Leg force interference in polypedal locomotion.
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ABSTRACT:
SUBMITTER: Weihmann T
PROVIDER: S-EPMC6124917 | biostudies-literature |
REPOSITORIES: biostudies-literature
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Project description:Inter-specifically, relative energy costs of terrestrial transport vary several-fold. Many pair-wise differences of locomotor costs between similarly-sized species are considerable, and are yet to be explained by morphology or gait kinematics. Foot contact time, a proxy for rate of force production, is a strong predictor of locomotor energy costs across species of different size and might predict variability between similarly sized species. We tested for a relationship between foot contact time and metabolic rate during locomotion from published data. We investigated the phylogenetic correlation between energy expenditure rate and foot contact time, conditioned on fixed effects of mass and speed. Foot contact time does not explain variance in rate of energy expenditure during locomotion, once speed and body size are accounted for. Thus, perhaps surprisingly, inter-specific differences in the mass-independent net cost of terrestrial transport (NCOT) are not explained by rates of force production. We also tested for relationships between locomotor energy costs and eco-physiological variables. NCOT did not relate to any of the tested eco-physiological variables; we thus conclude either that interspecific differences in transport cost have no influence on macroecological and macrophysiological patterns, or that NCOT is a poor indicator of animal energy expenditure beyond the treadmill.
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Project description:In contrast to the upright trunk in humans, trunk orientation in most birds is almost horizontal (pronograde). It is conceivable that the orientation of the heavy trunk strongly influences the dynamics of bipedal terrestrial locomotion. Here, we analyse for the first time the effects of a pronograde trunk orientation on leg function and stability during bipedal locomotion. For this, we first inferred the leg function and trunk control strategy applied by a generalized small bird during terrestrial locomotion by analysing synchronously recorded kinematic (three-dimensional X-ray videography) and kinetic (three-dimensional force measurement) quail locomotion data. Then, by simulating quail gaits using a simplistic bioinspired numerical model which made use of parameters obtained in in vivo experiments with real quail, we show that the observed asymmetric leg function (left-skewed ground reaction force and longer leg at touchdown than at lift-off) is necessary for pronograde steady-state locomotion. In addition, steady-state locomotion becomes stable for specific morphological parameters. For quail-like parameters, the most common stable solution is grounded running, a gait preferred by quail and most of the other small birds. We hypothesize that stability of bipedal locomotion is a functional demand that, depending on trunk orientation and centre of mass location, constrains basic hind limb morphology and function, such as leg length, leg stiffness and leg damping.
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Project description:Simple optimization models show that bipedal locomotion may largely be governed by the mechanical work performed by the legs, minimization of which can automatically discover walking and running gaits. Work minimization can reproduce broad aspects of human ground reaction forces, such as a double-peaked profile for walking and a single peak for running, but the predicted peaks are unrealistically high and impulsive compared to the much smoother forces produced by humans. The smoothness might be explained better by a cost for the force rather than work produced by the legs, but it is unclear what features of force might be most relevant. We therefore tested a generalized force cost that can penalize force amplitude or its n-th time derivative, raised to the p-th power (or p-norm), across a variety of combinations for n and p. A simple model shows that this generalized force cost only produces smoother, human-like forces if it penalizes the rate rather than amplitude of force production, and only in combination with a work cost. Such a combined objective reproduces the characteristic profiles of human walking (R² = 0.96) and running (R² = 0.92), more so than minimization of either work or force amplitude alone (R² = -0.79 and R² = 0.22, respectively, for walking). Humans might find it preferable to avoid rapid force production, which may be mechanically and physiologically costly.
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Project description:Most terrestrial animals move with a specific number of propulsive legs, which differs between clades. The reasons for these differences are often unknown and rarely queried, despite the underlying mechanisms being indispensable for understanding the evolution of multilegged locomotor systems in the animal kingdom and the development of swiftly moving robots. Moreover, when speeding up, a range of species change their number of propulsive legs. The reasons for this behaviour have proven equally elusive. In animals and robots, the number of propulsive legs also has a decisive impact on the movement dynamics of the centre of mass. Here, I use the leg force interference model to elucidate these issues by introducing gradually declining ground reaction forces in locomotor apparatuses with varying numbers of leg pairs in a first numeric approach dealing with these measures' impact on locomotion dynamics. The effects caused by the examined changes in ground reaction forces and timing thereof follow a continuum. However, the transition from quadrupedal to a bipedal locomotor system deviates from those between multilegged systems with different numbers of leg pairs. Only in quadrupeds do reduced ground reaction forces beneath one leg pair result in increased reliability of vertical body oscillations and therefore increased energy efficiency and dynamic stability of locomotion.
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Project description:BackgroundEnergy cost of transport per unit distance (CoT) against speed shows U-shaped fashion in walking and linear fashion in running, indicating that there exists a specific walking speed minimizing the CoT, being defined as economical speed (ES). Another specific gait speed is the intersection speed between both fashions, being called energetically optimal transition speed (EOTS). We measured the ES, EOTS, and muscle activities during walking and running at the EOTS under hyperoxia (40% fraction of inspired oxygen) on the level and uphill gradients (+ 5%).MethodsOxygen consumption [Formula: see text] and carbon dioxide output [Formula: see text] were measured to calculate the CoT values at eight walking speeds (2.4-7.3 km h-1) and four running speeds (7.3-9.4 km h- 1) in 17 young males. Electromyography was recorded from gastrocnemius medialis, gastrocnemius lateralis (GL), and tibialis anterior (TA) to evaluate muscle activities. Mean power frequency (MPF) was obtained to compare motor unit recruitment patterns between walking and running.Results[Formula: see text], [Formula: see text], and CoT values were lower under hyperoxia than normoxia at faster walking speeds and any running speeds. A faster ES on the uphill gradient and slower EOTS on both gradients were observed under hyperoxia than normoxia. GL and TA activities became lower when switching from walking to running at the EOTS under both FiO2 conditions on both gradients, so did the MPF in the TA.ConclusionsES and EOTS were influenced by reduced metabolic demands induced by hyperoxia. GL and TA activities in association with a lower shift of motor unit recruitment patterns in the TA would be related to the gait selection when walking or running at the EOTS.Trial registrationUMIN000017690 ( R000020501 ). Registered May 26, 2015, before the first trial.
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Project description:Assistive devices can be considered as one of the main applications of legged locomotion research in daily life. In order to develop an efficient and comfortable prosthesis or exoskeleton, biomechanical studies on human locomotion are very useful. In this paper, the applicability of the FMCH (force modulated compliant hip) model is investigated for control of lower limb wearable exoskeletons. This is a bioinspired method for posture control, which is based on the virtual pivot point (VPP) concept, found in human walking. By implementing the proposed method on a detailed neuromuscular model of human walking, we showed that using a biarticular actuator parallel to the hamstring muscle, activation in most of the leg muscles can be reduced. In addition, the total metabolic cost of motion is decreased up to 12%. The simple control rule of assistance is based on leg force feedback which is the only required sensory information.
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Project description:BackgroundIdentification and culling of replacement gilts with poor skeletal conformation and feet and leg (FL) unsoundness is an approach used to reduce sow culling and mortality rates in breeding stock. Few candidate genes related to soundness traits have been identified in the pig.MethodsIn this study, 2066 commercial females were scored for 17 traits describing body conformation and FL structure, and were used for association analyses. Genotyping of 121 SNPs derived from 95 genes was implemented using Sequenom's MassARRAY system.ResultsBased on the association results from single trait and principal components using mixed linear model analyses and false discovery rate testing, it was observed that APOE, BMP8, CALCR, COL1A2, COL9A1, DKFZ, FBN1 and VDBP were very highly significantly (P < 0.001) associated with body conformation traits. The genes ALOX5, BMP8, CALCR, OPG, OXTR and WNT16 were very highly significantly (P < 0.001) associated with FL structures, and APOE, CALCR, COL1A2, GNRHR, IHH, MTHFR and WNT16 were highly significantly (P < 0.01) associated with overall leg action. Strong linkage disequilibrium between CALCR and COL1A2 on SSC9 was detected, and haplotype -ACGACC- was highly significantly (P < 0.01) associated with overall leg action and several important FL soundness traits.ConclusionThe present findings provide a comprehensive list of candidate genes for further use in fine mapping and biological functional analyses.
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Project description:The functions of the Hsp70 genes were studied using a line of D. melanogaster with knockout of six these genes out of thirteen. Namely, effect of knockout of Hsp70 genes on negative geotaxis climbing (locomotor) speed and the ability to adapt to climbing training (0.5-1.5 h/day, 7 days/week, 19 days) were examined. Seven- and 23-day-old Hsp70– flies demonstrated a comparable reduction (2-fold) in locomotor speed and widespread changes in leg skeletal muscle transcriptome (RNA-seq), compared to w1118 flies. To identify the functions of genes related to decreased locomotor speed the overlapped differentially expressed genes at both time points were analyzed: the up-regulated genes encoded extracellular proteins, regulators of drug metabolism and antioxidant response, while down-regulated genes encoded regulators of carbohydrate metabolism and transmembrane proteins. Additionally, in Hsp70– flies, activation of transcription factors related to disruption of the fibril structure and heat shock response (Hsf) were predicted, using the position weight matrix approach. In the control flies, adaptation to chronic exercise training was associated mainly with gene response to a single exercise bout, while the predicted transcription factors were related to stress/immune (Hsf, NF-kB, etc.) and early gene response. In contrast, Hsp70– flies demonstrated no adaptation to training, as well as significantly impaired gene response to a single exercise bout. In conclusion, the knockout of Hsp70 genes not only reduced physical performance, but also disrupted adaptation to chronic physical training, which is associated with changes in leg skeletal muscle transcriptome and impaired gene response to a single exercise bout.
2023-08-01 | GSE239395 | GEO
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