talus bones in OpenSim. The developed model was validated with results from experimental studies through passive stiffness and contact. Through this, we found a similar ankle moment-rotation relationship and contact pattern between our study and experimental studies. Next, the musculoskeletal ankle joint model was incorporated into a lower body model to simulate gait. The ankle joint contact characteristics, kinematics, and muscle forces were predicted and compared to the literature. Our results revealed a comparable peak contact force and the same muscle activation patterns in four major muscles. Good agreement was also found in ankle dorsi/plantar-flexion and inversion/eversion. Thus, the developed model was able to accurately model the ankle joint and can be used to predict contact characteristics in gait.

Validity of muscle activation estimated with predicted ground reaction force in inverse dynamics based musculoskeletal simulation during gait

The inverse dynamics based musculoskeletal simulation needs ground reaction forces (GRF) as an external force input. GRF can be predicted from kinematic data. However, the validity of estimated muscle activation using the predicted GRF has remained unclear. Therefore, the purpose of this study was to determine the validity of estimated muscle activation with predicted GRF in the inverse dynamics based musculoskeletal simulation. To perform musculoskeletal simulations, an open-source motion capture dataset that contains gait data from 50 healthy subjects was used. CusToM was used for the musculoskeletal simulations. Two sets of inverse dynamics and static optimization were performed, one used predicted GRF (PRED) and another used experimentally measured GRF (EXP). Pearson's correlation was calculated to evaluate the similarity between EMG and estimated muscle activations for both PRED and EXP. To compare PRED and EXP, paired t-tests were used to compare the trial-wise muscle activation similarity and residuals. Relationships between joint moments and residuals were also tested. The overall muscle activation similarity was comparable in PRED (R = 0.477) and EXP (R = 0.475). The residuals were 2-4 times higher in EXP compared to PRED (P < 0.001). The hip flexion-extension moment was correlated to sagittal plane residual moment (R = 0.467). The muscle activations estimated using predicted GRF were comparable to that with measured GRF in the inverse dynamics based musculoskeletal simulation. Prediction of GRF helps to perform musculoskeletal simulations where the force plates are not available.

Muscle and joint mechanics during maximum force biting following total temporomandibular joint replacement surgery

Total temporomandibular joint replacement (TMJR) surgery is the established treatment for severe temporomandibular joint disorders. While TMJR surgery is known to increase mouth-opening capacity, reduce pain and improve quality of life, little is known about post-surgical jaw function during activities of daily living such as biting and chewing. The aim of this study was to use subject-specific 3D bite force measurements to evaluate the magnitude and direction of joint loading in unilateral total TMJR patients and compare these data to those in healthy control subjects. An optoelectronic tracking system was used to measure jaw kinematics while biting a rubber sample for 5 unilateral total TMJR patients and 8 controls. Finite element simulations driven by the measured kinematics were employed to calculate the resultant bite force generated when compressing the rubber between teeth during biting tasks. Subject-specific musculoskeletal models were subsequently used to calculate muscle and TMJ loading. Unilateral total TMJR patients generated a bite force of 249.6 ± 24.4 N and 164.2 ± 62.3 N when biting on the contralateral and ipsilateral molars, respectively. In contrast, controls generated a bite force of 317.1 ± 206.6 N. Unilateral total TMJR patients biting on the contralateral molars had a significantly higher lateral TMJ force direction (median difference: 63.6°, p = 0.028) and a significantly lower ratio of working TMJ force to bite force (median difference: 0.17, p = 0.049) than controls. Results of this study may guide TMJ prosthesis design and evaluation of dental implants.

Musculoskeletal model degrees of Freedom: Frontal plane constraints are hindering our understanding of human movement

Induced acceleration analyses have expanded our understanding on the contributions of muscle forces to center of mass and segmental kinematics during a myriad of tasks. While these techniques have identified a subset of major muscle that contribute to locomotion, most analyses have included models with only one frontal plane degree of freedom (dof) actuated by the hip joint. The purpose of this study was to define the impact of including knee and subtalar joint frontal plane dof on model superposition accuracy and muscle specific contributions to mediolateral accelerations. Induced acceleration analyses were performed using OpenSim with the Lai model on a freely available dataset of one subject running at 4 m/s. Analyses were performed on four models (standard, with subtalar joint, with frontal plane knee, and combined frontal plane knee with subtalar) with the kinematic constraint and perturbation analyses. Root mean square error and correlations were computed against experimental kinematics. Adding frontal plane dofs improved mediolateral acceleration correlations on average by > 0.25 while only minimally impacting errors. The constraints method performed better than the perturbation method for mediolateral accelerations. Including frontal plane knee dof resulted in muscle and method specific responses. All muscles presented with a complete flip of polarity for constraint method, imparted by allowing the medial/lateral muscles to contribute according to their anatomical function. Only the gluteus medius flipped for the perturbation method. This study provides significant support for the inclusion of frontal plane knee and subtalar dof and the need for reevaluation of muscle contributions via induced acceleration.

Comparing spinal loads in individuals with unilateral transtibial amputation with and without chronic low back pain: An EMG-informed approach

Chronic low back pain (cLBP) is highly prevalent after lower limb amputation (LLA), likely due in part to biomechanical factors. Here, three-dimensional full-body kinematics and kinetics during level-ground walking, at a self-selected and three controlled speeds (1.0, 1.3, and 1.6 m/s), were collected from twenty-one persons with unilateral transtibial LLA, with (n = 9) and without cLBP (n = 12). Peak compressive, mediolateral, and anteroposterior L5-S1 spinal loads were estimated from a full-body, transtibial amputation-specific OpenSim model and compared between groups. Predicted lumbar joint torques from muscle activations were compared to inverse dynamics and predicted and measured electromyographic muscle activations were compared for model evaluation and verification. There were no group differences in compressive or anterior shear forces (p > 0.466). During intact stance, peak ipsilateral loads increased with speed to a greater extent in the cLBP group vs. no cLBP group (p=0.023), while during prosthetic stance, peak contralateral loads were larger in the no cLBP group (p=0.047) and increased to a greater extent with walking speed compared to the cLBP group (p=0.008). During intact stance, intact side external obliques had higher activations in the no cLBP group (p=0.039), and internal obliques had higher activations in the cLBP group at faster walking speeds compared to the no cLBP group. Predicted muscle activations demonstrated similar activation patterns to electromyographic-measured activations (r = 0.56-0.96), and error between inverse dynamics and simulated spinal moments was low (0.08 Nm RMS error). Persons with transtibial LLA and cLBP may adopt movement strategies during walking to reduce mediolateral shear forces at the L5-S1 joint, particularly as walking speed increases. However, future work is needed to understand the time course from pain onset to chronification and the cumulative influence of increased spinal loads over time.

Intra and inter-rater variability in the construction of patient-specific musculoskeletal model

BACKGROUND

Variations observed in biomechanical studies might be attributed to errors made by operators during the construction of musculoskeletal models, rather than being solely attributed to patient-specific geometry.

RESEARCH QUESTION

What is the impact of operator errors on the construction of musculoskeletal models, and how does it affect the estimation of muscle moment arms and hip joint reaction forces?

METHODS

Thirteen independent operators participated in defining the muscle model, while a single operator performed 13 repetitions to define the muscle model based on 3D bone geometry. For each model, the muscle moment arms relative to the hip joint center of rotation was evaluated. Additionally, the hip joint reaction force during one-legged stance was assessed using static inverse optimization.

RESULTS

The results indicated high levels of consistency, as evidenced by the intra- rater and inter-rater agreement measured by the Intraclass Correlation Coefficient (ICC), which yielded values of 0.95 and 0.99, respectively. However, the estimated muscle moment arms exhibited an error of up to 16 mm compared to the reference musculoskeletal model. It was found that muscles attached to prominent anatomical landmarks were specified with greater accuracy than those attached over larger areas. Furthermore, the variability in estimated moment arms contributed to variations of up to 12% in the hip joint reaction forces.

SIGNIFICANCE

Both moment arm and muscle force demonstrated significantly lower variability when assessed by a single operator, suggesting the preference for employing a single operator in the creation of musculoskeletal models for clinical biomechanical studies.

Electromyography-driven musculoskeletal models with time-varying fatigue dynamics improve lumbosacral joint moments during lifting

Muscle fatigue is prevalent across different aspects of daily life. Tracking muscle fatigue is useful to understand muscle overuse and possible risk of injury leading to musculoskeletal disorders. Current fatigue models are not suitable for real-world settings as they are either validated using simulations or non-functional tasks. Moreover, models that capture the changes to muscle activity due to fatigue either assume a linear relationship between muscle activity and muscle force or utilize a simple muscle model. Personalised electromygraphy (EMG)-driven musculoskeletal models (pEMS) offer person-specific approaches to model muscle and joint kinetics during a wide repertoire of daily life tasks. These models utilize EMG, thus capturing central fatigue-dependent changes in multi-muscle bio-electrical activity. However, the peripheral muscle force decay is missing in these models. Thus, we studied the influence of fatigue on a large scale pEMS of the trunk. Eleven healthy participants performed functional asymmetric lifting task. Average peak body-weight normalized lumbosacral moments (BW-LM) were estimated to be 2.55 ± 0.26 Nm/kg by reference inverse dynamics. After complete exhaustion of the lower back, the pEMS overestimated the peak BW-LM by 0.64 ± 0.37 Nm/kg. Then, we developed a time-varying muscle force decay model resulting in a time-varying pEMS (t-pEMS). This reduced the difference between BW-LM estimated by the t-pEMS and reference to 0.49 ± 0.14 Nm/kg. We also showed that five fatiguing contractions are sufficient to calibrate the t-pEMS. Thus, this study presents a person and muscle specific model to track fatigue during functional tasks.

Influence of the rotator cuff tear pattern in shoulder stability after arthroscopic superior capsule reconstruction: a computational analysis

OBJECTIVES

To assess the ability of the arthroscopic superior capsule reconstruction (SCR) in restoring glenohumeral stability in the presence of different preoperative patterns of irreparable rotator cuff tears (RCTs).

METHODS

A computational musculoskeletal (MSK) model of the upper limb was used to simulate isolated SCR and to estimate the stability of the shoulder. Four patterns of preoperative irreparable RCTs were modeled: Supraspinatus (SSP); SSP ​+ ​Subscapularis (SSC); SSP ​+ ​Infraspinatus (ISP); and SSP ​+ ​SSC ​+ ​ISP. The muscles involved in the irreparable RCT were removed from the MSK model to simulate an irreparable full-thickness tear. In the MSK model, the muscle and joint forces were estimated for a set of upper limb positions, from four types of motions (abduction in the frontal plane, forward flexion in the sagittal plane, reaching behind the back, and combing the hair) collected in a biomechanics laboratory, through inverse dynamic analysis. The stability of the shoulder was estimated based on the tangential and compressive components of the glenohumeral joint reaction force. The comparison of pre- and post-operative conditions, for the four patterns of irreparable RCTs, with the healthy condition, was performed using ANOVA and Tukey's tests (statistical level of p ​< ​0.05).

RESULTS

In the setting of an isolated irreparable SSP tear, SCR statistically significantly improved stability compared with the preoperative condition (p ​< ​0.001). For the irreparable SSP ​+ ​SSC pattern, a statistically significant loss in stability was observed (p ​< ​0.001) when SCR was applied. For the irreparable SSP ​+ ​ISP and SSP ​+ ​SSC ​+ ​ISP patterns, the postoperative condition increased shoulder stability, compared to the preoperative condition; however, the improvement was not statistically significantly different.

CONCLUSION

Isolated SCR for irreparable RCTs extending beyond the SSP does not statistically significantly improve the stability of the glenohumeral joint.

LEVEL OF EVIDENCE

Level IV.

An Enhanced Spine Model Validated for Simulating Dynamic Lifting Tasks in OpenSim

A fully articulated thoracolumbar spine model had been previously developed in OpenSim and had been extensively validated against experimental data during various static tasks. In the present study, we enhanced this detailed musculoskeletal model by adding the role of passive structures and adding kinematic constraints to make it suitable for dynamic tasks. We validated the spinal forces estimated by this enhanced model during nine dynamic lifting/lowering tasks. Moreover, we recently developed and evaluated five approaches in OpenSim to model the external loads applied to the hands during lifting/lowering tasks, and in the present study, we assessed which approach results in more accurate spinal forces. Regardless of the external load modeling approach, the maximum forces predicted by our enhanced spine model across all tasks, as well as the pattern of estimated spinal forces within each task, showed strong correlations (r-values and cross-correlation coefficients > 0.9) with experimental data. Given the biofidelity of our enhanced model, its accessibility via the open-source OpenSim software, and the extent to which this model has been validated, we recommend it for applications requiring estimation of spinal forces during lifting/lowering tasks using multibody-based models and inverse dynamic analyses.

Glenohumeral joint force prediction with deep learning

Deep learning models (DLM) are efficient replacements for computationally intensive optimization techniques. Musculoskeletal models (MSM) typically involve resource-intensive optimization processes for determining joint and muscle forces. Consequently, DLM could predict MSM results and reduce computational costs. Within the total shoulder arthroplasty (TSA) domain, the glenohumeral joint force represents a critical MSM outcome as it can influence joint function, joint stability, and implant durability. Here, we aimed to employ deep learning techniques to predict both the magnitude and direction of the glenohumeral joint force. To achieve this, 959 virtual subjects were generated using the Markov-Chain Monte-Carlo method, providing patient-specific parameters from an existing clinical registry. A DLM was constructed to predict the glenohumeral joint force components within the scapula coordinate system for the generated subjects with a coefficient of determination of 0.97, 0.98, and 0.98 for the three components of the glenohumeral joint force. The corresponding mean absolute errors were 11.1, 12.2, and 15.0 N, which were about 2% of the maximum glenohumeral joint force. In conclusion, DLM maintains a comparable level of reliability in glenohumeral joint force estimation with MSM, while drastically reducing the computational costs.

Comparative evaluation of different spinal stability metrics

Direct in vivo measurements of spinal stability are not possible, leaving computational estimations (such as dynamic time series and structural analyses) as the feasible option. However, differences between different stability assessment approaches and metrics remain unclear. To explore this, we asked 32 participants to perform 35 cycles of repetitive lifts with and without load (4/2.6 kg for males/females). EMG signals and 3D kinematics were collected via 12 surface electrodes and 17 inertial sensors, and three dynamical stability measures were computed: short and long temporal and conventional maximum Lyapunov exponents (LyE) and maximum Floquet multipliers (FM). A dynamic subject-specific EMG-assisted musculoskeletal model computed four structural stability measures (critical muscle stiffness coefficient at which spine becomes unstable, average spine stiffness, minimum and geometric average of Hessian matrix eigenvalues). Across cycles, dynamical and structural stability outcomes varied noticeably. Temporal short-term LyE and all structural stability measures were more influenced by the cycle percentage (posture factor) than by phase (lifting, lowering) or load factor. The effect of all factors were non-significant for FM and long LyE, except for the posture on LyE-L with a small effect size. Pearson's correlations revealed a weak to moderate, or non-existent, correlation between structural and dynamical stability metrics, with small shared variances, underscoring their distinct and independent nature and theoretical foundations. Moreover, the low sensitivity of dynamic measures to posture and load factors, found in this study, calls for further examination. Considering the limitations and shortcomings of both dynamical and structural stability assessment approaches, there is a need for the development of improved musculoskeletal stability evaluation techniques.

Influence of knee flexion on early femoral fracture healing: A combined analysis of musculoskeletal dynamics and finite elements

BACKGROUND AND OBJECTIVES

Knee flexion causes a certain amount of misalignment and relative movement of the fractured ends of the femur fracture, and if the flexion angle is too large it will affect the stability of the fracture and the healing process, making it challenging to design a safe range of flexion. However, due to a lack of basic understanding of the effect of knee flexion on the mechanical environment at the fracture site, clinicians are often unable to provide an objective and safe range of motion in flexion based on subjective experience. The aim of this study was to evaluate the effect of knee flexion on plate and fracture healing using finite element analysis (FEA).

METHODS

A human musculoskeletal model was constructed based on CT scan data, and the mechanical properties of the fracture site were changed by adjusting the knee flexion angle. The joint forces, muscle forces and moments acting on the femur were obtained by inverse dynamics analysis, and the biomechanical properties of the fracture-plate system were analyzed using finite elements. A finite element model of the fracture-plate system without muscle loading was also constructed. The effect of knee flexion on the safety of plate fixation and fracture healing was evaluated in terms of the biomechanical properties of the plate and the interfragmentary motion of the fracture.

RESULTS

As the knee flexion angle increases, the von Mises stress of the locked compression plate (LCP) first increases, then decreases, then increases again. The deformation from compression bending to tension twisting occurs simultaneously. At 30° of flexion, shear interfragmentary motion (SIM) was dominant and inhibited fracture healing; at more than 45° of flexion, the plate was twisted and deformed to the lateral side of the body, and the fracture site underwent greater misalignment and relative motion, with destructive effects on bone scabs and healing tissues. If muscle loading is not taken into account, the plate will undergo predominantly bending deformation and will overestimate the interfragmentary strain in the far and near cortex.

CONCLUSIONS

Knee flexion causes the plate to deform from compression bending to extension and torsion, which has an important impact on the safety and healing process of the fracture, and this study provides a biomechanical basis to guide the clinician in the post-operative rehabilitation of femoral fractures in the clinical setting.

Bilateral Asymmetry in Knee and Hip Musculoskeletal Loading During Stair Ascending/Descending in Individuals with Unilateral Mild-to-Moderate Medial Knee Osteoarthritis

Most cases of unilateral knee osteoarthritis (OA) progress to bilateral OA within 10 years. Biomechanical asymmetries have been implicated in contralateral OA development; however, gait analysis alone does not consistently detect asymmetries in OA patient gait. Stair ambulation is a more demanding activity that may be more suited to reveal between-leg asymmetries in OA patients. The objective of this study was to investigate the between-leg biomechanical differences in patients with unilateral mild-to-moderate knee OA. Sixteen unilateral mild-to-moderate medial knee OA patients and 16 healthy individuals underwent kinematic and kinetic analysis of stair ascent and descent. Stair ascent produced higher loading and muscle forces in the unaffected limb compared to the OA limb, and stair descent produced lower loading on the OA limb compared to healthy subjects. These biomechanical differences were apparent in the ankle, knee, and hip joints. The implications of these findings are that OA patients rely more heavily on their unaffected sides than the affected side in stair ascent, a strategy that may be detrimental to the unaffected joint health. The reduction in affected limb loading in stair descent is thought to be related to minimizing pain.

A neuromusculoskeletal modelling approach to bilateral hip mechanics due to unexpected lateral perturbations during overground walking

BACKGROUND

Current studies on how external perturbations impact gait dynamics have primarily focused on the changes in the body's center of mass (CoM) during treadmill walking. The biomechanical responses, in particular to the multi-planar hip joint coordination, following perturbations in overground walking conditions are not completely known.

METHODS

In this study, a customized gait-perturbing device was designed to impose controlled lateral forces onto the subject's pelvis during overground walking. The biomechanical responses of bilateral hips were simulated by subject-specific neuromusculoskeletal models (NMS) driven by in-vivo motion data, which were further evaluated by statistical parameter mapping (SPM) and muscle coactivation index (CI) analysis. The validity of the subject-specific NMS was confirmed through comparison with measured surface electromyographic signals.

RESULTS

Following perturbations, the sagittal-plane hip motions were reduced for the leading leg by 18.39° and for the trailing leg by 8.23°, while motions in the frontal and transverse plane were increased, with increased hip abduction for the leading leg by 10.71° and external rotation by 9.06°, respectively. For the hip kinetics, both the bilateral hip joints showed increased abductor moments during midstance (20%-30% gait cycle) and decreased values during terminal stance (38%-48%). Muscle CI in both sagittal and frontal planes was significantly decreased for perturbed walking (p < 0.05), except for the leading leg in the sagittal plane.

CONCLUSION

The distinctive phase-dependent biomechanical response of the hip demonstrated its coordinated control strategy for balance recovery due to gait perturbations. And the changes in muscle CI suggested a potential mechanism for rapid and precise control of foot placement through modulation of joint stiffness properties. These findings obtained during actual overground perturbation conditions could have implications for the improved design of wearable robotic devices for balance assistance.

EMG Validation of a Subject-Specific Thoracolumbar Spine Musculoskeletal Model During Dynamic Activities in Older Adults

Musculoskeletal models can uniquely estimate in vivo demands and injury risk. In this study, we aimed to compare muscle activations from subject-specific thoracolumbar spine OpenSim models with recorded muscle activity from electromyography (EMG) during five dynamic tasks. Specifically, 11 older adults (mean = 65 years, SD = 9) lifted a crate weighted to 10% of their body mass in axial rotation, 2-handed sagittal lift, 1-handed sagittal lift, and lateral bending, and simulated a window opening task. EMG measurements of back and abdominal muscles were directly compared to equivalent model-predicted activity for temporal similarity via maximum absolute normalized cross-correlation (MANCC) coefficients and for magnitude differences via root-mean-square errors (RMSE), across all combinations of participants, dynamic tasks, and muscle groups. We found that across most of the tasks the model reasonably predicted temporal behavior of back extensor muscles (median MANCC = 0.92 ± 0.07) but moderate temporal similarity was observed for abdominal muscles (median MANCC = 0.60 ± 0.20). Activation magnitude was comparable to previous modeling studies, and median RMSE was 0.18 ± 0.08 for back extensor muscles. Overall, these results indicate that our thoracolumbar spine model can be used to estimate subject-specific in vivo muscular activations for these dynamic lifting tasks.

Comparative validation of two patient-specific modelling pipelines for predicting knee joint forces during level walking

Over the past few years, the use of computer models and simulations tailored to the patient's physiology to assist clinical decision-making has increased enormously.While several pipelines to develop personalized models exist, their adoption on a large scale is still limited due to the required niche computational skillset and the lengthy operations required. Novel toolboxes, such as STAPLE, promise to streamline and expedite the development of image-based skeletal lower limb models. STAPLE-generated models can be rapidly generated, with minimal user input, and present similar joint kinematics and kinetics compared to models developed employing the established INSIGNEO pipeline. Yet, it is unclear how much the observed discrepancies scale up and affect joint contact force predictions. In this study, we compared image-based musculoskeletal models developed (i) with the INSIGNEO pipeline and (ii) with a semi-automated pipeline that combines STAPLE and nmsBuilder, and assessed their accuracy against experimental implant data.Our results showed that both pipelines predicted similar total knee joint contact forces between one another in terms of profiles and average values, characterized by a moderately high level of agreement with the experimental data. Nonetheless, the Student t-test revealed statistically significant differences between both pipelines. Of note, the STAPLE-based pipeline required considerably less time than the INSIGNEO pipeline to generate a musculoskeletal model (i.e., 60 vs 160 min). This is likely to open up opportunities for the use of personalized musculoskeletal models in clinical practice, where time is of the essence.

Depth camera-based model for studying the effects of muscle loading on distal radius fracture healing

BACKGROUND

Distal radius fractures (DRFs) treated with volar locking plates (VLPs) allows early rehabilitation exercises favourable to fracture recovery. However, the role of rehabilitation exercises induced muscle forces on the biomechanical microenvironment at the fracture site remains to be fully explored. The purpose of this study is to investigate the effects of muscle forces on DRF healing by developing a depth camera-based fracture healing model.

METHOD

First, the rehabilitation-related hand motions were captured by a depth camera system. A macro-musculoskeletal model is then developed to analyse the data captured by the system for estimating hand muscle and joint reaction forces which are used as inputs for our previously developed DRF model to predict the tissue differentiation patterns at the fracture site. Finally, the effect of different wrist motions (e.g., from 60° of extension to 60° of flexion) on the DRF healing outcomes will be studied.

RESULTS

Muscle and joint reaction forces in hands which are highly dependent on hand motions could significantly affect DRF healing through imposed compressive and bending forces at the fracture site. There is an optimal range of wrist motion (i.e., between 40° of extension and 40° of flexion) which could promote mechanical stimuli governed healing while mitigating the risk of bony non-union due to excessive movement at the fracture site.

CONCLUSION

The developed depth camera-based fracture healing model can accurately predict the influence of muscle loading induced by rehabilitation exercises in distal radius fracture healing outcomes. The outcomes from this study could potentially assist osteopathic surgeons in designing effective post-operative rehabilitation strategies for DRF patients.

Validation of a musculoskeletal model to investigate hip joint mechanics in response to dynamic multiplanar tasks

Existing hip-focused musculoskeletal (MSK) models are limited by the hip range of motion, hip musculature detail, or have only been qualitatively validated. The purposes of this study were to: i) modify the existing 2396Hip MSK model to simulate dynamic tasks with multiplanar hip joint motion; and ii) validate the modified MSK model quantitatively against experimental data. Experimental data was collected from five healthy adults (age = 25 [6] years, two females) during eight movement tasks. The motion and ground reaction force data were input into the MSK modeling software OpenSim to calculate muscle activations and hip contact forces (HCFs). The HCFs were compared to experimental HCFs previously measured in total hip arthroplasty (THA) patients using instrumented hip prostheses. A gait simulation was performed using data from one THA patient to directly assess the model's accuracy in estimating HCFs. The young adults' modeled and experimental muscle activations for seven muscles were compared using a cross-correlation function. The model only overestimated the peak resultant HCFs by 0.06-0.08 N/BW compared to the experimentally measured HCFs of the THA patient. The young adults' HCFs were over two standard deviations higher than previously measured in the THA patients, which is likely a result of different movement patterns. The correlation coefficients indicated strong correlations between experimental and modeled muscle activations in 50 of the 56 comparisons. The results of this study suggest the new MSK model is an appropriate method to quantify HCFs and muscle activations in response to dynamic, multiplanar tasks among young, healthy adults.

Methods for integrating postural control into biomechanical human simulations: a systematic review

Understanding of the human body's internal processes to maintain balance is fundamental to simulate postural control behaviour. The body uses multiple sensory systems' information to obtain a reliable estimate about the current body state. This information is used to control the reactive behaviour to maintain balance. To predict a certain motion behaviour with knowledge of the muscle forces, forward dynamic simulations of biomechanical human models can be utilized. We aim to use predictive postural control simulations to give therapy recommendations to patients suffering from postural disorders in the future. It is important to know which types of modelling approaches already exist to apply such predictive forward dynamic simulations. Current literature provides different models that aim to simulate human postural control. We conducted a systematic literature research to identify the different approaches of postural control models. The different approaches are discussed regarding their applied biomechanical models, sensory representation, sensory integration, and control methods in standing and gait simulations. We searched on Scopus, Web of Science and PubMed using a search string, scanned 1253 records, and found 102 studies to be eligible for inclusion. The included studies use different ways for sensory representation and integration, although underlying neural processes still remain unclear. We found that for postural control optimal control methods like linear quadratic regulators and model predictive control methods are used less, when models' level of details is increasing, and nonlinearities become more important. Considering musculoskeletal models, reflex-based and PD controllers are mainly applied and show promising results, as they aim to create human-like motion behaviour considering physiological processes.

Omnidirectional endpoint force control through Functional Electrical Stimulation

OBJECTIVE

in recent years, Functional Electrical Stimulation has found many applications both within and outside the medical field. However, most available wearable FES devices are not easily adaptable to different users, and most setups rely on task-specific control schemes.

APPROACH

in this article, we present a peripheral stimulation prototype featuring a compressive jacket which allows to easily modify the electrode arrangement to better fit any body frame. Coupled with a suitable control system, this device can induce the output of arbitrary forces at the end-effector, which is the basis to facilitate universal, task-independent impedance control of the human limbs. Here, the device is validated by having it provide stimulation currents that should induce a desired force output. The forces exerted by the user as a result of stimulation are measured through a 6-axis force-torque sensor, and compared to the desired forces. Furthermore, here we present the offline analysis of a regression algorithm, trained on the data acquired during the aforementioned validation, which is able to reliably predict the force output based on the stimulation currents.

MAIN RESULTS

open-loop control of the output force is possible with correlation coefficients between commanded and measured force output direction up to 0.88. A twitch-based calibration procedure shows significant reduction of the RMS error in the online control. The regression algorithm trained offline is able to predict the force output given the injected stimulation with correlations up to 0.94, and average normalized errors of 0.12 RMS.

SIGNIFICANCE

A reliable force output control through FES is the first basis towards higher-level FES force controls. This could eventually provide full, general-purpose control of the human neuromuscular system, which would allow to induce any desired movement in the peri-personal space in individuals affected by e.g. spinal cord injury.

Musculotendon Parameters in Lower Limb Models: Simplifications, Uncertainties, and Muscle Force Estimation Sensitivity

Musculotendon parameters are key factors in the Hill-type muscle contraction dynamics, determining the muscle force estimation accuracy of a musculoskeletal model. Their values are mostly derived from muscle architecture datasets, whose emergence has been a major impetus for model development. However, it is often not clear if such parameter update indeed improves simulation accuracy. Our goal is to explain to model users how these parameters are derived and how accurate they are, as well as to what extent errors in parameter values might influence force estimation. We examine in detail the derivation of musculotendon parameters in six muscle architecture datasets and four prominent OpenSim models of the lower limb, and then identify simplifications which could add uncertainties to the derived parameter values. Finally, we analyze the sensitivity of muscle force estimation to these parameters both numerically and analytically. Nine typical simplifications in parameter derivation are identified. Partial derivatives of the Hill-type contraction dynamics are derived. Tendon slack length is determined as the musculotendon parameter that muscle force estimation is most sensitive to, whereas pennation angle is the least impactful. Anatomical measurements alone are not enough to calibrate musculotendon parameters, and the improvement on muscle force estimation accuracy will be limited if the source muscle architecture datasets are the only main update. Model users may check if a dataset or model is free of concerning factors for their research or application requirements. The derived partial derivatives may be used as the gradient for musculotendon parameter calibration. For model development, we demonstrate that it is more promising to focus on other model parameters or components and seek alternative strategies to further increase simulation accuracy.

Geometric variation of the human tibia-fibula: a public dataset of tibia-fibula surface meshes and statistical shape model

Background

Variation in tibia geometry is a risk factor for tibial stress fractures. Geometric variability in bones is often quantified using statistical shape modelling. Statistical shape models (SSM) offer a method to assess three-dimensional variation of structures and identify the source of variation. Although SSM have been used widely to assess long bones, there is limited open-source datasets of this kind. Overall, the creation of SSM can be an expensive process, that requires advanced skills. A publicly available tibia shape model would be beneficial as it enables researchers to improve skills. Further, it could benefit health, sport and medicine with the potential to assess geometries suitable for medical equipment, and aid in clinical diagnosis. This study aimed to: (i) quantify tibial geometry using a SSM; and (ii) provide the SSM and associated code as an open-source dataset.

Methods

Lower limb computed tomography (CT) scans from the right tibia-fibula of 30 cadavers (male n = 20, female n = 10) were obtained from the New Mexico Decedent Image Database. Tibias were segmented and reconstructed into both cortical and trabecular sections. Fibulas were segmented as a singular surface. The segmented bones were used to develop three SSM of the: (i) tibia; (ii) tibia-fibula; and (iii) cortical-trabecular. Principal component analysis was applied to obtain the three SSM, with the principal components that explained 95% of geometric variation retained.

Results

Overall size was the main source of variation in all three models accounting for 90.31%, 84.24% and 85.06%. Other sources of geometric variation in the tibia surface models included overall and midshaft thickness; prominence and size of the condyle plateau, tibial tuberosity, and anterior crest; and axial torsion of the tibial shaft. Further variations in the tibia-fibula model included midshaft thickness of the fibula; fibula head position relative to the tibia; tibia and fibula anterior-posterior curvature; fibula posterior curvature; tibia plateau rotation; and interosseous width. The main sources of variation in the cortical-trabecular model other than general size included variation in the medulla cavity diameter; cortical thickness; anterior-posterior shaft curvature; and the volume of trabecular bone in the proximal and distal ends of the bone.

Conclusion

Variations that could increase the risk of tibial stress injury were observed, these included general tibial thickness, midshaft thickness, tibial length and medulla cavity diameter (indicative of cortical thickness). Further research is needed to better understand the effect of these tibial-fibula shape characteristics on tibial stress and injury risk. This SSM, the associated code, and three use examples for the SSM have been provided in an open-source dataset. The developed tibial surface models and statistical shape model will be made available for use at: https://simtk.org/projects/ssm_tibia.

Change the direction: 3D optimal control simulation by directly tracking marker and ground reaction force data

Optimal control simulations of musculoskeletal models can be used to reconstruct motions measured with optical motion capture to estimate joint and muscle kinematics and kinetics. These simulations are mutually and dynamically consistent, in contrast to traditional inverse methods. Commonly, optimal control simulations are generated by tracking generalized coordinates in combination with ground reaction forces. The generalized coordinates are estimated from marker positions using, for example, inverse kinematics. Hence, inaccuracies in the estimated coordinates are tracked in the simulation. We developed an approach to reconstruct arbitrary motions, such as change of direction motions, using optimal control simulations of 3D full-body musculoskeletal models by directly tracking marker and ground reaction force data. For evaluation, we recorded three trials each of straight running, curved running, and a v-cut for 10 participants. We reconstructed the recordings with marker tracking simulations, coordinate tracking simulations, and inverse kinematics and dynamics. First, we analyzed the convergence of the simulations and found that the wall time increased three to four times when using marker tracking compared to coordinate tracking. Then, we compared the marker trajectories, ground reaction forces, pelvis translations, joint angles, and joint moments between the three reconstruction methods. Root mean squared deviations between measured and estimated marker positions were smallest for inverse kinematics (e.g., 7.6 ± 5.1 mm for v-cut). However, measurement noise and soft tissue artifacts are likely also tracked in inverse kinematics, meaning that this approach does not reflect a gold standard. Marker tracking simulations resulted in slightly higher root mean squared marker deviations (e.g., 9.5 ± 6.2 mm for v-cut) than inverse kinematics. In contrast, coordinate tracking resulted in deviations that were nearly twice as high (e.g., 16.8 ± 10.5 mm for v-cut). Joint angles from coordinate tracking followed the estimated joint angles from inverse kinematics more closely than marker tracking (e.g., root mean squared deviation of 1.4 ± 1.8 deg vs. 3.5 ± 4.0 deg for v-cut). However, we did not have a gold standard measurement of the joint angles, so it is unknown if this larger deviation means the solution is less accurate. In conclusion, we showed that optimal control simulations of change of direction running motions can be created by tracking marker and ground reaction force data. Marker tracking considerably improved marker accuracy compared to coordinate tracking. Therefore, we recommend reconstructing movements by directly tracking marker data in the optimal control simulation when precise marker tracking is required.

Bilateral upper extremity trunk model for cross-country sit-skiing double poling propulsion: model development and validation

The subacromial impingement syndrome is a high-incidence injury for cross-country sit-skiing skier, which is often accompanied by muscle imbalance. However, at present, no musculoskeletal model has been identified for this sport. Thus, this research aimed to establish a bilateral upper extremity trunk (BUET) musculoskeletal model suitable for cross-country sit-skiing based on OpenSim software and verify the function of the model. By splicing three existing OpenSim models, an upper limb model with 17 segments, 35 degrees of freedom, and 472 musculotendon actuators was established. The clavicle and scapula were modeled as individual bodies and then connected to the torso through a three-degrees-of-freedom rotational joint and to the clavicle through a weld joint, respectively. The five lumbar vertebrae were established separately and coupled into a three-degree-of-freedom joint. Kinematics, kinetic, and EMG signal data of five 15-s maximal effort interval tests were obtained by using seven cameras, ergometers, and surface EMG synchronous collection. Based on the resulting rotator cuff muscle geometry of the model, simulated muscle activation patterns were comparable to experimental data, and muscle-driven ability was proven. The model will be available online ( https://simtk.org/projects/bit ) for researchers to study the muscle activation of shoulder joint movement.

Using static postures to estimate spinal loading during dynamic lifts with participant-specific thoracolumbar musculoskeletal models

Static biomechanical simulations are sometimes used to estimate in vivo kinetic demands because they can be solved efficiently, but this ignores any potential inertial effects. To date, comparisons between static and dynamic analyses of spinal demands have been limited to lumbar joint differences in young males performing sagittal lifts. Here we compare static and dynamic vertebral compressive and shear force estimates during axial, lateral, and sagittal lifting tasks across all thoracic and lumbar vertebrae in older men and women. Participant-specific thoracolumbar full-body musculoskeletal models estimated vertebral forces from recorded kinematics both with and without consideration of dynamic effects, at an identified frame of peak vertebral loading. Static analyses under-predicted dynamic compressive and resultant shear forces, by an average of about 16% for all three lifts across the thoracic and lumbar spine but were highly correlated with dynamic forces (average r² > .95). The study outcomes have the potential to enable standard clinical and occupational estimates using static analyses.

Estimation and Comparison of Knee Joint Contact Forces During Heel Contact and Heel Rise Deep Squatting

Background

Increased knee flexion is required for deep squatting in the daily life of the non-western population as well as in many sports activities. The purpose of this study was to estimate as well as to compare knee joint contact forces during heel contact (HC) and heel rise (HR) deep squatting in 10 healthy young Indian participants.

Materials and Methods

Kinematic data were captured using a 12-camera Motion Analysis system. Kinetic data were collected using two Kistler force plates. EMG of 6 lower limb muscles was monitored by Noraxon wireless EMG. OpenSim musculoskeletal model was customized to increase the maximum knee flexion capability of the existing model and knee joint contact forces were estimated.

Results

A significant difference in tibiofemoral (p < 0.001) as well as patellofemoral (p = 0.006) knee joint contact force was observed between HC and HR squatting. The resultant maximum tibiofemoral KJCF was 5.9 (± 0.54) times body weight (BW) and 5.3 (± 0.6) BW for the HC and HR, respectively. The resultant maximum patellofemoral KJCF was 7.8 (± 0.57) BW and 7.1 (± 0.73) BW for the HC and HR, respectively.

Conclusion

The findings can provide implications for physiotherapists to design rehabilitation exercise protocols, exercise professionals, and the development of high flexion knee implants.

Graphical Abstract

Supplementary Information

The online version contains supplementary material available at 10.1007/s43465-022-00798-y.

A Musculoskeletal Model for Estimating Hip Contact Pressure During Walking

Cartilage contact pressures are major factors in osteoarthritis etiology and are commonly estimated using finite element analysis (FEA). FEA models often include subject-specific joint geometry, but lack subject-specific joint kinematics and muscle forces. Musculoskeletal models use subject-specific kinematics and muscle forces but often lack methods for estimating cartilage contact pressures. Our objective was to adapt an elastic foundation (EF) contact model within OpenSim software to predict hip cartilage contact pressures and compare results to validated FEA models. EF and FEA models were built for five subjects. In the EF models, kinematics and muscle forces were applied and pressure was calculated as a function of cartilage overlap depth. Cartilage material properties were perturbed to find the best match to pressures from FEA. EF models with elastic modulus = 15 MPa and Poisson's ratio = 0.475 yielded results most comparable to FEA, with peak pressure differences of 4.34 ± 1.98 MPa (% difference = 39.96 ± 24.64) and contact area differences of 3.73 ± 2.92% (% difference = 13.4 ± 11.3). Peak pressure location matched between FEA and EF for 3 of 5 subjects, thus we do not recommend this model if the location of peak contact pressure is critically important to the research question. Contact area magnitudes and patterns matched reasonably between FEA and EF, suggesting that this model may be useful for questions related to those variables, especially if researchers desire inclusion of subject-specific geometry, kinematics, muscle forces, and dynamic motion in a computationally efficient framework.

Computational lumbar spine models: A literature review

BACKGROUND

Computational spine models of various types have been employed to understand spine function, assess the risk that different activities pose to the spine, and evaluate techniques to prevent injury. The areas in which these models are applied has expanded greatly, potentially beyond the appropriate scope of each, given their capabilities. A comprehensive understanding of the components of these models provides insight into their current capabilities and limitations.

METHODS

The objective of this review was to provide a critical assessment of the different characteristics of model elements employed across the spectrum of lumbar spine modeling and in newer combined methodologies to help better evaluate existing studies and delineate areas for future research and refinement.

FINDINGS

A total of 155 studies met selection criteria and were included in this review. Most current studies use either highly detailed Finite Element models or simpler Musculoskeletal models driven with in vivo data. Many models feature significant geometric or loading simplifications that limit their realism and validity. Frequently, studies only create a single model and thus can't account for the impact of subject variability. The lack of model representation for certain subject cohorts leaves significant gaps in spine knowledge. Combining features from both types of modeling could result in more accurate and predictive models.

INTERPRETATION

Development of integrated models combining elements from different model types in a framework that enables the evaluation of larger populations of subjects could address existing voids and enable more realistic representation of the biomechanics of the lumbar spine.

The Biomechanical Effects of Different Bag-Carrying Styles on Lumbar Spine and Paraspinal Muscles: A Combined Musculoskeletal and Finite Element Study

OBJECTIVES

Bags such as handbags, shoulder bags, and backpacks are commonly used. However, it is difficult to assess the biomechanical effects of bag-carrying styles on the lumbar spine and paraspinal muscles using traditional methods. This study aimed to evaluate the biomechanical effects of bag-carrying styles on the lumbar spine.

METHODS

We developed a hybrid model that combined a finite element (FE) model of the lumbar spine and musculoskeletal models of three bag-carrying styles. The image data was collected from a 26-years-old, 176 cm and 70 kg volunteer. OpenSim and ABAQUS were used to do the musculoskeletal analysis and finite analysis. Paraspinal muscle force, intervertebral compressive force (ICF), and intervertebral shear force (ISF) on L1 were calculated and loaded into the FE model to assess the stress distribution on the lumbar spine.

RESULTS

Different paraspinal muscle activation occurred in the three bag-carrying models. The increase in the ICF generated by all three bags was greater than the bags' weights. The handbag produced greater muscle force, ICF, ISF, and peak stress on the nucleus pulposus than the backpack and shoulder bag of the same weight. Peak stress on the intervertebral discs in the backpack model and the L1-L4 segments of the shoulder bag model increased linearly with bag weight, and increased exponentially with bag weight in the handbag model.

CONCLUSION

Unbalanced bag-carrying styles (shoulder bags and handbags) led to greater muscle force, which generated greater ICF, ISF, and peak stress on the lumbar spine. The backpack produced the least burden on the lumbar spine and paraspinal muscles. Heavy handbags should be used carefully in daily life.

Lower back kinetic demands during induced lower limb gait asymmetries

BACKGROUND

Gait asymmetries are common in many clinical populations (e.g., amputation, injury, or deformities) and are associated with a high incidence of lower back pain. Despite this high incidence, the impact of gait asymmetries on lower back kinetic demands are not well characterized due to experimental limitations in these clinical populations. Therefore, we artificially and safely induced gait asymmetry during walking in healthy able-bodied participants to examine lower back kinetic demands compared to their normal gait.

RESEARCH QUESTION

Are lower back kinetic demands different during artificially induced asymmetries than those during normal gait?

METHODS

L5/S1 vertebral joint kinetics and trunk muscle forces were estimated during gait in twelve healthy men and women with a musculoskeletal lower back model that uniquely incorporated participant-specific responses using an EMG optimization approach. Five walking conditions were conducted on a force-measuring treadmill, including normal unperturbed "symmetrical" gait, and asymmetrical gait induced by unilaterally altering leg mass, leg length, and ankle joint motion in various combinations. Gait symmetry index and lower back kinetics were compared with repeated-measures ANOVAs and post hoc tests (α = .05).

RESULTS

The perturbations were successful in producing different degrees of step length and stance time gait asymmetries (p < .01). However, lower back kinetic demands associated with asymmetrical gait were similar to, or only moderately different from normal walking for most conditions despite the observed asymmetries.

SIGNIFICANCE

Our findings indicate that the high incidence of lower back pain often associated with gait asymmetries may not be a direct effect of increased lower back demands. If biomechanical demands are responsible for the high incidence of lower back pain in such populations, daily tasks besides walking may be responsible and warrant further investigation.

An open-source OpenSim® ankle-foot musculoskeletal model for assessment of strains and forces in dense connective tissues

BACKGROUND

The ankle and foot are among the most critical load-bearing joints in the human anatomy. Anatomically accurate human body models are imperative to understanding the mechanics of injury and musculoskeletal disorders. A typical human ankle-foot anatomy consists of 25 DOFs, 112 dense connective tissues (DCTs) (92 ligaments, one capsule and 19 fasciae), 30 tendons, and 65 muscles. Existing models possess less than half of the DOFs and physiological elements. In this work, we have developed an ankle-foot joint complex musculoskeletal model for the OpenSim® platform by incorporating 24 degrees of freedom (DOF) comprising of 66 DCTs (46 ligaments, one 1 capsule and 19 fasciae), 30 tendons, and 65 muscles.

METHODS

Computed tomography (CT) data of human ankle joint-foot complex was segmented using Mimics ® (Version 17.0, Materialise, Belgium) to obtain models of the cartilages and bones of the ankle joint-foot complex. The position and resting lengths of the DCTs were attained from the MRI data and literature. Five joints, namely, tibiotalar, subtalar, chopart, tarsometatarsal (TMT), and metatarsophalangeal (MTP) joints and their joint axes were formulated to yield 24 DOFs. A forward simulation was carried out at each joint of the ankle-foot complex within their respective range of motions. The strains, instantaneous strain rates, and forces developed in the ligaments during the simulation were studied.

RESULTS

During plantar-dorsiflexion of the tibiotalar joint, the anterior tibio-talar ligament (aTTL) yielded the maximum strain compared to all other ligaments. Anterior tibio-fibular ligament (aTFL) experienced extreme strain during subtalar inversion. Hence, the coupled kinematics of subtalar inversion and plantar flexion are failure-prone activities for aTFL. The chopart, TMT, and MTP joints yielded maximum strains or forces for several bundles at the extremes of the range of motion. This signifies that rotations of these joints to their extreme range of motion are prone to failure for the bundles attached to the joint complex.

CONCLUSION

The results illustrate the potential application of the proposed OpenSim® ankle-foot model in understanding the ligament injury mechanism during sports activity and its prevention. Researchers can use the proposed model or customise it to study complex kinematics, understanding injury mechanisms, testing fixtures, orthosis or prosthesis, and many more in the domain of musculoskeletal research.

Association between foot posture and tibiofemoral contact forces during barefoot walking in patients with knee osteoarthritis

Background

Accumulating evidence indicates that abnormal foot posture are risk factors for knee osteoarthritis (OA). However, the relationship between foot posture and tibiofemoral contact force (CF) during habitual weight-bearing activities remains unclear. This study aimed to determine the association between tibiofemoral CF and foot posture while walking.

Methods

In total, 18 patients with knee OA and 18 healthy individuals participated in this cross-sectional study. Foot parameters were evaluated by Foot Posture Index (FPI), Staheli Arch Index (SAI), hallux valgus angle, calcaneus inverted angle relative to the floor as a static rearfoot posture, navicular height, and toe grip strength. In addition, all participants underwent kinetic and kinematic measurements during a self-selected speed gait. The measurement device used was the three-dimensional motion analysis system with a sampling rate of 120 Hz. The musculoskeletal model, which has 92 Hill-type muscle–tendon units with 23 degrees of freedom, was used to calculate tibiofemoral CF. Partial correlations was used to investigate the association between foot parameters and total, medial, and lateral tibiofemoral CF of the first and second peaks while controlling for gait speed.

Results

A significant negative correlation was observed between Walking SAI and first peak medial tibiofemoral CF in control participants (r = -0.505, p = 0.039). SAI was also significantly positively correlated with first peak medial tibiofemoral CF in patients with knee OA (r = 0.482, p = 0.042).

Conclusions

Our findings revealed a correlation between the medial first peak tibiofemoral CF and the SAI. This study indicates that people with knee OA and flatfoot have excessive first medial tibiofemoral CF during walking.

Supplementary Information

The online version contains supplementary material available at 10.1186/s12891-022-05624-y.

Lower-limb muscle function in healthy young and older adults across a range of walking speeds

BACKGROUND

Previous studies have compared the functional roles of the individual lower-limb muscles when healthy young and older adults walk at their self-selected speeds. No age-group differences were observed in ankle muscle forces and ankle muscle contributions to support and progression. However, older adults displayed higher gluteus maximus (hip extensor) muscle forces and greater contributions to support during early stance. There are no data that describe the functions of the individual lower-limb muscles in healthy older adults for walking at speeds other than the self-selected speed.

RESEARCH QUESTION

How does walking speed affect the functional roles of the individual lower-limb muscles in healthy older adults?

METHODS

Three-dimensional gait data were recorded for 10 healthy young and 10 healthy older adults walking at slow, normal, and fast speeds (0.7 m/s, 1.4 m/s, and 1.7 m/s, respectively). Both groups walked at the same speed at each condition. The experimental data were combined with a full-body musculoskeletal model to calculate and compare muscle forces and muscle contributions to the vertical, fore-aft, and mediolateral ground reaction forces (support, progression, and balance, respectively) in both groups.

RESULTS

Lower-limb muscle function was similar in young and older adults when both groups walked at the same speed at each condition. The same five muscles - gluteus maximus, gluteus medius, vasti, gastrocnemius, and soleus - contributed most significantly to support, progression, and balance in both groups at all speeds. However, gluteus maximus generated greater support and braking forces during early stance and gastrocnemius contributed less to forward propulsion during late stance at all speeds in the older group.

SIGNIFICANCE

These results provide further insight into the functional roles of the individual lower-limb muscles of older adults during walking and could inform the design of exercise programs aimed at improving support and balance in those at risk of falling.

Are lower back demands reduced by improving gait symmetry in unilateral transtibial amputees?

BACKGROUND

Gait asymmetry and a high incidence of lower back pain are typical for people with unilateral lower limb amputation. A common therapeutic objective is to improve gait symmetry; however, it is unknown whether better gait symmetry reduces lower back pain risk. To begin investigating this important clinical question, we examined a preexisting dataset to explore whether L5/S1 vertebral joint forces in people with unilateral lower limb amputation can be improved with better symmetry.

METHODS

L5/S1 compression and resultant shear forces were estimated in each participant with unilateral lower limb amputation (n = 5) with an OpenSim musculoskeletal model during different levels of guided gait asymmetry. The amount of gait asymmetry was defined by bilateral stance times and guided via real-time feedback. A theoretical lowest L5/S1 force was determined from the minimum of a best-fit quadratic curves of L5/S1 forces at levels of guided asymmetry ranging from -10 to +15%. The forces found at the theoretical lowest force and during the 0% asymmetry level were compared to forces at preferred levels of asymmetry and to those from an able-bodied group (n = 5).

FINDINGS

Results indicated that the forces for the people with unilateral lower limb amputation group at the preferred level of asymmetry were not different then at their 0% asymmetry condition, theoretical lowest L5/S1 forces, or the able-bodied group (all p-values > .23).

INTERPRETATION

These preliminary results challenge the premise that restoring symmetric gait in people with unilateral lower limb amputation will reduce risk of lower back pain.

Multiscale modelling for investigating the long-term time-dependent biphasic behaviour of the articular cartilage in the natural hip joint

A better understanding of the time-dependent biomechanical behaviour of the biphasic hip articular cartilage (AC) under physiological loadings is important to understand the onset of joint pathology and guide the clinical treatment. Current computational studies for the biphasic hip AC were usually limited to short-term duration or using elaborate loading. The present study aimed to develop a multiscale computational modelling to investigate the long-term biphasic behaviour of the hip AC under physiological loadings over multiple gait cycles. Two-scale computational modelling including a musculoskeletal model and a finite element model of the natural hip was created. These two models were then combined and used to investigate the biphasic behaviour of hip AC over 80 gait cycles. The results showed that the interstitial fluid pressure in the AC supported over 89% of the loading during gait. When the contact area was located at the AC centre, the contact pressure and fluid pressure increased over time from the first cycle to the 80th cycle, while when the contact area approached the edge, these pressures decreased first dramatically and then slowly over time. The peak stresses and strains in the solid matrix of the AC remained at a low level and increased over time from the first cycle to the 80th cycle. This study demonstrated that the long-term temporal variations of the biphasic behaviour of hip AC under physiological loadings are significant. The methodology has potentially important implications in the biomechanical studies of human cartilage and supporting the development of cartilage substitution.

Response of the Thoroughbred forelimb to perturbations caused by a change in ground surface

Thoroughbred racehorses are often affected by musculoskeletal injuries, leading to involuntary rest, early retirement or death. Hardness and consistency of the track surface have been implicated as major risk factors for limb injury. The purpose was to test the utility of a preliminary AnyBody musculoskeletal model of the equine forelimb for its responses on two perturbing surfaces. A musculoskeletal model was developed using CT, muscle, tendon and ligament properties, and kinematic data were applied from ridden trials using five Thoroughbred horses. Horses were ridden at trot and canter on a baseline sand surface, and through two perturbation pits containing a harder and a softer surface for one stance phase. In response to the hard perturbation, the proximal limb was more compliant at trot and canter, as measured by increased shoulder flexion in the perturbed stance phase and increased elbow and carpal flexion in the subsequent swing phase. The suspensory ligaments and muscle-tendon units were less strained while lacertus fibrosus was more strained. In response to the soft perturbation, the coffin joint was more flexed and the elbow was more extended in the acute stance phase at trot, resulting in increased strain to the DDF, extensor branches and lacertus fibrosus. At canter, the coffin was more flexed, the fetlock less hyperextended and so the suspensory structures were less strained in the perturbed stance phase, but more strained in the second stance phase. Changes in ground surface affect both the perturbed stance phase, and the following stance phase.

Multiscale finite element musculoskeletal model for intact knee dynamics

BACKGROUND AND OBJECTIVE

The dynamic characteristics of the intact knee joint are valuable for treating knee osteoarthritis and designing knee prostheses. However, it remains a challenge to elucidate the detailed dynamics of the knee due to its complexity of anatomical structure and complex interaction with body dynamics.

METHODS

In this study, a unique subject-specific musculoskeletal model with a concurrent high-accuracy intact finite element knee model was created and used to simultaneously evaluate the kinematics and mechanics of an intact knee joint during the gait cycle.

RESULTS

A medial pivot motion with external rotation, and a large parallel anterior translation were observed in the stance and swing phases, respectively, which is consistent with the in vivo fluoroscopy measurements. The maximum axial contact force on the knee joint, observed at 45% of the gait cycle, is approximately 2.89 times the body weight. The medial cartilage bears 65.7% of the total axial contact force. The results demonstrate that the cartilage-cartilage contact bears most of the joint load (62.5%) compared to the cartilage-meniscus-cartilage contact (37.5%). Regarding contact mechanics, the maximum contact pressure on both sides of the tibial cartilage (8.2 MPa) is almost similar to the first axial loading peak (14%) of the gait cycle. Additionally, the maximum contact pressure (6.01 MPa) was observed during the stance phase of the gait cycle on the patellofemoral joint.

CONCLUSIONS

The predicted results on the tibiofemoral and patellofemoral joints provide a theoretical basis for the treatment of knee joint diseases and knee prosthesis design. Moreover, this approach presents a comprehensive tool to evaluate the mechanics at both the body and tissue levels. Therefore, it has a high potential for application in human biomechanics.

Musculoskeletal modeling and humanoid control of robots based on human gait data

The emergence of exoskeleton rehabilitation training has brought good news to patients with limb dysfunction. Rehabilitation robots are used to assist patients with limb rehabilitation training and play an essential role in promoting the patient's sports function with limb disease restoring to daily life. In order to improve the rehabilitation treatment, various studies based on human dynamics and motion mechanisms are still being conducted to create more effective rehabilitation training. In this paper, considering the human biological musculoskeletal dynamics model, a humanoid control of robots based on human gait data collected from normal human gait movements with OpenSim is investigated. First, the establishment of the musculoskeletal model in OpenSim, inverse kinematics, and inverse dynamics are introduced. Second, accurate human-like motion analysis on the three-dimensional motion data obtained in these processes is discussed. Finally, a classic PD control method combined with the characteristics of the human motion mechanism is proposed. The method takes the angle values calculated by the inverse kinematics of the musculoskeletal model as a benchmark, then uses MATLAB to verify the simulation of the lower extremity exoskeleton robot. The simulation results show that the flexibility and followability of the method improves the safety and effectiveness of the lower limb rehabilitation exoskeleton robot for rehabilitation training. The value of this paper is also to provide theoretical and data support for the anthropomorphic control of the rehabilitation exoskeleton robot in the future.

Muscle forces and the demands of human walking

Reconstructing the locomotor behavior of extinct animals depends on elucidating the principles that link behavior, function, and morphology, which can only be done using extant animals. Within the human lineage, the evolution of bipedalism represents a critical transition, and evaluating fossil hominins depends on understanding the relationship between lower limb forces and skeletal morphology in living humans. As a step toward that goal, here we use a musculoskeletal model to estimate forces in the lower limb muscles of ten individuals during walking. The purpose is to quantify the consistency, timing, and magnitude of these muscle forces during the stance phase of walking. We find that muscles which act to support or propel the body during walking demonstrate the greatest force magnitudes as well as the highest consistency in the shape of force curves among individuals. Muscles that generate moments in the same direction as, or orthogonal to, the ground reaction force show lower forces of greater variability. These data can be used to define the envelope of load cases that need to be examined in order to understand human lower limb skeletal load bearing.

Summary: A musculoskeletal model of human walking reveals the consistency, timing, and magnitude of lower limb muscle forces across the stance phase.

Development of An Anybody Musculoskeletal Model of The Thoroughbred Forelimb

Musculoskeletal injuries in horses are the main cause of retirement, rest, and death. To understand these injuries, it is necessary to study loads in muscles, tendons and ligaments. A musculoskeletal model makes it possible to consider all structures simultaneously and avoids invasive measurements. At present, most computational models of the equine limb described in the literature have been limited to the distal limb. The aim of this study was to create a preliminary musculoskeletal model of the whole equine forelimb and to run it with kinematic data collected during gait. The model was developed with the AnyBody Modelling System. It includes six limb segments, 11 muscle groups and 17 ligaments. Kinematic data were collected from the right forelimb of four Thoroughbreds at trot, right and left lead canter, and were then used in the model to compute sagittal plane joint excursions and ligament and tendon strains. The modelled joint excursions were in reasonable agreement with previous reports in the literature despite breed, gait and surface differences. Strain patterns of the tendons of the suspensory apparatus agreed with the literature, with maxima in mid-stance or at the end of stance. Strains in the distal palmar ligaments peaked in mid-stance, while strain in lacertus fibrosus peaked at the stance-swing transition. Tendon and ligament strains at canter were greatest when the measured forelimb was the trailing limb. Strain amplitudes varied against earlier models and these differences are discussed in relation to variations in methods, and especially in relation to attachment points of tendons and ligaments.

Influence of simulated hip muscle weakness on hip joint forces during deep squatting

This study aimed to determine the effects of simulated hip muscle weakness on changes in hip joint forces during deep squat motion. Ten healthy individuals performed squat motion at three different positions (0° foot angle [N-squat], 10° toe-in [IN-squat], and 30° toe-out [OUT-squat]). A scaled musculoskeletal model for each participant was used to calculate the muscle and hip joint forces. For each hip muscle, models of full strength, mild muscle weakness (15% decrease), and severe muscle weakness (30% decrease) were created. The muscles affecting the hip joint forces were identified, and the rate of change in the joint forces was compared among the three squat conditions. The anterior hip joint force was increased in the muscle weakness models of the inferior gluteus maximus (iGlutMax) and iGlutMax+deep external rotator (ExtRot) muscles. With 30% muscle weakness of these muscles, statistically significant differences in the rate of increase in the anterior joint force were observed in the following order: IN-squat (iGlutMax, 29.5%; iGlutMax+ExtRot, 41.4%), N-squat (iGlutMax, 18.3%; iGlutMax+ExtRot, 27.8%), and OUT-squat (iGlutMax, 5.6%; iGlutMax+ExtRot, 9.3%). OUT-squat may be recommended to minimize the increase in hip joint forces if accompanied by hip muscle weakness.

The effects of knee pain on knee contact force and external knee adduction moment in patients with knee osteoarthritis

Knee osteoarthritis (OA) is a major cause of knee pain, leading to physical dysfunction. External knee adduction moment (KAM), a surrogate measure of knee contact force (KCF) in the medial compartment, is related to knee pain, but the association between KCF and pain severity remains unclear. This study aimed to reveal the differences in KCF due to pain severity. Twenty-eight patients with knee OA were evaluated knee symptoms including pain severity via the Knee Society Score. Based on the median symptom score, 17 points in this study, subjects were classified as having Mild symptomatic OA (n = 15) and Severe symptomatic OA (n = 13). Subjects walked three times at a comfortable speed along a six-meter walkway, and we calculated KAM during the stance phase. KCF magnitude and distribution were also computed using the subject-specific musculoskeletal model, considering physical characteristics such as the femorotibial angle measured by X-ray. No differences in physical characteristics such as femorotibial angle and gait speed were found by symptom severity, whereas KAM and medial KCF at minimum and second peak in Severe symptomatic OA patients were significantly greater than those in Mild symptomatic OA. A significant medial shift of KCF in Severe symptomatic OA was also seen at first peak and minimum. Severe symptomatic OA had a greater medial KCF and medial shift of KCF. Detailed evaluations of KCF magnitude and distribution in addition to KAM would provide crucial information on knee contact force in relation to symptom severity.

Simulating finger-tip force using two common contact models: Hunt-Crossley and elastic foundation

Musculoskeletal models of the hand rarely include fingerpad contact mechanics, thereby limiting our ability to simulate and examine hand-object interactions. The objective of this study was to evaluate whether two common contact models (Hunt-Crossley and Elastic Foundation) can accurately represent the fingerpad. Two musculoskeletal models of the index finger were created by adding fingerpad contact geometry using either the Hunt-Crossley or Elastic Foundation contact models. Key contact parameters (target force, contact area, and stiffness) were then systematically varied through 432 forward dynamic simulations to examine how these parameters influenced estimation of finger-tip forces. Across all simulations, variation in target force, contact area, and stiffness parameters impacted the computation time required to complete the simulations and the accuracy of the predicted finger-tip force. Computation time was over three times longer in simulations with high versus low values of contact area and stiffness in both contact models. For both contact models, larger contact area and stiffness values resulted in simulations that more closely predicted target force. However, across all simulations, the Hunt-Crossley model produced a greater proportion of accurate finger-tip force simulations than the Elastic Foundation model, suggesting that the Hunt-Crossley contact model may be preferable for modeling the fingerpad. Overall, our study demonstrates how the Hunt-Crossley and Elastic Foundation contact models behave in low-force biomechanical scenarios, such as those experienced during hand-object manipulation, and provides a foundation for incorporating contact mechanics into musculoskeletal models of the hand.

Estimation of ground reaction forces during stair climbing in patients with ACL reconstruction using a depth sensor-driven musculoskeletal model

BACKGROUND

Although stair ambulation should be included in the rehabilitation of the long-term effects of ACL injury on knee function, the assessment of kinetic parameter in the situation where stair gait can only be established using costly and cumbersome force platforms via conventional inverse dynamic analysis. Therefore, there is a need to develop a practical laboratory setup as an assessment tool of the stair gait abnormalities in lower extremity that arise from an ACL deficiency.

RESEARCH QUESTION

Can the use of a single depth sensor-driven full-body musculoskeletal gait model be considered an accurate assessment tool of the ground reaction forces (GRFs) during stair climbing for patients following ACL reconstruction (ACLR) surgery?

METHODS

A total of 15 patients who underwent ACLR participated in this study. GRFs data during stair climbing was collected using a custom-built 3-step staircase with two embedded force platforms. A single depth sensor, commercially available and cost effective, was used to obtain participants' depth map information to extract the full-body skeleton information. The AnyBody TM GaitFullBody model was utilized to estimate GRFs attained by 25 artificial muscle-like actuators placed under each foot. Mean differences between the measured and estimated GRFs were compared using paired samples t-tests. The ensemble curves of the GRFs were compared between both approaches during stance phase of the gait cycle.

RESULTS

The findings of this study showed that the estimation of the GRFs produced during staircase gait using a depth sensor-driven musculoskeletal model can produce acceptable results when compared to the traditional inverse dynamics modelling approach as an alternative tool in clinical settings for individuals who had undergone ACLR.

SIGNIFICANCE

The introduced approach of full-body musculoskeletal modelling driven by a single depth sensor has the potential to be a cost-effective stair gait analysis tool for patients with ACL injury.

Automatic generation of personalised skeletal models of the lower limb from three-dimensional bone geometries

The generation of personalised and patient-specific musculoskeletal models is currently a cumbersome and time-consuming task that normally requires several processing hours and trained operators. We believe that this aspect discourages the use of computational models even when appropriate data are available and personalised biomechanical analysis would be beneficial. In this paper we present a computational tool that enables the fully automatic generation of skeletal models of the lower limb from three-dimensional bone geometries, normally obtained by segmentation of medical images. This tool was evaluated against four manually created lower limb models finding remarkable agreement in the computed joint parameters, well within human operator repeatability. The coordinate systems origins were identified with maximum differences between 0.5 mm (hip joint) and 5.9 mm (subtalar joint), while the joint axes presented discrepancies between 1° (knee joint) to 11° (subtalar joint). To prove the robustness of the methodology, the models were built from four datasets including both genders, anatomies ranging from juvenile to elderly and bone geometries reconstructed from high-quality computed tomography as well as lower-quality magnetic resonance imaging scans. The entire workflow, implemented in MATLAB scripting language, executed in seconds and required no operator intervention, creating lower extremity models ready to use for kinematic and kinetic analysis or as baselines for more advanced musculoskeletal modelling approaches, of which we provide some practical examples. We auspicate that this technical advancement, together with upcoming progress in medical image segmentation techniques, will promote the use of personalised models in larger-scale studies than those hitherto undertaken.

Contribution of hip and knee muscles to lateral knee stability during gait

[Purpose] Lateral knee instability is frequently observed in patients with knee injury or risk factors associated with knee osteoarthritis. Physical exercises can strengthen muscles that stabilize the knee joint. The purpose of this study was to define the contribution of the knee and hip muscles to lateral knee stability by comparing the muscle forces, as assessed by musculoskeletal simulation using one or two degrees-of-freedom (1-DOF and 2-DOF) knee models. [Participants and Methods] We evaluated the normal gait of 15 healthy subjects. We conducted a three-dimensional gait analysis using a motion analysis system and a force plate. We considered a muscle as a lateral knee stabilizer when the calculated muscle force was greater with the 2-DOF model than with the 1-DOF model. [Results] During early and late stance, the muscle forces of the lateral knee and hip joint increased in the 2-DOF model as opposed to in the 1-DOF model. In contrast, the forces of the medial knee muscles decreased. Furthermore, hip muscle forces increased during the late stance. [Conclusion] Our results show that the lateral knee and hip muscles contribute to lateral knee stability. Thus, exercises to strengthen these muscles could improve lateral knee stability.

Non-amputated limb muscle coordination of unilateral transfemoral amputees

Unilateral transfemoral amputees rely heavily on non-amputated limb muscles to regulate the prosthetic gait. In this study, we compared the non-amputated limb muscle coordination of eight unilateral transfemoral amputees to eight able-bodied controls. Inverse dynamics approach was conducted via a musculoskeletal model to obtain lower limb joint moments and muscle forces. In addition to the muscle forces at the instants of peak joint moments and the maximum muscle forces, the peak joint moments of the lower limbs were also investigated. The results showed that there were significant differences of muscle forces between the non-amputated limbs and the controls at the instant of peak hip extension moment, although the peak hip extension moments themselves were not significantly different between the two groups. The non-amputated limbs had significantly smaller peak hip flexion moment and peak knee extension moment, with significant differences between the muscle forces of non-amputated limbs and controls at the two instants. There was no significant difference between the muscle forces of the non-amputated limbs and controls at the peak knee flexion moment instant, despite the fact that the non-amputated limbs had significantly higher peak knee flexion moments. In addition, the non-amputated limbs had significantly smaller maximum muscle forces than the controls. These results demonstrate that amputees modify their muscle coordination to adapt to the specific joint requirements of the prosthetic gait. Our findings suggest the possibility of non-amputated limb muscle atrophy due to the decrease in the peak muscle forces during walking.

Stress distribution changes in growth plates of a trunk with adolescent idiopathic scoliosis following unilateral muscle paralysis: A hybrid musculoskeletal and finite element model

This study aimed to investigate changes occurred in the stress distribution in the growth plates (GPs) of a trunk with adolescent idiopathic scoliosis (AIS) following unilateral muscle paralysis. We hypothesized that weakening the appropriately chosen muscles on the concave side can decelerate AIS deformity progression. Muscle forces and reaction loads were estimated by an optimization-driven musculoskeletal (MS) model of adolescents with a normal- and an AIS trunk, and then applied on the finite element model of GPs of L1 through L4. Different set patterns of 95% reduction in the strength of the concave-side longissimus thoracis pars thoracic (LGPT), multifidus lumborum (MFL), and LGPT + MFL muscles were performed in the MS models. Results of this study showed that weakening of the concave-side MFL and LGPT muscles rendered a 35% correction in the symptomatic axial rotation of the AIS spine, and a reduction of about 25% in the compressive von Mises stress on the concave side of GPs, respectively, which can decelerate the deformity progression. It was observed that unilateral muscle weakening caused a compensatory activation of the rest of muscles to retain the spine stability. The intradiscal pressures and ratio between the rotations toward either side of the scoliotic spine, found here, matched well with some recent in-vivo investigations. One of the applications of the stability-based MS model of AIS spine with unilaterally weakened muscles presented in this study is to optimize the performance of the currently used braces. To fortify the presented therapeutic approach, experiments should be done on scoliotic animals.

Between-session reliability of subject-specific musculoskeletal models of the spine derived from optoelectronic motion capture data

This study evaluated the between-session reliability of creating subject-specific musculoskeletal models with optoelectronic motion capture data, and using them to estimate spine loading. Nineteen healthy participants aged 24-74 years underwent the same set of measurements on two separate occasions. Retroreflective markers were placed on anatomical regions, including C7, T1, T4, T5, T8, T9, T12 and L1 spinous processes, pelvis, upper and lower limbs, and head. We created full-body musculoskeletal models with detailed thoracolumbar spines, and scaled these to create subject-specific models for each individual and each session. Models were scaled from distances between markers, and spine curvature was adjusted according to marker-estimated measurements. Using these models, we estimated vertebral compressive loading for five different standardized postures: neutral standing, 45˚ trunk flexion, 15˚ trunk extension, 20˚ lateral bend to the right, and 45˚ axial rotation to the right. Intraclass correlation coefficients (ICCs) and standard error of measurement were calculated as measures of between-session reliability and measurement error, respectively. Spine curvature measures showed excellent reliability (ICC = 0.79-0.91) and body scaling segments showed fair to excellent reliability (ICC = 0.46-0.95). We found that musculoskeletal models showed mostly excellent between-session reliability to estimate spine loading, with 91% of ICC values > 0.75 for all activities. This information is a necessary precursor for using motion capture data to estimate spine loading from subject-specific musculoskeletal models, and suggests that marker data will deliver reproducible subject-specific models and estimates of spine loading.

Soft tissue artifact causes underestimation of hip joint kinematics and kinetics in a rigid-body musculoskeletal model

Rigid body musculoskeletal models have been applied to study kinematics, moments, muscle forces, and joint reaction forces in the hip. Most often, models are driven with segment motions calculated through optical tracking of markers adhered to the skin. One limitation of optical tracking is soft tissue artifact (STA), which occurs due to motion of the skin surface relative to the underlying skeleton. The purpose of this study was to quantify differences in musculoskeletal model outputs when tracking body segment positions with skin markers as compared to bony landmarks measured by direct imaging of bone motion with dual fluoroscopy (DF). Eleven asymptomatic participants with normally developed hip anatomy were imaged with DF during level treadmill walking at a self-selected speed. Hip joint kinematics and kinetics were generated using inverse kinematics, inverse dynamics, static optimization and joint reaction force analysis. The effect of STA was assessed by comparing the difference in estimates from simulations based on skin marker positions (SM) versus virtual markers on bony landmarks from DF. While patterns were similar, STA caused underestimation of kinematics, range of motion (ROM), moments, and reaction forces at the hip, including flexion-extension ROM, maximum internal rotation joint moment and peak joint reaction force magnitude. Still, kinetic differences were relatively small, and thus they may not be relevant nor clinically meaningful.