Biology subjects

Sawicki, G. S.

Publications and source records attributed to Sawicki, G. S..

17 recordsLinked to original sources

bioRxiv2026

The mammalian muscle spindle as a tunable feedback controller in locomotion

Although muscle spindle sensory signals have been extensively studied, little is known about how and why muscle spindle firing is modulated by the central nervous system during movement. Specialized motor neurons to the muscle spindle, i.e. gamma motor neurons, can profoundly alter spindle firing during behavior, but technological limitations hinder our ability to record gamma motor and muscle spindle sensory signals during most behaviors. We used a biophysical model of a muscle spindle within a muscle-tendon unit to simulate how gamma drive may modulate muscle spindle Ia firing during locomotion. Based on a few available recordings from decerebrate animals, we demonstrate that our model, tuned to passive stretch conditions, can reproduce profound changes in muscle spindle firing in response to identical joint motions in locomotor vs. relaxed stretch conditions. Our model can discover phasic patterns of two types of gamma motor neuron drive based on recorded muscle spindle Ia firing and joint motion. By simulating perturbations, we conclude that: 1) sinusoidal activation of static gamma motor neurons during locomotion, encoding intended movement, modulates muscle spindle signals such that they act as sensorimotor feedback signals based on errors from the intended muscle fascicle length; 2) phasic on/off activation of dynamic gamma motor neurons during locomotion acts as an event detector, heightening muscle spindle Ia responses to discrete perturbations. As such, their muscle-within-muscle structure allows the muscle spindle to act as a highly tunable physical internal model of muscle state to guide movement. Our model supports proposed but as-yet-untested theories of muscle spindle function and offers a framework for extending the testing of muscle spindle function to active, behavioral conditions.

neuroscience↗

bioRxiv2026

More isn't always better: Too much exoskeleton torque can disrupt balance

Wearable exoskeletons are a promising tool for augmenting balance and reducing fall risk. Recent work suggests that active ankle exoskeletons need to act faster than the human to improve reactive balance control. However, the magnitude of exoskeleton torque that is best for improving reactive balance remains unknown. Drawing from the optimal torque for minimizing metabolic expenditure, we hypothesized that reactive balance would improve with increased exoskeleton torque. Participants wearing bilateral ankle exoskeletons were instructed to maintain standing balance during 15cm backward support-surface perturbations. Three exoskeleton plantarflexion torque conditions were tested: NO (Off), LOW (15Nm), or HIGH (30Nm). LOW torque improved balance performance compared to NO torque (p<0.001), with a 7{+/-}3% decrease in peak center of mass (CoM) displacement. Although HIGH torque caused a 9{+/-}11% decrease in peak CoM displacement compared to NO torque (p=0.12), it was not significant due to high intersubject variability. Whereas LOW torque decreased peak CoM displacement in all (range: -0.2 to -1.6cm), HIGH torque only decreased it in some (range = 1.2 to -2.6cm). The change in CoM displacement from LOW to HIGH torque was associated with balance ability, quantified by the narrowing beam test (R2=0.29, p=0.06), while this relationship didnt meet conventional statistical significance, likely due to the small sample size, it suggests that higher levels of exoskeleton torque may hinder balance performance in individuals with better balance ability. Taken together, more exoskeleton torque is not always better for balance, highlighting a potential need to personalize exoskeleton torque for balance augmentation.

bioengineering↗

bioRxiv2026

More Efficient Walking via Temporal and Spatial Energy Transfer in a Passive Biarticular Exosuit

Evaluating bioinspired design principles in wearable assistive devices provides a unique opportunity to interrogate our understanding of the critical factors that enable agile, stable, and economical human movement. We introduce the BiArticular Thigh EXosuit (BATEX), a wearable device integrating two morphological features found in biological legged systems: biarticular muscles and elastic tissues. BATEX employs two biarticular springs spanning the hip and knee to emulate the human rectus femoris and hamstring muscles, creating beneficial synergy to enhance walking economy. This design enables two energy-shuffling mechanisms: temporal (spring-like storage/return at a joint) and spatial (strut-like transfer across joints). In walking experiments at 1.3 m/s with N = 9 participants, a single compliant biarticular spring yielded a 7% metabolic cost reduction compared to walking without BATEX. Individually optimized configurations further improved metabolic reduction to 9%. BATEX morphology allowed users not only to off-load biological joint power (Assist) but also to increase total power (Augment). Across all exosuit configurations, the mechanical impact of the exosuit was reflected by a significant correlation between changes in users biarticular muscles activity and changes in net metabolic rate. In sum, compliant-biarticular exosuit architectures can concurrently assist and augment human lower-limb joint function, providing significant metabolic savings during walking.

bioengineering↗

bioRxiv2026

Experiment-free learning of exoskeleton assistance remains an unsolved problem

In "Experiment-free exoskeleton assistance via learning in simulation", Luo et al. [1] present an ambitious framework for developing exoskeleton controllers through reinforcement learning exclusively in computer simulation. The authors report that a control policy trained on a small dataset from one subject was directly transferred to physical hardware, reducing human metabolic cost during walking, running, and stair climbing by more than any prior device. If confirmed, this would represent a major breakthrough for the field of wearable robotics and their clinical applications. However, a close examination of the published materials casts doubt on these claims. The reported experimental results violate physiological limits on the relationship between mechanical power and muscle energy use during gait2,3,4. The algorithmic claims are surprising and cannot be verified; in contrast with established replicability standards in machine learning5,6, executable code has not been made available. We conclude that the goals of this study have not yet been verifiably achieved and make recommendations for avoiding publication errors of this type in the future.

physiology↗

bioRxiv2025

Influence of exoskeleton stiffness on primary afferent feedback during stretch perturbations of isolated muscle-tendon unit

Exoskeletons assist and augment movement, but their effects on proprioceptive feedback remain poorly understood due to challenges in making direct measures of sensory signals in humans. Here, we leveraged a benchtop animal model to begin to explore how mechanical context akin to an elastic exoskeleton operating on a human lower limb joint may influence primary muscle spindle firing. In an anesthetized rat preparation, we applied controlled stretches to the medial gastrocnemius with engineered springs (0-0.5 N/mm) attached in parallel to the muscle-tendon unit (MTU) while modulating muscle activation to maintain overall system stiffness. Fascicle length was measured with sonomicrometry, force and MTU length with a servo motor, and spindle instantaneous firing rate (IFR) using dorsal root recordings. Trading off increases in parallel exoskeleton stiffness with reductions in muscle activation decreased biological muscle force (3.1 {+/-} 0.6 N to 1.6 {+/-} 0.6 N, p < 0.001) and stiffness (4.4 {+/-} 1.5 N/mm to 2.3 {+/-} 1.3 N/mm, p < 0.01), and increased fascicle length (7.9 {+/-} 1.3 mm to 8.3 {+/-} 1.5 mm, p < 0.005). We found significant correlations between spindle firing and each independent muscle fascicle kinematic and kinetic factor we investigated (p < 0.005). Thus, parallel stiffness emulating a passive elastic exoskeleton modifies muscle fascicle dynamics but does not alter spindle firing, possibly due to internal trade-offs in the salient muscle fascicle kinetic and kinematic features that drive spindle behavior. Leveraging in situ experimental frameworks that enable monitoring of primary afferent feedback during active contractions in complex mechanical contexts such as added parallel stiffness can provide a window into the effects of wearable devices on underlying sensory systems.

neuroscience↗

bioRxiv2025

Mechanical energetic contributions of the rectus femoris during perturbed walking

Animals maintain locomotor stability following external perturbations by coordinating muscular responses to produce desired mechanical behavior at different levels of description (e.g., muscle-tendon units, joints, legs). To investigate the role of proximal musculature in responding to perturbations during human walking, here we extend a previous analysis relating joint and leg levels down to the level of the rectus femoris. Using in-vivo B-mode ultrasound processed with a custom automated fascicle tracking application and EMG measurements to drive Hill-type models of muscle force, we investigated mechanical energetics of the rectus femoris in 7 individuals who experienced rapid, transient unilateral belt accelerations during walking. We hypothesized that: H1) the rectus femoris would actively lengthen on the perturbed leg during the perturbed stride and H2) on the contralateral leg the rectus femoris would reflect the mechanical energetic demand at the knee and leg levels. H1 was partially supported, with the rectus femoris fascicles being decoupled from muscle-tendon unit lengthening. H2 was not supported, with the rectus femoris best reflecting the energetic role of the hip, as opposed to the knee or leg. Overall, these findings provide a first estimate of the variety of roles proximal muscles play in maintaining stability and lay the groundwork for additional in-vivo measurement informed multi-scale analyses of perturbed locomotion.

physiology↗

bioRxiv2024

Center of mass states render multi-joint torques throughout standing balance recovery

Successful reactive balance control requires coordinated modulation of hip, knee, and ankle torques. Stabilizing joint torques arise from feedforward neural signals that modulate the musculoskeletal systems intrinsic mechanical properties, namely muscle short-range stiffness, and neural feedback pathways that activate muscles in response to sensory input. Although feedforward and feedback pathways are known to modulate the torque at each joint, the role of each pathway to the balance-correcting response across joints is poorly understood. Since the feedforward and feedback torque responses act at different delays following perturbations to balance, we modified the sensorimotor response model (SRM), previously used to analyze the muscle activation response to perturbations, to consist of parallel feedback loops with different delays. Each loop within the model is driven by the same information, center of mass (CoM) kinematics, but each loop has an independent delay. We evaluated if a parallel loop SRM could decompose the reactive torques into the feedforward and feedback contributions during balance-correcting responses to backward support surface translations at four magnitudes. The SRM accurately reconstructed reactive joint torques at the hip, knee, and ankle, across all perturbation magnitudes (R2>0.84 & VAF>0.83). Moreover, the hip and knee exhibited feedforward and feedback components, while the ankle only exhibited feedback components. The lack of a feedforward component at the ankle may occur because the compliance of the Achilles tendon attenuates muscle short-range stiffness. Our model may provide a framework for evaluating changes in the feedforward and feedback contributions to balance that occur due to aging, injury, or disease. NEWS AND NOTEWORTHYReactive balance control requires coordination of neurally-mediated feedforward and feedback pathways to generate stabilizing joint torques at the hip, knee, and ankle. Using a sensorimotor response model, we decomposed reactive joint torques into feedforward and feedback contributions based on delays relative to center of mass kinematics. Responses across joints were driven by the same signals, but contributions from feedforward versus feedback pathways differed, likely due to differences in musculotendon properties between proximal and distal muscles.

bioengineering↗

bioRxiv2024

Predictive Control of Musculotendon Loads Across Fast and Slow-twitch Muscles in a Simulated System with Parallel Actuation

Research in lower limb wearable robotic control have largely focused on reducing the metabolic cost of walking or compensating for a portion of the biological joint torque e.g., by applying support proportional to estimated biological joint torques. However, due to different musculotendon unit (MTU) contractile speed properties, less attention has been given to the development of wearable robotic controllers that can steer MTU dynamics directly. Therefore, closed-loop control of MTU dynamics needs to be robust across fiber phenotypes, i.e. ranging from slow type I to fast type IIx in humans. The ability to closed-loop control the in-vivo dynamics of MTUs, could lead to a new class of wearable robots that can provide precise support to targeted MTUs, for preventing onset of injury or to provide precision rehabilitation to selected damaged tissues. In this paper, we introduce a novel closed-loop control framework that utilizes Nonlinear Model Predictive Control (NMPC) to keep the peak Achilles tendon force within predetermined boundaries during diverse range of cyclic force production simulations in the human ankle plantarflexors. This control framework employs a computationally efficient model comprising a modified Hill-type MTU contraction dynamics component and a model of the ankle joint with parallel actuation. Results indicate that the closed-form muscle-actuation models computational time is in the order of microseconds and is robust to different muscle contraction velocity properties. Furthermore, the controller achieves tendon force control within a timeframe below 14 ms, aligning with the physiological electromechanical delay of the MTU and facilitating its potential for future real-world applications.

bioengineering↗

bioRxiv2023

Reduced Achilles tendon stiffness in aging persists at matched activations and associates with higher metabolic cost of walking

The mechanisms responsible for increased walking metabolic cost among older adults are poorly understood. We recently proposed a theoretical premise by which age-related reductions in Achilles tendon stiffness (kAT) can disrupt the neuromechanics of calf muscle behavior and contribute to faster rates of oxygen consumption during walking. The purpose of this study was to objectively evaluate this premise. We quantified kAT at a range of matched activations prescribed using electromyographic biofeedback and walking metabolic cost in a group of 15 younger (age: 23{+/-}4 yrs) and 15 older adults (age: 72{+/-}5 yrs). Older adults averaged 44% less kAT than younger adults at matched triceps surae activations (p=0.046). This effect appeared to arise not only from altered tendon length-tension relations with age, but also from differences in the operating region of those length-tension relations between younger and older adults. Older adults also walked with a 17% higher net metabolic power than younger adults (p=0.017). In addition, we discovered empirical evidence that lesser kAT exacts a metabolic penalty and was positively correlated with higher net metabolic power during walking (r=-0.365, p=0.048). These results pave the way for interventions focused on restoring ankle muscle-tendon unit structural stiffness to improve walking energetics in aging.

bioengineering↗

bioRxiv2023

Attenuation of muscle spindle firing with artificially increased series compliance during stretch of relaxed muscle

Muscle spindles relay vital mechanosensory information for movement and posture, but muscle spindle feedback is coupled to skeletal motion by a compliant tendon. Little is known about the effects of tendon compliance on muscle spindle feedback during movement, and the complex firing of muscle spindles make these effects difficult to predict. Our goal was to investigate changes in muscle spindle firing using added series elastic elements (SEEs) to mimic a more compliant tendon, and to characterize the accompanying changes in firing with respect to muscle-tendon unit (MTU) and muscle fascicle displacements (recorded via sonomicrometry). Sinusoidal, ramp-hold-release, and triangular stretches were analyzed to examine potential changes in muscle spindle instantaneous firing rates (IFRs) in locomotor-and perturbation-like stretches as well as history dependence. Added SEEs effectively reduced overall MTU stiffness and generally reduced muscle spindle firing rates, but the effect differed across stretch types. During sinusoidal stretches, peak firing rates were reduced and IFR was strongly correlated with fascicle velocity. During ramp stretches, SEEs reduced the dynamic and static responses of the spindle during lengthening but had no effect on initial bursts at the onset of stretch. Notably, IFR was negatively related to fascicle displacement during the hold phase. During triangular stretches, SEEs reduced the mean IFR during the first and second stretches, affecting the history dependence of mean IFR. Overall, these results demonstrate that tendon compliance may attenuate muscle spindle feedback during movement, but these changes cannot be fully explained by reduced muscle fascicle length and velocity. New FindingsO_ST_ABSWhat is the central question of the study?C_ST_ABSLittle is known about the effects of tendon compliance on muscle spindle function. We asked whether increasing the series compliance the muscle-tendon unit muscle spindle Ia responses to stretch. We also test the relationship between muscle spindle firing rates and muscle fascicle biomechanics. What is the main finding and its importance?Muscle spindle firing was generally attenuated with added series compliance, with the exception of the initial burst at the onset of stretch. Overall, the changes depended upon stretch profiles, and could not be fully explained by muscle fascicle length and velocity.

physiology↗

bioRxiv2022

Which lower-limb joints compensate for destabilising energy during walking in humans

Maintaining stability during perturbed locomotion requires coordinated responses across multiple levels of organization (e.g., legs, joints, muscle-tendon units). However, current approaches to investigating such responses lack a "common currency" that is both shared across scales and can be directly related to perturbation demands. We used mechanical energetics to investigate the demands imposed on a leg by a transient increase in unilateral treadmill belt speed targeted to either early or late stance. We collected full body kinematics and kinetics from 7 healthy participants during 222 total perturbations. From across-subject means, we found early stance perturbations elicited no change in net work exchanged between the perturbed leg and the treadmill but net positive work at the overall leg level, and late stance perturbations elicited positive work at the leg/treadmill interface but no change in net work at the overall leg level. Across all perturbations, changes in ankle and knee work from steady state best reflected changes in overall leg work on the perturbed and contralateral sides, respectively. Broadening this paradigm to include joint level (vs. leg level) perturbations and including muscle-tendon unit mechanical energetics may reveal neuromechanical responses used in destabilizing environments which could inform design of balance-assisting devices and interventions. Subject Areasbiomechanics, biomedical engineering, bioengineering

bioengineering↗

bioRxiv2021

Changes in Cellular Crosstalk between Skeletal Muscle Myoblasts and Bone Osteoblasts with Aging

Musculoskeletal function declines with aging, resulting in an increased incidence of trips and falls. Both bone and muscle experience age-related losses in tissue mass that alter their mechanical interactions in a well characterized manner, but changes in the biochemical interactions between bone and muscle with aging are not well understood. Of note, insulin-like growth factor 1 (IGF-1), a potent growth factor for bone and muscle, can be negatively altered with aging and may help explain losses in these tissues. We recently developed a co-culture system for simultaneous growth of bone mesenchymal stem cells (MSCs) and muscle satellite cells (SCs) to investigate the biochemical crosstalk between the two cell types. Here, we utilized an aging rat model to study cellular changes between young and old rat MSCs and SCs, in particular whether 1) young MSCs and SCs have increased proliferation and differentiation compared to old MSCs and SCs; 2) young cells have increased IGF-1 and collagen expression as a measure of crosstalk compared to old cells; and 3) young cells can mitigate the aging phenotype of old cells in co-culture. Rat MSCs and SCs were either mono- or co-cultured in Transwell(R) plates, grown to confluence, and allowed to differentiate for 14 days. Across the 14 days, cell proliferation was measured, with differentiation and crosstalk measurements evaluated at 14 days. The results suggest that in both young and old, proliferation is greater in mono-cultures compared to co-cultures, yet age and cell type did not have a significant effect. Differentiation did not differ between young and old cells, yet MSCs and SCs demonstrated the greatest amount of differentiation in co-culture. Finally, age, cell type, and culture type did not have a significant effect on collagen or IGF-1 expression. These results suggest co-culture may have a controlling effect, with the two cell types acting together to promote differentiation more than in mono-cultures, yet this response was not altered by age. In general, results for old cells had higher variability, suggesting a wider variety in the aging phenotypes demonstrated in these animals. This study was the first to use this rat aging model to investigate changes between bone and skeletal muscle cells, however further investigations are required to determine what signaling changes occur in response to age. Determining these signaling changes could lead to new targets for mitigating the progression of aging.

bioengineering↗

bioRxiv2021

Relatively Shorter Muscle Lengths Increase the Metabolic Rate of Cyclic Force Production

During animal locomotion, force-producing leg muscles are almost exclusively responsible for the whole-bodys metabolic energy expenditure. Animals can change the length of these leg muscles by altering body posture (e.g., joint angles), kinetics (e.g., body weight), or the structural properties of their biological tissues (e.g., tendon stiffness). Currently, it is uncertain whether relative muscle fascicle operating length has a measurable effect on the metabolic energy expenditure of cyclic locomotion-like contractions. To address this uncertainty, we measured the metabolic energy expenditure of human participants as they cyclically produce two distinct ankle moments at three separate ankle angles (90{degrees}, 105{degrees}, 120{degrees}) on a fixed-position dynamometer exclusively using their soleus. Overall, increasing participant ankle angle from 90{degrees} to 120{degrees} (more plantar flexion) reduced minimum soleus fascicle length by 17% (both moment levels, p<0.001) and increased metabolic energy expenditure by an average of 208% (both p<0.001). Across both moment levels, the increased metabolic energy expenditure was not driven by greater fascicle positive mechanical work (higher moment level, p=0.591), fascicle force rate (both p[≥]0.235), or active muscle volume (both p[≥]0.122); but it was correlated with average relative soleus fascicle length (r=-179, p=0.002) and activation (r=0.51, p<0.001). Therefore, the metabolic energy expended during locomotion can likely be reduced by lengthening active muscles that operate on the ascending-limb of their force-length relationship.

physiology↗

bioRxiv2021

Machine learning to extract muscle fascicle length changes from dynamic ultrasound images in real-time

Background and objectiveDynamic muscle fascicle length measurements through B-mode ultrasound have become popular for the non-invasive physiological insights they provide regarding musculoskeletal structure-function. However, current practices typically require time consuming post-processing to track muscle length changes from B-mode images. A real-time measurement tool would not only save processing time but would also help pave the way toward closed-loop applications based on feedback signals driven by in vivo muscle length change patterns. In this paper, we benchmark an approach that combines traditional machine learning (ML) models with B-mode ultrasound recordings to obtain muscle fascicle length changes in real-time. To gauge the utility of this framework for in-the-loop applications, we evaluate accuracy of the extracted muscle length change signals against time-series derived from a standard, post-hoc automated tracking algorithm. MethodsWe collected B-mode ultrasound data from the soleus muscle of six participants performing five defined ankle motion tasks: (a) seated, constrained ankle plantarflexion, (b) seated, free ankle dorsi/plantarflexion, (c) weight-bearing, calf raises (d) walking, and then a (e) mix. We trained machine learning (ML) models by pairing muscle fascicle lengths obtained from standardized automated tracking software (UltraTrack) with the respective B-mode ultrasound image input to the tracker, frame-by-frame. Then we conducted hyperparameter optimizations for five different ML models using a grid search to find the best performing parameters for a combination of high correlation and low RMSE between ML and UltraTrack processed muscle fascicle length trajectories. Finally, using the global best model/hyperparameter settings, we comprehensively evaluated training-testing outcomes within subject (i.e., train and test on same subject), cross subject (i.e., train on one subject, test on another) and within/direct cross task (i.e., train and test on same subject, but different task). ResultsSupport vector machine (SVM) was the best performing model with an average r = 0.70 {+/-}0.34 and average RMSE = 2.86 {+/-}2.55 mm across all direct training conditions and average r = 0.65 {+/-}0.35 and average RMSE = 3.28 {+/-}2.64 mm when optimized for all cross-participant conditions. Comparisons between ML vs. UltraTrack (i.e., ground truth) tracked muscle fascicle length versus time data indicated that ML tracked images reliably capture the salient qualitative features in ground truth length change data, even when correlation values are on the lower end. Furthermore, in the direct training, calf raises condition, which is most comparable to previous studies validating automated tracking performance during isolated contractions on a dynamometer, our ML approach yielded 0.90 average correlation, in line with other accepted tracking methods in the field. ConclusionsBy combining B-mode ultrasound and classical ML models, we demonstrate it is possible to achieve real-time tracking of human soleus muscle fascicles across a number of functionally relevant contractile conditions. This novel sensing modality paves the way for muscle physiology in-the-loop applications that could be used to modify gait via biofeedback or unlock novel wearable device control techniques that could enable restored or augmented locomotion performance.

physiology↗

bioRxiv2020

Mechanics and energetics of walking and running up and downhill: A joint-level perspective to guide design of lower-limb exoskeletons

Lower-limb wearable robotic devices can provide effective assistance to both clinical and healthy populations; however, how assistance should be applied in different gait conditions and environments is still unclear. We suggest a biologically-inspired approach derived from knowledge of human locomotion mechanics and energetics to establish a roadmap for wearable robot design. In this study, we characterize the changes in joint mechanics during both walking and running across a range of incline/decline grades and then provide an analysis that informs the development of lower-limb exoskeletons capable of operating across a range of mechanical demands. Eight subjects (6M,2F) completed five walking (1.25 m -1) trials at -15%, -10%, 0%, 10%, and 15% grade and five running (2.25 m s-1) trials at -10%, -5%, 0%, 5%, and 10% grade on a treadmill. We calculated time-varying joint moment and power output for the ankle, knee, and hip. For each gait, we examined how individual limb-joints contributed to total limb positive, negative and net power across grades. For both walking and running, changes in grade caused a redistribution of joint mechanical power generation and absorption. From level to incline walking, the ankles contribution to limb positive power decreased from 44% on the level to 28% at 15% uphill grade (p < 0.0001) while the hips contribution increased from 27% to 52% (p < 0.0001). In running, regardless of the surface gradient, the ankle was consistently the dominant source of lower-limb positive mechanical power (47-55%). In the context of our results, we outline three distinct use-modes that could be emphasized in future lower-limb exoskeleton designs 1) Energy injection: adding positive work into the gait cycle, 2) Energy extraction: removing negative work from the gait cycle, and 3) Energy transfer: extracting energy in one gait phase and then injecting it in another phase (i.e., regenerative braking).

bioengineering↗

bioRxiv2020

Adding carbon fiber to shoe soles does not improve running economy: a muscle-level explanation

In an attempt to improve their distance-running performance, many athletes race with carbon fiber plates embedded in their shoe soles. Accordingly, we sought to establish whether, and if so how, adding carbon fiber plates to shoes soles reduces athlete aerobic energy expenditure during running (improves running economy). We tested 15 athletes during running at 3.5 m/s in four footwear conditions that varied in shoe sole carbon fiber plate bending stiffness. For each condition, we quantified athlete aerobic energy expenditure and performed biomechanics analyses, which included the use of ultrasound imaging to examine soleus muscle dynamics in vivo. Overall, increased footwear bending stiffness lengthened ground contact time (p=0.048), but did not affect ankle (p[≥]0.060), knee (p[≥]0.128), or hip (p[≥]0.076) joint angles or moments. Additionally, increased footwear bending stiffness did not affect muscle activity (all seven measured leg muscles (p[≥]0.146)), stride averaged active soleus volume, (p=0.068) or aerobic power (p=0.458) during running. Hence, footwear bending stiffness does not appear to alter the volume of aerobic energy consuming muscle in the soleus, or any other leg muscle, during running. Therefore, adding carbon fiber plates to shoe soles slightly alters whole-body and calf muscle biomechanics but does not improve running economy.

bioengineering↗

bioRxiv2020

Ultrasound imaging links soleus muscle neuromechanics and energetics during human walking with elastic ankle exoskeletons

Unpowered exoskeletons with springs in parallel to human plantar flexor muscle-tendons can reduce the metabolic cost of walking. We used ultrasound imaging to look under the skin and measure how exoskeleton stiffness alters soleus muscle contractile dynamics and shapes the users metabolic rate during walking. Eleven participants (4F, 7M; age: 27.7 {+/-} 3.3 years) walked on a treadmill at 1.25 m s-1 and 0% grade with elastic ankle exoskeletons (rotational stiffness: 0-250 Nm rad-1) in one training and two testing days. Metabolic savings were maximized (4.2%) at a stiffness of 50 Nm rad-1. As exoskeleton stiffness increased, the soleus muscle operated at longer lengths and improved economy (force/activation) during early stance, but this benefit was offset by faster shortening velocity and poorer economy in late stance. Changes in soleus activation rate correlated with changes in users metabolic rate (p = 0.038, R2 = 0.44), highlighting a crucial link between muscle neuromechanics and exoskeleton performance; perhaps informing future muscle-in-the loop exoskeleton controllers designed to steer contractile dynamics toward more economical force production.

bioengineering↗