American Society of Biomechanics Journal of Biomechanics Award 2021: Exploring the Functional Boundaries and Metabolic Consequences of Triceps Surae Force-Length Relations during Walking

The relationship between individual muscle dynamics and whole-body metabolic cost is not well established. Here we use biofeedback to modulate triceps surae (TS) activity during walking to test the following hypotheses based on basic principles of muscle physiology: (1) increased TS activity would increase metabolic cost via shorter muscle fascicle lengths and thus reduced force capacity and (2) decreased TS activity would decrease metabolic cost via longer muscle fascicle lengths and thus increased force capacity. 23 young adults walked on an instrumented treadmill at 1.25 m/s using electromyographic (EMG) biofeedback to match targets corresponding to ±20 and ±40% TS activity during push-off (late stance). B-mode ultrasound imaged the medial gastrocnemius (MG). Participants increased net metabolic power up to 85% and 21% when targeting increased and decreased TS activity, respectively (p < 0.001). At the instant of peak gastrocnemius force, MG fascicle length was 7% shorter (p < 0.001) and gastrocnemius force was 6% larger (p < 0.001) when targeting + 40% TS activity. Fascicle length was 3% shorter (p = 0.004) and force was 7% lower (p = 0.010) when targeting -40% TS activity; participants were unable to achieve decreased activation targets. MG fascicle length and activity mediated 11.7% (p = 0.036) and 57.2% (p = 0.006) of the changes in net metabolic power, respectively. MG force did not mediate changes in net metabolic power (p = 0.948). These findings suggest that changes in the functional operating length of muscle, induced here by volitional changes in TS activity, mediated changes in the metabolic cost of walking, relatively independently of force. Thus, shifts to shorter fascicle lengths (e.g., aging) may mediate activity-induced increases in metabolic cost.

The effects of triceps surae muscle stimulation on localized Achilles subtendon tissue displacements

The triceps surae muscle-tendon unit is composed of the lateral and medial gastrocnemius (MG) and soleus (SOL) muscles and three in-series elastic 'subtendons' that form the Achilles tendon. Comparative literature and our own in vivo evidence suggest that sliding between adjacent subtendons may facilitate independent muscle actuation. We aim to more clearly define the relationship between individual muscle activation and subtendon tissue displacements. Here, during fixed-end contractions, electrical muscle stimulation controlled the magnitude of force transmitted via individual triceps surae muscles while ultrasound imaging recorded resultant subtendon tissue displacements. We hypothesized that MG and SOL stimulation would elicit larger displacements in their associated subtendon. Ten young adults completed four experimental activations at three ankle angles (-20, 0 and 20 deg) with the knee flexed to approximately 20 deg: MG stimulation (STIMMG), SOL stimulation (STIMSOL), combined stimulation, and volitional contraction. At 20 deg plantarflexion, STIMSOL elicited 49% larger tendon non-uniformity (SOL-MG subtendon tissue displacement) than that of STIMMG (P=0.004). For STIMSOL, a one-way post hoc ANOVA revealed a significant main effect of ankle angle (P=0.009) on Achilles tendon non-uniformity. However, peak tendon non-uniformity decreased by an average of 61% from plantarflexion to dorsiflexion, likely due to an increase in passive tension. Our results suggest that localized tissue displacements within the Achilles tendon respond in anatomically consistent ways to differential patterns of triceps surae muscle activation, but these relations are highly susceptible to ankle angle. This in vivo evidence points to at least some mechanical independence in actuation between the human triceps surae muscle-subtendon units.

Automated analysis of medial gastrocnemius muscle-tendon junction displacements in heathy young adults during isolated contractions and walking using deep neural networks

BACKGROUND AND OBJECTIVE

Direct measurement of muscle-tendon junction (MTJ) position is important for understanding dynamic tendon behavior and muscle-tendon interaction in healthy and pathological populations. Traditionally, obtaining MTJ position during functional activities is accomplished by manually tracking the position of the MTJ in cine B-mode ultrasound images - a laborious and time-consuming process. Recent advances in deep learning have facilitated the availability of user-friendly open-source software packages for automated tracking. However, these software packages were originally intended for animal pose estimation and have not been widely tested on ultrasound images. Therefore, the purpose of this paper was to evaluate the efficacy of deep neural networks to accurately track medial gastrocnemius MTJ positions in cine B-mode ultrasound images across tasks spanning controlled loading during isolated contractions to physiological loading during treadmill walking.

METHODS

Cine B-mode ultrasound images of the medial gastrocnemius MTJ were collected from 15 subjects (6M/9F, 23 yr, 71.9 kg, 1.8 m) during treadmill walking at 1.25 m/s and during maximal voluntary isometric plantarflexor contractions (MVICs). Five deep neural networks were trained using 480 manually-labeled images collected during walking, defined as the ground truth, and were then used to predict MTJ position in images from novel subjects: 1) during walking (novel-subject) and 2) during MVICs (novel-condition).

RESULTS

We found an average mean absolute error of 1.26±1.30 mm and 2.61±3.31 mm between the ground truth and predicted MTJ positions in the novel-subject and novel-condition evaluations, respectively.

CONCLUSIONS

Our results provide support for the use of open-source software for creating deep neural networks to reliably track MTJ positions in B-mode ultrasound images. We believe this approach to MTJ position tracking is an accessible and time-saving solution, with broad applications for many fields, such as rehabilitation or clinical diagnostics.

Effects of age, speed, and step length on lower extremity net joint moments and powers during walking

During walking older adults' gait is slower, they take shorter steps, and rely less on ankle and more on knee and hip joint moments and powers compared to young adults. Previous studies have suggested that walking speed and step length are confounds that affect joint moments and powers. Our purpose was to examine the effects of walking speed and step length manipulation on net joint moments and powers in young and older adults. Sixteen young and 18 older adults completed walking trials at three speeds under three step length conditions as marker position and force platform data were captured synchronously. Net joint moments were quantified using inverse dynamics and were subsequently used to compute net joint powers. Average extensor moments at each joint during the stance phase were then computed. Older adults displayed greater knee extensor moment compared to young adults. Older adults showed trends (p < .10) of having lower ankle and higher hip moments, but these differences were not statistically significant. Average ankle, knee, and hip extensor moments increased with speed and step length. At the fast speed, older compared to young adults generated lower average ankle power (p = .003) and showed a trend (p = .056) of exerting less average moment at the ankle joint. Age-associated distal-to-proximal redistribution of net joint moments was diminished and not statistically significant when the confounding effects of walking speed and relative step length were controlled. These findings imply that age-related distal-to-proximal redistribution of joint moments may influence the different speeds and step lengths chosen by young and older adults.

Redistribution of joint moments and work in older women with and without hallux valgus at two walking speeds

BACKGROUND

Hallux valgus (HV) is a highly prevalent foot deformity in older women. Differences in lower extremity joint function of older women with and without HV during walking at slower and faster speeds are unknown.

RESEARCH QUESTION

Does walking speed affect lower extremity joint range of motion (ROM) and net extensor joint moment and associated work in older women with and without HV?

METHODS

Thirteen older women with HV and 13 controls completed five walking trials at 1.1 and 1.3 m·s^-1 as kinematic marker position and ground reaction force data were collected. Net ankle, knee, and hip joint moments were computed using inverse dynamics during the stance phase. Positive joint work was calculated by integrating hip power in early stance, knee power in mid stance, and ankle power in late stance.

RESULTS

Average ankle ROM and plantarflexor moment did not increase with walking speed in the HV group, while in the control group these variables were greater for the faster compared to the slower speed (p < 0.05). The magnitude of increase in ankle joint work with speed was 12 % lesser in the HV compared to the control group (p = 0.008). The hip ROM, extensor moment, and associated work was greater in the HV compared to the control group (p < 0.05). Knee and hip joint ROM, extensor moments, and work increased with walking speed in both groups (p < 0.05).

SIGNIFICANCE

Older women with HV compared to older women without HV demonstrate a distal-to-proximal redistribution by increasing hip motion and effort to compensate for reduced ankle contribution during walking.

Shorter gastrocnemius fascicle lengths in older adults associate with worse capacity to enhance push-off intensity in walking

BACKGROUND

Reduced push-off intensity during walking is thought to play an important role in age-related mobility impairment. We posit that an age-related shift toward shorter plantarflexor operating lengths during walking functionally limits force generation, and thereby the ability of those muscles to respond to increased propulsive demands during walking.

RESEARCH QUESTION

To determine whether gastrocnemius muscle fascicle lengths during normal walking: (1) are shorter in older than young adults, and (2) correlate with one's capacity to increase the propulsive demands of walking to their maximum.

METHODS

We used in vivo cine B-mode ultrasound to measure gastrocnemius fascicle lengths in 9 older and 9 young adults walking at their preferred speed, their maximum speed, and with horizontal impeding forces that increased in a ramped design at 1%BW/s to their maximum. A repeated measures ANOVA tested for effects of age and walking condition, and Pearson correlations assessed the relation between fascicle outcomes and condition performance.

RESULTS

A tendency toward shorter medial gastrocnemius muscle fascicle lengths in older versus young adults was not statistically significant. However, older adults walked with reduced peak fascicle shortening during all conditions compared to young adults - an outcome not explained by reduced muscle-tendon unit shortening and exacerbated during tasks with greater than normal propulsive demand. As hypothesized, we found a strong and significant positive correlation in older subjects between gastrocnemius fascicle lengths during normal walking and performance on the ramped impeding force condition (p = 0.005, r² = 0.704), even after controlling for isometric strength (p = 0.011, r² = 0.792) and subject stature (p = 0.010, r² = 0.700).

SIGNIFICANCE

Our findings provide muscle-level insight to develop more effective rehabilitation techniques to improve push-off intensity in older adults and assistive technologies designed to steer plantarflexor muscle fascicle operating behavior during functional tasks.

Effects of static stretching programs performed at different volume-equated weekly frequencies on passive properties of muscle-tendon unit

Whether static stretching (SS) frequency has an effect on increasing the range of motion (ROM) and decreasing muscle stiffness remains unclear. Therefore, this study aimed to investigate the effects of two 6-week SS programs performed with different frequencies but generally the same duration of stretching on the passive properties of the medial gastrocnemius muscle-tendon unit. The study participants comprised 24 male volunteers randomly assigned to either the one-time/week group or the three-times/week group, performing 6 min of SS once per week and 2 min of SS thrice per week, respectively. The dorsiflexion ROM (DF ROM) and muscle stiffness of the medial gastrocnemius during passive ankle dorsiflexion were assessed using a dynamometer and ultrasonography before and after 6 weeks of SS programs. The results show that the DF ROM was increased and muscle stiffness was decreased significantly in the three-times/week group (P < 0.01 and P < 0.01, respectively), whereas no significant changes were observed in DF ROM and muscle stiffness in the one-time per week group (P = 0.25 and P = 0.32, respectively). These results suggest that a high-frequency SS program is more effective than a low-frequency SS program in increasing ROM and decreasing muscle stiffness.

Compensatory sagittal plane ankle gait mechanics: Are they present in patients with a weak or stiff hip?

INTRODUCTION

Simulations suggest that subjects with reduced hip range of motion (ROM) and/or weakness can achieve more normal walking mechanics through compensations at the ankle. The aims of this study were to assess whether subjects with reduced hip ROM (Stiff hip) or hip flexor weakness (Weak hip) exhibit ankle compensations during walking and investigate redistribution of power in the lower extremity joints.

METHODS

Retrospective gait data were reviewed (IRB-approved hip registry). Preoperative kinematic/kinetic walking data were collected in patients with: adolescent hip dysplasia (AHD), femoral acetabular impingement (FAI), and Legg-Calvé Perthes disease (Perthes). AHD patients with significantly weak hip flexors on their affected side were included (Weak hip group). The Gait Profile Score (GPS) was calculated on the affected side of the FAI and Perthes groups to identify patients who had a Stiff hip. Patients who had undergone a hip arthrodesis (Fusion) were also included (Stiff hip group). Ankle kinematics/kinetics were compared to healthy participants (Control). The total positive work of sagittal plane hip, knee and ankle power were compared along with the distribution of power.

RESULTS

Patients in the Weak/Stiff hip groups did not walk with greater ankle plantarflexion, peak push-off power or positive ankle work on their affected sides compared to Control. Ankle work contribution (percentage of total positive work) on the affected or unaffected sides was greater in the Perthes and Hip Fusion patients compared to Control. Significant gait abnormalities on the unaffected side were observed.

CONCLUSIONS

Patients with a weak or stiff hip did exhibit altered ankle mechanics during walking. Greater percent ankle work contribution appeared to correspond with hip stiffness. In patients with hip pathology the redistribution of power among the lower extremity joints can highlight the importance of preserving ankle function.

Ankle power biofeedback attenuates the distal-to-proximal redistribution in older adults

BACKGROUND

Compared to young adults, older adults walk slower, with shorter strides, and with a characteristic decrease in ankle power output. Seemingly in response, older adults rely more than young on hip power output, a phenomenon known as a distal-to-proximal redistribution. Nevertheless, older adults can increase ankle power to walk faster or uphill, revealing a translationally important gap in our understanding.

RESEARCH QUESTION

Our purpose was to implement a novel ankle power biofeedback paradigm to encourage favorable biomechanical adaptations (i.e. reverse the distal-redistribution) during habitual speed walking in older adults.

METHODS

10 healthy older adults walked at their preferred speeds while real-time visual biofeedback provided target increases and decreases of 10 and 20% different from preferred ankle power. We evaluated the effect of changes in ankle power on joint kinetics, kinematics, and propulsive ground reaction forces. Pre and post overground walking speed assessments evaluated the effect of increased ankle power recall on walking speed.

RESULTS

Biofeedback systematically elicited changes in ankle power; increasing and decreasing ankle power by 14% and 17% when targeting ±20% different from preferred, respectively. We observed a significant negative correlation between ankle power and hip extensor work. Older adults relied more heavily on changes in ankle angular velocity than ankle moment to modulate ankle power. Lastly, older adults walked almost 11% faster when recalling increased ankle power overground.

SIGNIFICANCE

Older adults are capable of increasing ankle power through targeted ankle power biofeedback - effects that are accompanied by diminished hip power output and attenuation of the distal-to-proximal redistribution. The associated increase in preferred walking speed during recall suggests a functional benefit to increased ankle power output via transfer to overground walking. Further, our mechanistic insights allude to translational success using ankle angular velocity as a surrogate to modulate ankle power through biofeedback.

Lower leg morphology in runners: forefoot strikers have longer heels but not bigger muscles than rearfoot strikers

Foot strike pattern used during running may relate to lower leg morphology. We tested the hypotheses that forefoot strike (FFS) runners have longer plantarflexor moment arms (r) and larger plantarflexor muscles than rearfoot strike (RFS) runners. FFS runners had 17% longer r than RFS runners, but all runners had similarly sized medial and lateral gastrocnemius (MG and LG) muscles. Because muscle size also depends on activation pattern ( Ahn et al., 2011), we compared MG:LG activation bias during walking in 24 runners and 23 sedentary subjects. Half of all subjects activated their MG and LG muscles equally ('unbiased') while walking, while the other half activated their MG more strongly than their LG muscles ('MG-biased'). Unbiased sedentary subjects had 16-23% smaller MG muscles compared with MG-biased sedentary subjects, unbiased runners and MG-biased runners. Muscle contraction dynamics during FFS running may balance the effects of longer plantarflexor moment arms in determining MG and LG muscle size.

Ankle Rotation and Muscle Loading Effects on the Calcaneal Tendon Moment Arm: An In Vivo Imaging and Modeling Study

In this combined in vivo and computational modeling study, we tested the central hypothesis that ankle joint rotation and triceps surae muscle loading have independent and combinatory effects on the calcaneal (i.e., Achilles) tendon moment arm (CTma) that are not fully captured in contemporary musculoskeletal models of human movement. We used motion capture guided ultrasound imaging to estimate instantaneous variations in the CTma during a series of isometric and isotonic contractions compared to predictions from scaled, lower extremity computational models. As hypothesized, we found that muscle loading: (i) independently increased the CTma by up to 8% and (ii) attenuated the effects of ankle joint rotation, the latter likely through changes in tendon slack and tendon curvature. Neglecting the effects of triceps surae muscle loading in lower extremity models led to an underestimation of the CTma, on average, particularly in plantarflexion when those effects were most prominent. We also found little agreement between in vivo estimates and model predictions on an individual subject by subject basis, alluding to unaccounted for variation in anatomical morphology and thus fundamental limitations in model scaling. Together, these findings contribute to improving our understanding of the physiology of ankle moment and power generation and novel opportunities for model development.

The effects of Achilles tendon compliance on triceps surae mechanics and energetics in walking

Achilles tendon (AT) compliance can affect the generation and transmission of triceps surae muscle forces, and thus has important biomechanical consequences for walking performance. However, the uniarticular soleus (SOL) and the biarticular (GAS) function differently during walking, with in vivo evidence suggesting that their associated fascicles and tendinous structures exhibit unique kinematics during walking. Given the strong association between muscle fiber length, velocity and force production, we conjectured that SOL and GAS mechanics and energetic behavior would respond differently to altered AT compliance. To test this, we characterized GAS and SOL muscle and tendon mechanics and energetics due to systematic changes in tendon compliance using musculoskeletal simulations of walking. Increased tendon compliance enlarged GAS and SOL tendon excursions, shortened fiber operation lengths and affected muscle excitation patterns. For both muscles, an optimal tendon compliance (tendon strains of approximately 5% with maximum isometric force) existed that minimized metabolic energy consumption. However, GAS muscle-tendon mechanics and energetics were significantly more sensitive to changes in tendon compliance than were those for SOL. In addition, GAS was not able to return stored tendon energy during push-off as effectively as SOL, particularly for larger values of tendon compliance. These fundamental differences between GAS and SOL sensitivity to altered tendon compliance seem to arise from the biarticular nature of GAS. These insights are potentially important for understanding the functional consequences of altered Achilles tendon compliance due to aging, injury, or disease.

Sagittal plane joint kinetics during stair ascent in patients with peripheral arterial disease and intermittent claudication

Stair negotiation poses a substantial physical demand on the musculoskeletal system and this challenging task can place individuals at risk of falls. Peripheral arterial disease (PAD) can cause intermittent claudication (IC) pain in the calf and results in altered gait mechanics during level walking. However, whether those with PAD-IC adopt alternate strategies to climb stairs is unknown. Twelve participants with PAD-IC (six bilateral and six unilateral) and 10 healthy controls were recruited and instructed to ascend a five-step staircase whilst 3D kinematic data of the lower-limbs were recorded synchronously with kinetic data from force plates embedded into the staircase on steps two and three. Limbs from the unilateral group and both limbs from the bilateral claudicants were categorised as claudicating (N=18), asymptomatic (N=6) and control (N=10). Claudicants walked more slowly than healthy controls (trend; P=<0.066). Both claudicating- and asymptomatic-limb groups had reduced propulsive GRF (P=0.025 and P=0.002, respectively) and vertical GRF (P=0.005 and P=0.001, respectively) compared to controls. The claudicating-limb group had a reduced knee extensor moment during forward continuance (P=0.060), ankle angular velocity at peak moment (P=0.039) and ankle power generation (P=0.055) compared to the controls. The slower gait speed, irrespective of laterality of symptoms, indicates functional capacity was determined by the limitations of the claudicating limb. Reduced ankle power generation and angular velocity (despite adequate plantarflexor moment) implies velocity-dependent limitations existed in the calf. The lack of notable compensatory strategies indicates reliance on an impaired muscle group to accomplish this potentially hazardous task, highlighting the importance of maintaining plantarflexor strength and power in those with PAD-IC.

The independent effects of speed and propulsive force on joint power generation in walking

Walking speed is modulated using propulsive forces (F_P) during push-off and both preferred speed and F_P decrease with aging. However, even prior to walking slower, reduced F_P may be accompanied by potentially unfavorable changes in joint power generation. For example, compared to young adults, older adults exhibit a redistribution of mechanical power generation from the propulsive plantarflexor muscles to more proximal muscles acting across the knee and hip. Here, we used visual biofeedback based on real-time F_P measurements to decouple and investigate the interaction between joint-level coordination, whole-body F_P, and walking speed. 12 healthy young subjects walked on a dual-belt instrumented treadmill at a range of speeds (0.9-1.3m/s). We immediately calculated the average F_P from each speed. Subjects then walked at 1.3m/s while completing a series of biofeedback trials with instructions to match their instantaneous F_P to their averaged F_P from slower speeds. Walking slower decreased F_P and total positive joint work with little effect on relative joint-level contributions. Conversely, subjects walked at a constant speed with reduced F_P, not by reducing total positive joint work, but by redistributing the mechanical demands of each step from the plantarflexor muscles during push-off to more proximal leg muscles during single support. Interestingly, these naturally emergent joint- and limb-level biomechanical changes, in the absence of neuromuscular constraints, resemble those due to aging. Our findings provide important reference data to understand the presumably complex interactions between joint power generation, whole-body F_P, and walking speed in our aging population.

Imaging and simulation of Achilles tendon dynamics: Implications for walking performance in the elderly

The Achilles tendon (AT) is a complex structure, consisting of distinct fascicle bundles arising from each triceps surae muscle that may act as mechanically independent structures. Advances in tissue imaging are rapidly accelerating our understanding of the complexities of functional Achilles tendon behavior, with potentially important implications for musculoskeletal injury and performance. In this overview of our recent contributions to these efforts, we present the results of complementary experimental and computational approaches to investigate AT behavior during walking and its potential relevance to reduced triceps surae mechanical performance due to aging. Our experimental evidence reveals that older tendons exhibit smaller differences in tissue deformations than young adults between regions of the AT presumed to arise from the gastrocnemius and soleus muscles. These observations are consistent with a reduced capacity for inter-fascicle sliding within the AT, which could have implications for the mechanical independence of the triceps surae muscles. More uniform AT deformations are also correlated with hallmark biomechanical features of elderly gait - namely, a loss of net ankle moment, power, and positive work during push-off. Simulating age-related reductions in the capacity for inter-fascicle sliding in the AT during walking predicts detriments in gastrocnemius muscle-tendon mechanical performance coupled with underlying shifts in fascicle kinematics during push-off. AT compliance, also suspected to vary due to age, systematically modulates those effects. By integrating in vivo imaging with computational modeling, we have gained theoretical insight into multi-scale biomechanical changes due to aging, hypotheses regarding their functional effects, and opportunities for experiments that validate or invalidate these assertions.

Non-uniform in vivo deformations of the human Achilles tendon during walking

The free Achilles tendon (AT) consists of distinct fascicles arising from each of the triceps surae muscles that may give rise to non-uniform behavior during functional tasks such as walking. Here, we estimated in vivo deformations of the human AT during walking using simultaneous ultrasound and motion capture measurements. Ten subjects walked at three speeds (0.75, 1.00, and 1.25 m/s) on a force-measuring treadmill. A custom orthotic secured a linear array transducer in two locations: (1) the distal lateral gastrocnemius muscle-tendon junction and (2) the free AT, on average centered 6 cm superior to calcaneal insertion. We used motion capture to record lower extremity kinematics and the position and orientation of the ultrasound transducer. A 2D ultrasound elastography algorithm tracked superficial and deep tissue displacements within the free AT. We estimated AT elongation (i.e., change in length) relative to the calcaneal insertion by transforming the orthotic, transducer, and calcaneus kinematics into a common reference frame. Superficial and deep regions of the free AT underwent significantly different longitudinal displacements and elongations during walking. For example, we found that the superficial AT exhibited 16-29% greater peak elongation than the deep AT during the stance phase of walking (p < 0.01). Moreover, superficial-deep AT tissue deformations became less uniform with faster walking speed (p < 0.01). Non-uniform deformations of the free AT, which could reflect inter-fascicle sliding, may enable the gastrocnemius and soleus muscles to transmit their forces independently while allowing unique kinematic behavior at the muscle fiber level.