Changes in Predicted Muscle Coordination with Subject-Specific Muscle Parameters for Individuals after Stroke

Muscle weakness is commonly seen in individuals after stroke, characterized by lower forces during a maximal volitional contraction. Accurate quantification of muscle weakness is paramount when evaluating individual performance and response to after stroke rehabilitation. The objective of this study was to examine the effect of subject-specific muscle force and activation deficits on predicted muscle coordination when using musculoskeletal models for individuals after stroke. Maximum force generating ability and central activation ratio of the paretic plantar flexors, dorsiflexors, and quadriceps muscle groups were obtained using burst superimposition for four individuals after stroke with a range of walking speeds. Two models were created per subject: one with generic and one with subject-specific activation and maximum isometric force parameters. The inclusion of subject-specific muscle data resulted in changes in the model-predicted muscle forces and activations which agree with previously reported compensation patterns and match more closely the timing of electromyography for the plantar flexor and hamstring muscles. This was the first study to create musculoskeletal simulations of individuals after stroke with subject-specific muscle force and activation data. The results of this study suggest that subject-specific muscle force and activation data enhance the ability of musculoskeletal simulations to accurately predict muscle coordination in individuals after stroke.

Related papers:

title: The complementary role of the plantarflexors, hamstrings and gluteus maximus in the control of stance limb stability during gait.
abstract: This paper focuses on the contributions of the gluteus maximus, biceps femoris, gastrocnemius and soleus in maintaining the stability of the stance limb in the sagittal plane during the mid-stance phase of gait. In the absence of any one of these muscles, the potential compensatory changes in muscle activation are explored, the aim being to restore stability to the stance limb. The investigation was carried out by integrating musculoskeletal modelling, forward simulation and optimization techniques. We concluded that maintenance of stance limb stability requires a subtle interplay of muscle activations. Weakness in a single muscle is unlikely to be adequately compensated for by increasing or decreasing the activation of one muscle alone.

title: Compensatory strategies during normal walking in response to muscle weakness and increased hip joint stiffness.
abstract: Compared to young adults, older adults exhibit a slower walking speed, smaller step length, shorter swing phase time and decreased range of motion in their lower extremity joints. The underlying mechanisms causing these gait adaptations is not well understood, with various musculoskeletal parameters being put forth as contributing factors, including increased joint stiffness and decreased isometric muscle strength. The objective of this study was to identify the necessary compensatory mechanisms to overcome such musculoskeletal deficits and regain a normal walking pattern. Understanding these mechanisms has important implications for designing effective rehabilitation interventions for older adults that target specific muscle groups and properties (e.g., isometric strength versus joint stiffness) to improve gait performance. Muscle-actuated forward dynamics simulations of normal walking were analyzed to quantify compensatory mechanisms in the presence of muscle weakness in specific muscle groups and increased hip joint stiffness. Of particular importance were the compensatory mechanisms provided by the plantar flexors, which were shown to be able to compensate for many musculoskeletal deficits, including diminished muscle strength in the hip and knee flexors and extensors and increased hip joint stiffness. This importance was further highlighted when a normal walking pattern could not be achieved through compensatory action of other muscle groups when the uniarticular and biarticular plantar flexor strength was decreased as a group. Thus, rehabilitation or preventative exercise programs may consider focusing on increasing or maintaining plantar flexor strength, which appears critical to maintaining normal walking mechanics.

title: Sensitivity of estimated muscle force in forward simulation of normal walking.
abstract: Generic muscle parameters are often used in muscle-driven simulations of human movement to estimate individual muscle forces and function. The results may not be valid since muscle properties vary from subject to subject. This study investigated the effect of using generic muscle parameters in a muscle-driven forward simulation on muscle force estimation. We generated a normal walking simulation in OpenSim and examined the sensitivity of individual muscle forces to perturbations in muscle parameters, including the number of muscles, maximum isometric force, optimal fiber length, and tendon slack length. We found that when changing the number of muscles included in the model, only magnitude of the estimated muscle forces was affected. Our results also suggest it is especially important to use accurate values of tendon slack length and optimal fiber length for ankle plantar flexors and knee extensors. Changes in force production by one muscle were typically compensated for by changes in force production by muscles in the same functional muscle group, or the antagonistic muscle group. Conclusions regarding muscle function based on simulations with generic musculoskeletal parameters should be interpreted with caution.

title: Understanding compensatory strategies for muscle weakness during gait by simulating activation deficits seen post-stroke.
abstract: Musculoskeletal simulations have been used to explore compensatory strategies, but have focused on responses to simulated atrophy in a single muscle or muscle group. In a population such as stroke, however, impairments are seen in muscle activation across multiple muscle groups. The objective of this study was to identify available compensatory strategies for muscle weakness during gait by simulating activation deficits in multiple muscle groups. Three dimensional dynamics simulations were created from 10 healthy subjects (48.8 ± 13.3 years, self-selected speed 1.28 ± 0.17 m/s) and constraints were set on the activation capacity of the plantar flexor, dorsiflexor, and hamstrings muscle groups to simulate activation impairme nts seen post-stroke. When the muscle groups are impaired individually, the model requires that the plantar flexor, dorsiflexor, and hamstrings muscle groups are activated to at least 55%, 64%, and 18%, respectively, to recreate the subjects' normal gait pattern. The models were unable to recreate the normal gait pattern with simultaneous impairment of all three muscle groups. Other muscle groups are unable to assist the dorsiflexor muscles during early swing, which suggests that rehabilitation or assistive devices may be required to correct foot drop. By identifying how muscles can interact, clinicians may be able to develop specific strategies for using gait retraining and orthotic assistance to best address an individual's needs.

title: Accuracy of muscle moment arms estimated from MRI-based musculoskeletal models of the lower extremity.
abstract: Biomechanical models that compute the lengths and moment arms of soft tissues are broadly applicable to the treatment of movement abnormalities and the planning of orthopaedic surgical procedures. The goals of this study were to: (i) develop methods to construct subject-specific biomechanical models from magnetic resonance (MR) images, (ii) create models of three lower-extremity cadaveric specimens, and (iii) quantify the accuracy of muscle-tendon lengths and moment arms estimated using these models.



Models describing the paths of the medial hamstrings and psoas muscles for a wide range of body positions were developed from MR images in one joint configuration by defining kinematic models of the hip and knee, and by specifying "wrapping surfaces" that simulate interactions between the muscles and underlying structures. Our methods for constructing these models were evaluated by comparing hip and knee flexion moment arms estimated from models of three specimens to the moment arms determined experimentally on the same specimens. Because a muscle's moment arm determines its change in length with joint rotation, these comparisons also tested the accuracy with which the models could estimate muscle-tendon lengths over a range of hip and knee motions.



Errors in the moment arms calculated with the models, averaged over functional ranges of hip and knee flexion, were less than 4 mm (within 10% of experimental values).



The combination of MR imaging and graphics-based musculoskeletal modeling provides an accurate and efficient means of estimating muscle-tendon lengths and moment arms in vivo.

title: Evaluation of a Deformable Musculoskeletal Model for Estimating Muscle–Tendon Lengths During Crouch Gait
abstract: AbstractThe hamstrings and psoas muscles are often lengthened surgically in an attempt to correct crouch gait in persons with cerebral palsy. The purpose of this study was to determine if, and under what conditions, medial hamstrings and psoas lengths estimated with a “deformable” musculoskeletal model accurately characterize the lengths of the muscles during walking in individuals with crouch gait. Computer models of four subjects with crouch gait were developed from magnetic resonance (MR) images. These models were used in conjunction with the subjects' measured gait kinematics to calculate the muscle–tendon lengths at the body positions corresponding to walking. The lengths calculated with the MR-based models were normalized and were compared to the lengths estimated using a deformable generic model. The deformable model was either left undeformed and unscaled, or was deformed or scaled to more closely approximate the femoral geometry or bone dimensions of each subject. In most cases, differences between the normalized lengths of the medial hamstrings computed with the deformable and MR-based models were less than 5 mm. Differences in the psoas lengths computed with the deformable and MR-based models were also small (<3 mm) when the deformable model was adjusted to represent the femoral geometry of each subject. This work demonstrates that a deformable musculoskeletal model, in combination with a few subject-specific parameters and simple normalization techniques, can provide rapid and accurate estimates of medial hamstrings and psoas lengths in persons with neuromuscular disorders. 
PAC01: 8719St, 8761-c

title: Model-based estimation of muscle forces exerted during movements.
abstract: Estimation of individual muscle forces during human movement can provide insight into neural control and tissue loading and can thus contribute to improved diagnosis and management of both neurological and orthopaedic conditions. Direct measurement of muscle forces is generally not feasible in a clinical setting, and non-invasive methods based on musculoskeletal modeling should therefore be considered. The current state of the art in clinical movement analysis is that resultant joint torques can be reliably estimated from motion data and external forces (inverse dynamic analysis). Static optimization methods to transform joint torques into estimates of individual muscle forces using musculoskeletal models, have been known for several decades. To date however, none of these methods have been successfully translated into clinical practice. The main obstacles are the lack of studies reporting successful validation of muscle force estimates, and the lack of user-friendly and efficient computer software. Recent advances in forward dynamics methods have opened up new opportunities. Forward dynamic optimization can be performed such that solutions are less dependent on measured kinematics and ground reaction forces, and are consistent with additional knowledge, such as the force-length-velocity-activation relationships of the muscles, and with observed electromyography signals during movement. We conclude that clinical applications of current research should be encouraged, supported by further development of computational tools and research into new algorithms for muscle force estimation and their validation.

title: Preservation of directly stimulated muscle strength in hemiplegia due to stroke.
abstract: Hemiplegia, or hemiparesis, severe impairment of purposeful activation of striated musculature, is the most conspicuous and often most disabling symptom of acute cerebrovascular lesions. Spontaneous improvement of voluntary strength may extend over many months.



In this archetypical upper motor neuron syndrome we wish to ascertain the degree of functional impairment due to direct contractile impairment of the affected striated musculature.



Maximal tetanic muscle contraction was elicited by electrical stimulation applied directly to the tibialis anterior of the paretic and nonparetic limbs. Maximal forces of the normal limbs were compared with the afflicted limbs both early and late after vascular lesions of the pyramidal tract. Maximal voluntary force of foot dorsiflexion in the same limbs was also determined. Similar measurements were made in healthy control participants.



Acute hospital, rehabilitation, and outpatient units of a clinical research center.



Patients with unilateral stroke were studied a few or many weeks after the ictus.



Comparison was made between contraction strengths induced by maximal tetanic electrical stimulation of the dysfunctional and contralateral unaffected muscles. Maximal voluntary strength of the foot dorsiflexion forces was also measured.



Compared with the range of electrically evoked contractile force of tibialis anterior between the limbs of healthy participants, the directly elicited force in stroke-impaired tibialis anterior was not significantly impaired.



Modes of exercise therapy focused primarily on direct strengthening of striated musculature, as in resistive exercise training, are strategically questionable. Whether other approaches may be more effective remains to be proved. The central disability of the upper motor neuron syndrome is failure of rapid coordinated adjustment of graded high-frequency motoneuron firing in purposeful complex synergies.

title: Hemiparetic muscle atrophy and increased intramuscular fat in stroke patients.
abstract: To determine if skeletal muscle atrophy and greater fat deposition within the muscle are present in the hemiparetic limb of chronic (>6 mo) hemiparetic stroke patients.



Cross-sectional study.



Hospital-based research center.



Sixty patients (47 men, 13 women; mean age +/- standard deviation, 65+/-9 y).



Not applicable.



Patients underwent a total body scan by dual-energy x-ray absorptiometry to determine percentage of body fat, total lean mass, fat mass, and lean mass of the paretic and nonaffected legs, thighs, and arms. Thirty patients received computed tomography (CT) scans of their midthigh to determine muscle area, subcutaneous fat, and low-density lean tissue, as a measure of fat within the muscle area, of the paretic and nonaffected midthigh.



Patients were deconditioned (VO(2)peak: 1.2+/-0.3 L/min) with a percentage of body fat of 31.4%+/-9.8% and total lean mass of 51.4+/-9.1 kg. Lean mass of the paretic leg and thigh were 4% and 3% lower than the nonaffected leg (P<.001), but leg fat was not different. Arm lean mass of the paretic side was 7% lower than the nonaffected side, whereas arm fat was not different. CT studies showed that midthigh muscle area was 20% lower in the paretic limb than in the nonaffected leg (P<.001), midthigh subcutaneous fat was similar, and midthigh low-density lean tissue showed a trend to be 3% higher in the paretic leg (P=.06). The ratio of midthigh low-density lean tissue to muscle area was higher in the paretic leg (P<.001), which indicates a greater intramuscular fat relative to muscle area in the affected limb.



Our results show hemiparetic skeletal muscle atrophy and more fat within the muscle, factors that may contribute to functional disability and increased cardiovascular disease risk in chronic hemiparetic stroke patients.

title: Different types of disturbed motor control in gait of hemiparetic patients.
abstract: The pattern of muscle activation in walking was studied in a group of 26 hemiparetic patients. Electromyograms were taken with surface electrodes from 6 muscle groups of the paretic leg and analysed after rectification and time averaging. The sagittal rotations in hip, knee and ankle joint were determined with intermittent light photography. The muscle activation pattern of each patient was compared to that in healthy subjects as well as to the movements performed by the patient and to the normal movement pattern. The normal patterns of movement and muscle activation were assessed from compiled data from 10 healthy female volunteers and average values of angular displacements and amplitude of intergrated EMG were determined at each 5 per cent of the gait cycle. Change of muscle length was determined with a length recording transducer. Gait capacity varied highly in the group of patients studied and the movement pattern also varied markedly. Three types of abnormal muscle activation pattern were disclosed in the patients. In 9 patients, the calf muscles were prematurely activated in the stance phase, probably due to enhanced stretch reflexes (Type I). In another 9 patients, EMG activity was abolished or extremely low in 2 or more of the muscles examined (Type II). In 4 patients, there was a pathological coactivation of several or all of the muscles during part of the gait-cycle, thus disrupting the normal sequential shift of activity in antagonistic muscles (Type III). In the remaining 4 patients, the muscle activation pattern was more complex and no common pattern was discerned.

title: Paretic muscle atrophy and non-contractile tissue content in individual muscles of the post-stroke lower extremity.
abstract: Muscle atrophy is one of many factors contributing to post-stroke hemiparetic weakness. Since muscle force is a function of muscle size, the amount of muscle atrophy an individual muscle undergoes has implications for its overall force-generating capability post-stroke. In this study, post-stroke atrophy was determined bilaterally in fifteen leg muscles with volumes quantified using magnetic resonance imaging (MRI). All muscle volumes were adjusted to exclude non-contractile tissue content, and muscle atrophy was quantified by comparing the volumes between paretic and non-paretic sides. Non-contractile tissue or intramuscular fat was calculated by determining the amount of tissue excluded from the muscle volume measurement. With the exception of the gracilis, all individual paretic muscles examined had smaller volumes in the non-paretic side. The average decrease in volume for these paretic muscles was 23%. The gracilis volume, on the other hand, was approximately 11% larger on the paretic side. The amount of non-contractile tissue was higher in all paretic muscles except the gracilis, where no difference was observed between sides. To compensate for paretic plantar flexor weakness, one idea might be that use of the paretic gracilis actually causes the muscle to increase in size and not develop intramuscular fat. By eliminating non-contractile tissue from our volume calculations, we have presented volume data that more appropriately represents force-generating muscle tissue. Non-uniform muscle atrophy was observed across muscles and may provide important clues when assessing the effect of muscle atrophy on post-stroke gait.

title: Hemiparetic gait following stroke. Part I: Characteristics
abstract: The biomechanical patterns that characterize the gait of persons who have sustained a stroke are reviewed. Reduced walking speed and longer stance phases, greater on the unaffected side, are reported. Variations in joint excursions include several deviations at initial contact and reduced excursions during swing. Electromyographic patterns have provided a classification method. Joint moment reports were variable, but included high hip flexor moments in late stance, positively related to speed. The muscle groups of the unaffected side performed about 60% of the work of walking across speeds. Commonly occurring gait deviations resulting from particular impairments or adaptations to impairments are identified.

title: Using submaximal contractions to predict the maximum force‐generating ability of muscles
abstract: Muscle weakness can be caused by decreases in either the maximum force‐generating ability of a muscle (MFGA) or neural drive from the nervous system (e.g., after a stroke). Presently, there is no agreed‐upon practical method for calculating the MFGA in individuals with central nervous system pathology. The purpose of this study was to identify the best method for determining MFGA.  The predicted and estimated MFGA of the muscles of 23 non‐neurologically impaired subjects (13 males, 21.9 ± 1.9 years) were compared using the burst superimposition, twitch interpolation, doublet interpolation, twitch‐to‐tetanus ratio, and the adjusted burst superimposition methods.  The adjusted burst superimposition test was the most accurate predictor of MFGA.  Further testing is needed to validate the use of the adjusted burst superimposition test in a neurologically impaired population. Muscle Nerve 45: 849–858, 2012

title: Measurement of central activation failure of the quadriceps femoris in healthy adults
abstract: The purpose of this investigation was to describe the relationship between the central activation ratio (CAR) and the percent maximum voluntary effort (% MVE) during isometric quadriceps femoris contractions. Twenty‐one healthy, young adults participated in three test sessions. During each session, one of three train types was tested: a 100‐Hz 120‐ms train, a 100‐Hz 250‐ms train, or a 50‐Hz 500‐ms train. Subjects were seated on a force dynamometer and stabilized to perform a 3–5‐s isometric knee extension at MVE. Force targets were set at 25, 50, 75, and 100% of the MVE. With 5 min rest between efforts, subjects produced forces at the specified target levels. When each target was reached, the test train was delivered to quantify the amount of central activation. There were no significant differences in CARs across train types during maximal efforts, but during submaximal efforts at 25 and 50%, the 100‐Hz 250‐ms and 50‐Hz 500‐ms trains produced significantly lower CARs than the 100‐Hz 120‐ms train. The relationship between the CAR and the %MVE was curvilinear and best described by a second‐order polynomial for all three train types. If tests of central activation are going to be used clinically, it is important to know the relationship between the CAR and voluntary effort; however, further study will be required to extend these results to specific patient populations.

title: Validation of an adjustment equation for the burst superimposition technique in subjects post‐stroke
abstract: Deficits in voluntary force generation may be due to incomplete activation or decreased maximum force‐generating ability (MFGA) of the targeted muscle. The validity of techniques used to measure MFGA in individuals post‐stroke has not been assessed. The objective of this study was to determine the reliability of the MFGA predicted using an adjusted burst superimposition method within a post‐stroke population.  Differences in paretic‐side plantar flexor muscle MFGA between 2 trials was calculated using the standard and adjusted burst superimposition technique for 17 individuals post‐stroke (15 men, 58.7 ± 10 years of age, ≥6 months post‐stroke) to assess reliability of the techniques.  The adjusted measurement was shown to be more reliable (P = 0.03), especially when volitional effort differed by >40 N.  Reliable measurement of the MFGA in individuals who have sustained a stroke is of clinical importance. These results suggest that the adjusted burst superimposition method may be useful when performing multiple measurements of muscle performance. Muscle Nerve 46: 267–269, 2012

title: Muscle volume as a predictor of maximum force generating ability in the plantar flexors post‐stroke
abstract: Post‐stroke muscle weakness is commonly thought to be the result of a combination of decreased voluntary activation and decreased maximum force generating ability (MFGA). We assessed the ability of muscle volumes obtained using MRI to estimate the MFGA of the plantar flexor muscle group in individuals post‐stroke.  MRI was used to measure muscle volume of the plantar flexor muscle group in 17 individuals with post‐stroke hemiparesis. A modified burst superimposition test was used to measure force of volitional contraction and predict the MFGA of the plantar flexors.  While muscle volume obtained by means of MRI provided information on the overall size of muscle, it overestimated the force generating ability of the paretic plantar flexors.  Results suggest that MRI‐derived muscle volume underestimates the functional impairment in individuals post‐stroke. Interestingly, the central activation ratio had a strong relationship with the maximum volitional force of contraction. Muscle Nerve 48: 971–976, 2013

title: Voluntary activation failure contributes more to plantar flexor weakness than antagonist coactivation and muscle atrophy in chronic stroke survivors.
abstract: The contributions of nervous system muscle activation and muscle atrophy to poststroke weakness have not been evaluated together in the same subject. Maximal voluntary contraction (MVC) torque, voluntary activation (twitch interpolation), and electromyographic (EMG) amplitude were determined bilaterally in the plantar flexors of seven chronic stroke survivors (40-63 yr, 24-51 mo poststroke). Volumes of the plantar flexor muscles were determined bilaterally with magnetic resonance imaging (MRI). The mean (±SD) contralesional (paretic) MVC torque was less than one-half of the ipsilesional leg: 56.7 ± 57.4 vs. 147 ± 35.7 Nm (P = 0.006). Contralesional voluntary activation was only 48 ± 36.9%, but was near complete in the ipsilesional leg, 97 ± 1.9% (P = 0.01). The contralesional MVC EMG amplitude (normalized to the maximum M-wave peak-to-peak amplitude) of the gastrocnemii and soleus were 36.0 ± 28.5 and 36.0 ± 31.0% of the ipsilesional leg. Tibialis anterior (TA) EMG coactivation was not different between the contralesional (23.2 ± 24.0% of TA MVC EMG) and ipsilesional side (12.3 ± 5.7%) (P = 0.24). However, TA EMG coactivation was excessive (71%) in one subject and accounted for ~8% of her weakness based on the estimated antagonist torque. Relative (%ipsilesional leg) plantar flexor and gastrocnemii volumes were 88 ± 6% (P = 0.004) and 76 ± 15% (P = 0.01), respectively. Interlimb volume differences of the soleus, deep plantar flexors, and peronei were not significant. Preferred walking speed (0.83 ± 0.33 m/s) was related to the contralesional MVC torque (r(2) = 0.57, P = 0.05, N = 7), but the two subjects with the greatest weakness walked faster than three others. Our findings suggest that plantar flexor weakness in mobile chronic stroke survivors reflects mostly voluntary activation failure, with smaller contributions from antagonist activity and atrophy.

title: Neuromuscular performance of paretic versus non-paretic plantar flexors after stroke
abstract: The objective of this study was to compare the neuromuscular function of the paretic and non-paretic plantar flexors (i.e. soleus, gastrocnemius medialis, lateralis) in chronic stroke patients. It was hypothesized that the contractile rate of force development (RFD) and neural activation, assessed by electromyogram (EMG) and V-waves normalized to the M-wave, and voluntary activation (twitch interpolation) would be reduced during plantar flexor maximum voluntary isometric contraction and that the evoked muscle twitch properties would be reduced in the paretic limb. Ten chronic stroke survivors completed the study. The main findings were that the paretic side showed deteriorated function compared to the non-paretic leg in terms of (1) RFD in all analyzed time windows from force onset to 250 ms, although relative RFD (i.e. normalized to maximum voluntary force) was similar; (2) fast neural activation (for most analyzed time windows), assessed by EMG activity in time windows from EMG onset to 250 ms; (3) V-wave responses (except for gastrocnemius medialis); (4) voluntary activation; (5) the evoked peak twitch force, although there was no evidence of intrinsic muscle slowing; (6) EMG activity obtained at maximal voluntary force. In conclusion, this study demonstrates considerable neuromuscular asymmetry of the plantar flexors in chronic stroke survivors. Effective rehabilitation regimes should be investigated.

title: Predictability of maximum voluntary isometric knee extension force from submaximal contractions in older adults
abstract: The purposes of this study were to develop and test a model describing the relationship between the central activation ratio (CAR; a measure of voluntary muscle activation) and percent maximum voluntary contraction (%MVC) force for old adults and to provide a method for more accurate determination of voluntary muscle activation failure. Twenty‐one adults (ages 64–81) performed isometric testing of the quadriceps at 25%, 50%, 75%, and 100% MVC. During each contraction, a 100‐HZ, 120‐ms train of electrical pulses was delivered to the quadriceps muscle to quantify voluntary muscle activation. Similar to a young, healthy population (ages 20–35), a curvilinear relationship existed between the CAR and %MVC force for older adults. Predictions of subjects' MVCs using the linear model of CAR–%MVC force relationship generally demonstrated poor agreement with actual MVCs. Predictions of MVC from submaximal contractions (25%, 50%, and 75%) using a previously identified curvilinear young adult CAR–%MVC relationship were good [ICC (2,1): 0.81, 0.96, and 0.82, respectively]. Similar agreement was obtained from the curvilinear older adult CAR–%MVC relationship. These data suggest that the CAR–%MVC relationship is similar in young and older adult subjects and that curvilinear models of this relationship can predict MVC forces in older adults more accurately. Reexamination of the relationship between the CAR and %MVC force may allow a more accurate determination of how failure of voluntary muscle activation contributes to weakness in old adults. Muscle Nerve 27: 40–45, 2003

title: OpenSim: Open-Source Software to Create and Analyze Dynamic Simulations of Movement
abstract: Dynamic simulations of movement allow one to study neuromuscular coordination, analyze athletic performance, and estimate internal loading of the musculoskeletal system. Simulations can also be used to identify the sources of pathological movement and establish a scientific basis for treatment planning. We have developed a freely available, open-source software system (OpenSim) that lets users develop models of musculoskeletal structures and create dynamic simulations of a wide variety of movements. We are using this system to simulate the dynamics of individuals with pathological gait and to explore the biomechanical effects of treatments. OpenSim provides a platform on which the biomechanics community can build a library of simulations that can be exchanged, tested, analyzed, and improved through a multi-institutional collaboration. Developing software that enables a concerted effort from many investigators poses technical and sociological challenges. Meeting those challenges will accelerate the discovery of principles that govern movement control and improve treatments for individuals with movement pathologies.

title: Generating dynamic simulations of movement using computed muscle control.
abstract: Computation of muscle excitation patterns that produce coordinated movements of muscle-actuated dynamic models is an important and challenging problem. Using dynamic optimization to compute excitation patterns comes at a large computational cost, which has limited the use of muscle-actuated simulations. This paper introduces a new algorithm, which we call computed muscle control, that uses static optimization along with feedforward and feedback controls to drive the kinematic trajectory of a musculoskeletal model toward a set of desired kinematics. We illustrate the algorithm by computing a set of muscle excitations that drive a 30-muscle, 3-degree-of-freedom model of pedaling to track measured pedaling kinematics and forces. Only 10 min of computer time were required to compute muscle excitations that reproduced the measured pedaling dynamics, which is over two orders of magnitude faster than conventional dynamic optimization techniques. Simulated kinematics were within 1 degrees of experimental values, simulated pedal forces were within one standard deviation of measured pedal forces for nearly all of the crank cycle, and computed muscle excitations were similar in timing to measured electromyographic patterns. The speed and accuracy of this new algorithm improves the feasibility of using detailed musculoskeletal models to simulate and analyze movement.

title: Pre-swing deficits in forward propulsion, swing initiation and power generation by individual muscles during hemiparetic walking.
abstract: Clinical studies of hemiparetic walking have shown pre-swing abnormalities in the paretic leg suggesting that paretic muscle contributions to important biomechanical walking subtasks are different than those of non-disabled individuals. Three-dimensional forward dynamics simulations of two representative hemiparetic subjects with different levels of walking function classified by self-selected walking speed (i.e., limited community=0.4-0.8 m/s and community walkers = or > 0.8m/s) and a speed-matched control were generated to quantify individual muscle contributions to forward propulsion, swing initiation and power generation during the pre-swing phase (i.e., double support phase proceeding toe-off). Simulation analyses identified decreased paretic soleus and gastrocnemius contributions to forward propulsion and power generation as the primary impairment in the limited community walker compared to the control subject. The non-paretic leg did not compensate for decreased forward propulsion by paretic muscles during pre-swing in the limited community walker. Paretic muscles had the net effect to absorb energy from the paretic leg during pre-swing in the community walker suggesting that deficits in swing initiation are a primary impairment. Specifically, the paretic gastrocnemius and hip flexors (i.e., iliacus, psoas and sartorius) contributed less to swing initiation and the paretic soleus and gluteus medius absorbed more power from the paretic leg in the community walker compared to the control subject. Rehabilitation strategies aimed at diminishing these deficits have much potential to improve walking function in these hemiparetic subjects and those with similar deficits.

title: A comparison of computer-based methods for the determination of onset of muscle contraction using electromyography.
abstract: Little consensus exists in the literature regarding methods for determination of the onset of electromyographic (EMG) activity. The aim of this study was to compare the relative accuracy of a range of computer-based techniques with respect to EMG onset determined visually by an experienced examiner. Twenty-seven methods were compared which varied in terms of EMG processing (low pass filtering at 10, 50 and 500 Hz), threshold value (1, 2 and 3 SD beyond mean of baseline activity) and the number of samples for which the mean must exceed the defined threshold (20, 50 and 100 ms). Three hundred randomly selected trials of a postural task were evaluated using each technique. The visual determination of EMG onset was found to be highly repeatable between days. Linear regression equations were calculated for the values selected by each computer method which indicated that the onset values selected by the majority of the parameter combinations deviated significantly from the visually derived onset values. Several methods accurately selected the time of onset of EMG activity and are recommended for future use.

title: Are voluntary muscle activation deficits in older adults meaningful?
abstract: The relationship between the central activation ratio (CAR) and contraction force is curvilinear, not linear as was previously believed. Voluntary quadriceps femoris muscle activation from previously collected data sets in 46 older adults (64–84 years) and 46 young adults (18–32 years) were therefore reexamined using a curvilinear model of the voluntary muscle activation–percent maximum voluntary force relationship. This method revealed lower voluntary muscle activation in older adults (0.868 ± 0.018) than younger subjects (0.978 ± 0.005). The mean difference between older and younger adults was 11%, which may be more meaningful than previous reports of 2–4% because it could explain the greater rate of strength loss as compared to loss of muscle mass as humans age. Muscle Nerve 27: 99–101, 2003

title: Plantarflexor weakness as a limiting factor of gait speed in stroke subjects and the compensating role of hip flexors.
abstract: To determine, using the Muscular Utilization Ratio (MUR) method, whether plantarflexor weakness is among the factors preventing stroke subjects from walking at faster speeds. Potential compensations by the hip flexors were also examined.



A convenience sample of 17 chronic stroke subjects in a context of a descriptive study.



Gait speed is correlated with the residual strength of the muscles involved in gait in stroke subjects. However, it has not been established if this residual strength limits gait speed.



Kinetic and kinematic data for comfortable and maximal gait speeds were collected on the paretic side, and were used to determine the moments in plantarflexion (mechanical demand: MUR numerator) during the push-off phase. The maximal potential moment (MUR denominator) of the plantarflexors during gait was predicted using an equation derived from dynamometric data collected with a Biodex system. The MURs of the plantarflexors were then calculated at every 1% interval of the push-off phase. The pull-off phase of gait and the hip flexor strength were also examined.



Ten subjects of the sample had a MUR value between 80 and 150% at maximal gait speed. These subjects produced the lowest peak torques in plantarflexion. Each of the four fastest subjects of this group had a large hip flexion moment during the pull-off phase of gait and produced high hip flexion torque values on the dynamometer. Each of the seven remaining subjects had a MUR value under 70% when they walked at maximal speed.



Weakness of the plantarflexors should be considered as one factor limiting gait speed in 10 hemiparetic subjects. Some subjects with weak plantarflexors could walk rapidly because they compensated with the hip flexors. For the remaining stroke subjects, factors other than weakness of the plantarflexors have to be considered in order to explain the reduction in their gait speed.

title: Contributions of the individual ankle plantar flexors to support, forward progression and swing initiation during walking.
abstract: Walking is a motor task requiring coordination of many muscles. Previous biomechanical studies, based primarily on analyses of the net ankle moment during stance, have concluded different functional roles for the plantar flexors. We hypothesize that some of the disparities in interpretation arise because of the effects of the uniarticular and biarticular muscles that comprise the plantar flexor group have not been separated. Furthermore, we believe that an accurate determination of muscle function requires quantification of the contributions of individual plantar flexor muscles to the energetics of individual body segments. In this study, we examined the individual contributions of the ankle plantar flexors (gastrocnemius (GAS); soleus (SOL)) to the body segment energetics using a musculoskeletal model and optimization framework to generate a forward dynamics simulation of normal walking at 1.5 m/s. At any instant in the gait cycle, the contribution of a muscle to support and forward progression was defined by its contribution to trunk vertical and horizontal acceleration, respectively, and its contribution to swing initiation by the mechanical energy it delivers to the leg in pre-swing (i.e., double-leg stance prior to toe-off). GAS and SOL were both found to provide trunk support during single-leg stance and pre-swing. In early single-leg stance, undergoing eccentric and isometric activity, they accelerate the trunk vertically but decelerate forward trunk progression. In mid single-leg stance, while isometric, GAS delivers energy to the leg while SOL decelerates it, and SOL delivers energy to the trunk while GAS decelerates it. In late single-leg stance through pre-swing, though GAS and SOL both undergo concentric activity and accelerate the trunk forward while decelerating the downward motion of the trunk (i.e., providing forward progression and support), they execute different energetic functions. The energy produced from SOL accelerates the trunk forward, whereas GAS delivers almost all its energy to accelerate the leg to initiate swing. Although GAS and SOL maintain or accelerate forward motion in mid single-leg stance through pre-swing, other muscles acting at the beginning of stance contribute comparably to forward progression. In summary, throughout single-leg stance both SOL and GAS provide vertical support, in mid single-leg stance SOL and GAS have opposite energetic effects on the leg and trunk to ensure support and forward progression of both the leg and trunk, and in pre-swing only GAS contributes to swing initiation.