A Novel Theoretical Framework for the Dynamic Stability Analysis, Movement Control, and Trajectory Generation in a Multisegment Biomechanical Model

2008 ◽  
Vol 131 (1) ◽  
Author(s):  
Kamran Iqbal ◽  
Anindo Roy
Keyword(s):  
Postural Control ◽  
Force Feedback ◽  
Sagittal Plane ◽  
Muscle Length ◽  
Muscle Stiffness ◽  
Proprioceptive Feedback ◽  
Neural Pathways ◽  
Postural Control System ◽  
Movement Trajectories ◽  
Biomechanical Models

We consider a simplified characterization of the postural control system that embraces two broad components: one representing the musculoskeletal dynamics in the sagittal plane and the other representing proprioceptive feedback and the central nervous system (CNS). Specifically, a planar four-segment neuromusculoskeletal model consisting of the ankle, knee, and hip degrees-of-freedom (DOFs) is described in this paper. The model includes important physiological constructs such as Hill-type muscle model, active and passive muscle stiffnesses, force feedback from the Golgi tendon organ, muscle length and rate feedback from the muscle spindle, and transmission latencies in the neural pathways. A proportional-integral-derivative (PID) controller for each individual DOF is assumed to represent the CNS analog in the modeling paradigm. Our main hypothesis states that all stabilizing PID controllers for such multisegment biomechanical models can be parametrized and analytically synthesized. Our analytical and simulation results show that the proposed representation adequately shapes a postural control that (a) possesses good disturbance rejection and trajectory tracking, (b) is robust against feedback latencies and torque perturbations, and (c) is flexible to embrace changes in the musculoskeletal parameters. We additionally present detailed sensitivity analysis to show that control under conditions of limited or no proprioceptive feedback results in (a) significant reduction in the stability margins, (b) substantial decrease in the available stabilizing parameter set, and (c) oscillatory movement trajectories. Overall, these results suggest that anatomical arrangement, active muscle stiffness, force feedback, and physiological latencies play a major role in shaping motor control processes in humans.

scholarly journals Age-related changes in leg proprioception: implications for postural control

2019 ◽  
Vol 122 (2) ◽  
pp. 525-538 ◽  
Author(s):  
Mélanie Henry ◽  
Stéphane Baudry
Keyword(s):  
Postural Control ◽  
Neural Control ◽  
Body Position ◽  
Muscle Length ◽  
Functional Independence ◽  
Body Sway ◽  
Neural Pathways ◽  
Age Related ◽  
Proprioceptive Signal ◽  
Upright Standing

In addition to being a prerequisite for many activities of daily living, the ability to maintain steady upright standing is a relevant model to study sensorimotor integrative function. Upright standing requires managing multimodal sensory inputs to produce finely tuned motor output that can be adjusted to accommodate changes in standing conditions and environment. The sensory information used for postural control mainly arises from the vestibular system of the inner ear, vision, and proprioception. Proprioception (sense of body position and movement) encompasses signals from mechanoreceptors (proprioceptors) located in muscles, tendons, and joint capsules. There is general agreement that proprioception signals from leg muscles provide the primary source of information for postural control. This is because of their exquisite sensitivity to detect body sway during unperturbed upright standing that mainly results from variations in leg muscle length induced by rotations around the ankle joint. However, aging is associated with alterations of muscle spindles and their neural pathways, which induce a decrease in the sensitivity, acuity, and integration of the proprioceptive signal. These alterations promote changes in postural control that reduce its efficiency and thereby may have deleterious consequences for the functional independence of an individual. This narrative review provides an overview of how aging alters the proprioceptive signal from the legs and presents compelling evidence that these changes modify the neural control of upright standing.

Correction of Posture Deviations in the Sagittal Plane Using the Pilates Method

2019 ◽  
pp. 3-13
Author(s):  
Alexandru Cîtea ◽  
George-Sebastian Iacob
Keyword(s):  
Low Back Pain ◽  
Back Pain ◽  
Postural Control ◽  
Human Body ◽  
Sagittal Plane ◽  
The Body ◽  
Lower Limbs ◽  
Low Back ◽  
Pilates Method ◽  
The Relationship

Posture is commonly perceived as the relationship between the segments of the human body upright. Certain parts of the body such as the cephalic extremity, neck, torso, upper and lower limbs are involved in the final posture of the body. Musculoskeletal instabilities and reduced postural control lead to the installation of nonstructural posture deviations in all 3 anatomical planes. When we talk about the sagittal plane, it was concluded that there are 4 main types of posture deviation: hyperlordotic posture, kyphotic posture, rectitude and "sway-back" posture.Pilates method has become in the last decade a much more popular formof exercise used in rehabilitation. The Pilates method is frequently prescribed to people with low back pain due to their orientation on the stabilizing muscles of the pelvis. Pilates exercise is thus theorized to help reactivate the muscles and, by doingso, increases lumbar support, reduces pain, and improves body alignment.

scholarly journals Habitual Physical Activity as a Determinant of the Effect of Moderate Physical Exercise on Postural Control in Older Men

2012 ◽  
Vol 7 (1) ◽  
pp. 58-65 ◽  
Author(s):  
Rafał Stemplewski ◽  
Janusz Maciaszek ◽  
Maciej Tomczak ◽  
Robert Szeklicki ◽  
Dorota Sadowska ◽  
...  
Keyword(s):  
Physical Activity ◽  
Postural Control ◽  
Sagittal Plane ◽  
Center Of Pressure ◽  
Force Plate ◽  
Frontal Plane ◽  
Habitual Physical Activity ◽  
Similar Reaction ◽  
Mean Velocity ◽  
Ergometer Exercise

The aim of the study was to compare the effect of exercise on postural control (PC) among the elderly with lower or higher level of habitual physical activity (HPA). The study involved 17 elderly men (mean age 72.9 ± 4.79 years). Mean velocity of the center of pressure (COP) displacements was measured using a force plate both before and after cycle ergometer exercise. A significantly higher increase in mean velocity of COP displacements and its component in the sagittal plane were observed in the group with lower level of HPA in comparison with the group with higher HPA level. Simultaneously, a relatively similar reaction to the exercise in the frontal plane was observed in both groups, possibly connected to the specific type of used exercise, which mainly activated the sagittal muscles.

Whole-body adaptation to novel dynamics does not transfer between effectors

2021 ◽  
Author(s):  
Alison Pienciak-Siewert ◽  
Alaa A Ahmed
Keyword(s):  
Postural Control ◽  
Arm Movement ◽  
Movement Planning ◽  
Reaching Movements ◽  
Whole Body ◽  
Postural Control System ◽  
Movement Dynamics ◽  
Gradual Introduction ◽  
Postural Movement ◽  
The Brain

How does the brain coordinate concurrent adaptation of arm movements and standing posture? From previous studies, the postural control system can use information about previously adapted arm movement dynamics to plan appropriate postural control; however, it is unclear whether postural control can be adapted and controlled independently of arm control. The present study addresses that question. Subjects practiced planar reaching movements while standing and grasping the handle of a robotic arm, which generated a force field to create novel perturbations. Subjects were divided into two groups, for which perturbations were introduced in either an abrupt or gradual manner. All subjects adapted to the perturbations while reaching with their dominant (right) arm, then switched to reaching with their non-dominant (left) arm. Previous studies of seated reaching movements showed that abrupt perturbation introduction led to transfer of learning between arms, but gradual introduction did not. Interestingly, in this study neither group showed evidence of transferring adapted control of arm or posture between arms. These results suggest primarily that adapted postural control cannot be transferred independently of arm control in this task paradigm. In other words, whole-body postural movement planning related to a concurrent arm task is dependent on information about arm dynamics. Finally, we found that subjects were able to adapt to the gradual perturbation while experiencing very small errors, suggesting that both error size and consistency play a role in driving motor adaptation.

The effects of pH on force and stiffness development in mouse muscles

1987 ◽  
Vol 65 (8) ◽  
pp. 1798-1801 ◽  
Author(s):  
J. M. Renaud ◽  
R. B. Stein ◽  
T. Gordon
Keyword(s):  
High Frequency ◽  
Small Amplitude ◽  
Force Production ◽  
Muscle Length ◽  
Low Ph ◽  
Muscle Stiffness ◽  
Average Force ◽  
Cross Bridge ◽  
Effects Of Ph ◽  
Cross Bridges

Changes in force and stiffness during contractions of mouse extensor digitorum longus and soleus muscles were measured over a range of extracellular pH from 6.4 to 7.4. Muscle stiffness was measured using small amplitude (<0.1% of muscle length), high frequency (1.5 kHz) oscillations in length. Twitch force was not significantly affected by changes in pH, but the peak force during repetitive stimulation (2, 3, and 20 pulses) was decreased significantly as the pH was reduced. Changes in muscle stiffness with pH were in the same direction, but smaller in extent. If the number of attached cross-bridges in the muscle can be determined from the measurement of small amplitude, high frequency muscle stiffness, then these findings suggest that (a) the number of cross-bridges between thick and thin filaments declines in low pH and (b) the average force per cross-bridge also declines in low pH. The decline in force per cross-bridge could arise from a reduction in the ability of cross-bridges to generate force during their state of active force production and (or) in an increased percentage of bonds in a low force, "rigor" state.

scholarly journals Characteristics of Functional Stability in Young Adolescent Female Artistic Gymnasts

2021 ◽  
Vol 77 (1) ◽  
pp. 51-59
Author(s):  
Agnieszka Opala-Berdzik ◽  
Magdalena Głowacka ◽  
Kajetan J. Słomka
Keyword(s):  
Postural Control ◽  
Center Of Pressure ◽  
National Level ◽  
Stability Limit ◽  
Young Adolescent ◽  
Quiet Standing ◽  
Adolescent Female ◽  
Functional Stability ◽  
Postural Control System ◽  
Stability Limits

Abstract The aim of this study was to determine whether young adolescent female artistic gymnasts demonstrate better functional stability than age- and sex-matched non-athletes. Different characteristics of the gymnasts’ postural control were expected to be observed. Twenty-two 10- to 13-year-old healthy females (ten national-level artistic gymnasts and twelve non-athletes) participated in the study. To assess their forward functional stability, the 30-s limit of stability test was performed on a force plate. The test consisted of three phases: quiet standing, transition to maximal forward leaning, and standing in the maximal forward leaning position. Between-group comparisons of the directional subcomponents of the root mean squares and mean velocities of the center of pressure and rambling-trembling displacements in two phases (quiet standing and standing in maximal leaning) were conducted. Moreover, anterior stability limits were compared. During standing in maximal forward leaning, there were no differences in the center of pressure and rambling measures between gymnasts and non-athletes (p > 0.05). The values of trembling measures in both anterior-posterior and medial-lateral directions were significantly lower in gymnasts (p < 0.05). Both groups presented similar values for anterior stability limits (p > 0.05). The comparisons of rambling components may suggest a similar supraspinal control of standing in the maximal leaning position between gymnasts and healthy non-athletes. However, decreased trembling in gymnasts may indicate reduced noise in their postural control system possibly due to superior control processes at the spinal level. The anterior stability limit was not influenced by gymnastics training in female adolescents.

scholarly journals From template to anchors: transfer of virtual pendulum posture control balance template to adaptive neuromuscular gait model increases walking stability

2019 ◽  
Vol 6 (3) ◽  
pp. 181911 ◽  
Author(s):  
Ayoob Davoodi ◽  
Omid Mohseni ◽  
Andre Seyfarth ◽  
Maziar A. Sharbafi
Keyword(s):  
Force Feedback ◽  
Linear Quadratic Regulator ◽  
Legged Locomotion ◽  
Model Complexity ◽  
Dynamic Features ◽  
Linear Quadratic ◽  
Physiological Level ◽  
Biomechanical Models ◽  
Muscle Dynamics ◽  
Hip Muscles

Biomechanical models with different levels of complexity are of advantage to understand the underlying principles of legged locomotion. Following a minimalistic approach of gradually increasing model complexity based on Template & Anchor concept, in this paper, a spring-loaded inverted pendulum-based walking model is extended by a rigid trunk, hip muscles and reflex control, called nmF (neuromuscular force modulated compliant hip) model. Our control strategy includes leg force feedback to activate hip muscles (originated from the FMCH approach), and a discrete linear quadratic regulator for adapting muscle reflexes. The nmF model demonstrates human-like walking kinematic and dynamic features such as the virtual pendulum (VP) concept, inherited from the FMCH model. Moreover, the robustness against postural perturbations is two times higher in the nmF model compared to the FMCH model and even further increased in the adaptive nmF model. This is due to the intrinsic muscle dynamics and the tuning of the reflex gains. With this, we demonstrate, for the first time, the evolution of mechanical template models (e.g. VP concept) to a more physiological level (nmF model). This shows that the template model can be successfully used to design and control robust locomotor systems with more realistic system behaviours.

scholarly journals Free Energy Principle in Human Postural Control System: Skin Stretch Feedback Reduces the Entropy

2019 ◽  
Vol 9 (1) ◽  
Author(s):  
Pilwon Hur ◽  
Yi-Tsen Pan ◽  
Christian DeBuys
Keyword(s):  
Free Energy ◽  
Control System ◽  
Postural Control ◽  
Standing Balance ◽  
Postural Control System ◽  
Energy Principle ◽  
Free Energy Principle ◽  
Sensory Deficits ◽  
Internal States ◽  
Skin Stretch

AbstractHuman upright standing involves an integration of multiple sensory inputs such as vision, vestibular and somatosensory systems. It has been known that sensory deficits worsen the standing balance. However, how the modulation of sensory information contributes to postural stabilization still remains an open question for researchers. The purpose of this work was to formulate the human standing postural control system in the framework of the free-energy principle, and to investigate the efficacy of the skin stretch feedback in enhancing the human standing balance. Previously, we have shown that sensory augmentation by skin stretch feedback at the fingertip could modulate the standing balance of the people with simulated sensory deficits. In this study, subjects underwent ten 30-second trials of quiet standing balance with and without skin stretch feedback. Visual and vestibular sensory deficits were simulated by having each subject close their eyes and tilt their head back. We found that sensory augmentation by velocity-based skin stretch feedback at the fingertip reduced the entropy of the standing postural sway of the people with simulated sensory deficits. This result aligns with the framework of the free energy principle which states that a self-organizing biological system at its equilibrium state tries to minimize its free energy either by updating the internal state or by correcting body movement with appropriate actions. The velocity-based skin stretch feedback at the fingertip may increase the signal-to-noise ratio of the sensory signals, which in turn enhances the accuracy of the internal states in the central nervous system. With more accurate internal states, the human postural control system can further adjust the standing posture to minimize the entropy, and thus the free energy.

Sign in / Sign up

Export Citation Format

Share Document