Bioinspired preactivation reflex increases robustness of walking on rough terrain.

Walking on unknown and rough terrain is challenging for (bipedal) robots, while humans naturally cope with perturbations. Therefore, human strategies serve as an excellent inspiration to improve the robustness of robotic systems. Neuromusculoskeletal (NMS) models provide the necessary interface for the validation and transfer of human control strategies.

Dysfunctional neuro-muscular mechanisms explain gradual gait changes in prodromal spastic paraplegia.

Background: In Hereditary Spastic Paraplegia (HSP) type 4 (SPG4) a length-dependent axonal degeneration in the cortico-spinal tract leads to progressing symptoms of hyperreflexia, muscle weakness, and spasticity of lower extremities. Even before the manifestation of spastic gait, in the prodromal phase, axonal degeneration leads to subtle gait changes. These gait changes - depicted by digital gait recording - are related to disease severity in prodromal and early-to-moderate manifest SPG4 participants.

Muscle preflex response to perturbations in locomotion: experiments and simulations with realistic boundary conditions.

Neuromuscular control loops feature substantial communication delays, but mammals run robustly even in the most adverse conditions. experiments and computer simulation results suggest that muscles' preflex-an immediate mechanical response to a perturbation-could be the critical contributor. Muscle preflexes act within a few milliseconds, an order of magnitude faster than neural reflexes.

'Virtual pivot point' in human walking: Always experimentally observed but simulations suggest it may not be necessary for stability.

The intersection of ground reaction forces near a point above the center of mass has been observed in computer simulation models and human walking experiments. Observed so ubiquitously, the intersection point (IP) is commonly assumed to provide postural stability for bipedal walking. In this study, we challenge this assumption by questioning if walking without an IP is possible.

Muscle prestimulation tunes velocity preflex in simulated perturbed hopping.

Muscle fibres possess unique visco-elastic properties, which generate a stabilising zero-delay response to unexpected perturbations. This instantaneous response-termed "preflex"-mitigates neuro-transmission delays, which are hazardous during fast locomotion due to the short stance duration. While the elastic contribution to preflexes has been studied extensively, the function of fibre viscosity due to the force-velocity relation remains unknown.

Specific Gait Changes in Prodromal Hereditary Spastic Paraplegia Type 4: preSPG4 Study.

Background: In hereditary spastic paraplegia type 4 (SPG4), subclinical gait changes might occur years before patients realize gait disturbances. The prodromal phase of neurodegenerative disease is of particular interest to halt disease progression by future interventions before impairment has manifested.

Objective: The objective of this study was to identify specific movement abnormalities before the manifestation of gait impairment and quantify disease progression in the prodromal phase.

Evaluating anticipatory control strategies for their capability to cope with step-down perturbations in computer simulations of human walking.

Previous simulation studies investigated the role of reflexes and central pattern generators to explain the kinematic and dynamic adaptations in reaction to step-down perturbations. However, experiments also show preparatory adaptations in humans based on visual anticipation of a perturbation. In this study, we propose a high-level anticipatory strategy augmenting a low-level muscle-reflex control.

The control effort to steer self-propelled microswimmers depends on their morphology: comparing symmetric spherical versus asymmetric -shaped particles.

Active goal-directed motion requires real-time adjustment of control signals depending on the system's status, also known as control. The amount of information that needs to be processed depends on the desired motion and control, and on the system's morphology. The morphology of the system may directly effectuate or support the desired motion.

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

The maximum running speed of legged animals is one evident factor for evolutionary selection-for predators and prey. Therefore, it has been studied across the entire size range of animals, from the smallest mites to the largest elephants, and even beyond to extinct dinosaurs. A recent analysis of the relation between animal mass (size) and maximum running speed showed that there seems to be an optimal range of body masses in which the highest terrestrial running speeds occur.

A geometry- and muscle-based control architecture for synthesising biological movement.

A key problem for biological motor control is to establish a link between an idea of a movement and the generation of a set of muscle-stimulating signals that lead to the movement execution. The number of signals to generate is thereby larger than the body's mechanical degrees of freedom in which the idea of the movement may be easily expressed, as the movement is actually executed in this space. A mathematical formulation that provides a solving link is presented in this paper in the form of a layered, hierarchical control architecture.

Morphological Computation Increases From Lower- to Higher-Level of Biological Motor Control Hierarchy.

Voluntary movements, like point-to-point or oscillatory human arm movements, are generated by the interaction of several structures. High-level neuronal circuits in the brain are responsible for planning and initiating a movement. Spinal circuits incorporate proprioceptive feedback to compensate for deviations from the desired movement.

Effective Viscous Damping Enables Morphological Computation in Legged Locomotion.

Muscle models and animal observations suggest that physical damping is beneficial for stabilization. Still, only a few implementations of physical damping exist in compliant robotic legged locomotion. It remains unclear how physical damping can be exploited for locomotion tasks, while its advantages as sensor-free, adaptive force- and negative work-producing actuators are promising.

Muscles Reduce Neuronal Information Load: Quantification of Control Effort in Biological vs. Robotic Pointing and Walking.

It is hypothesized that the nonlinear muscle characteristic of biomechanical systems simplify control in the sense that the information the nervous system has to process is reduced through off-loading computation to the morphological structure. It has been proposed to quantify the required information with an information-entropy based approach, which evaluates the minimally required information to control a desired movement, i.e.

Energy Expenditure of Dynamic Submaximal Human Plantarflexion Movements: Model Prediction and Validation by Magnetic Resonance Spectroscopy.

To understand the organization and efficiency of biological movement, it is important to evaluate the energy requirements on the level of individual muscles. To this end, predicting energy expenditure with musculoskeletal models in forward-dynamic computer simulations is currently the most promising approach. However, it is challenging to validate muscle models in humans, because access to the energy expenditure of single muscles is difficult.

Optimality Principles in Human Point-to-Manifold Reaching Accounting for Muscle Dynamics.

Human arm movements are highly stereotypical under a large variety of experimental conditions. This is striking due to the high redundancy of the human musculoskeletal system, which in principle allows many possible trajectories toward a goal. Many researchers hypothesize that through evolution, learning, and adaption, the human system has developed optimal control strategies to select between these possibilities.

Exhaustion of Skeletal Muscle Fibers Within Seconds: Incorporating Phosphate Kinetics Into a Hill-Type Model.

Initiated by neural impulses and subsequent calcium release, skeletal muscle fibers contract (actively generate force) as a result of repetitive power strokes of acto-myosin cross-bridges. The energy required for performing these cross-bridge cycles is provided by the hydrolysis of adenosine triphosphate (ATP). The reaction products, adenosine diphosphate (ADP) and inorganic phosphate (P ), are then used-among other reactants, such as creatine phosphate-to refuel the ATP energy storage.

Predicting Perturbed Human Arm Movements in a Neuro-Musculoskeletal Model to Investigate the Muscular Force Response.

Human movement is generated by a dynamic interplay between the nervous system, the biomechanical structures, and the environment. To investigate this interaction, we propose a neuro-musculoskeletal model of human goal-directed arm movements. Using this model, we simulated static perturbations of the inertia and damping properties of the arm, as well as dynamic torque perturbations for one-degree-of freedom movements around the elbow joint.

The Benefit of Combining Neuronal Feedback and Feed-Forward Control for Robustness in Step Down Perturbations of Simulated Human Walking Depends on the Muscle Function.

It is often assumed that the spinal control of human locomotion combines feed-forward central pattern generation with sensory feedback via muscle reflexes. However, the actual contribution of each component to the generation and stabilization of gait is not well understood, as direct experimental evidence for either is difficult to obtain. We here investigate the relative contribution of the two components to gait stability in a simulation model of human walking.

The basic mechanical structure of the skeletal muscle machinery: One model for linking microscopic and macroscopic scales.

Measuring, analysing, and modelling muscle contraction has a long history. In consequence, some signature characteristics of skeletal muscle contraction have been found. On a microscopic level, these are the typical non-steady-state responses of the cross-bridge bindings to steps in force and length.

Implementation and validation of the extended Hill-type muscle model with robust routing capabilities in LS-DYNA for active human body models.

Background: In the state of the art finite element AHBMs for car crash analysis in the LS-DYNA software material named *MAT_MUSCLE (*MAT_156) is used for active muscles modeling. It has three elements in parallel configuration, which has several major drawbacks: restraint approximation of the physical reality, complicated parameterization and absence of the integrated activation dynamics. This study presents implementation of the extended four element Hill-type muscle model with serial damping and eccentric force-velocity relation including [Formula: see text] dependent activation dynamics and internal method for physiological muscle routing.

Weekly Time Course of Neuro-Muscular Adaptation to Intensive Strength Training.

Detailed description of the time course of muscular adaptation is rarely found in literature. Thus, models of muscular adaptation are difficult to validate since no detailed data of adaptation are available. In this article, as an initial step toward a detailed description and analysis of muscular adaptation, we provide a case report of 8 weeks of intense strength training with two active, male participants.

External control strategies for self-propelled particles: Optimizing navigational efficiency in the presence of limited resources.

We experimentally and numerically study the dependence of different navigation strategies regarding the effectivity of an active particle to reach a predefined target area. As the only control parameter, we vary the particle's propulsion velocity depending on its position and orientation relative to the target site. By introducing different figures of merit, e.

Spreading out muscle mass within a Hill-type model: a computer simulation study.

It is state of the art that muscle contraction dynamics is adequately described by a hyperbolic relation between muscle force and contraction velocity (Hill relation), thereby neglecting muscle internal mass inertia (first-order dynamics). Accordingly, the vast majority of modelling approaches also neglect muscle internal inertia. Assuming that such first-order contraction dynamics yet interacts with muscle internal mass distribution, this study investigates two questions: (i) what is the time scale on which the muscle responds to a force step? (ii) How does this response scale with muscle design parameters? Thereto, we simulated accelerated contractions of alternating sequences of Hill-type contractile elements and point masses.