Jonas Rubenson

Energy minimization is regarded to be a fundamental characteristic of legged locomotion, yet the influence of life history on the energy cost of locomotion has not been widely studied. We tested the hypothesis that growth-period limb loading minimizes the energy cost of walking in mature animals. We found that limb-loaded animals that chronically carried approximately 4% of their body mass on their distal right limb for 14 weeks (LL group) moved this mass with much less energy (22% less) than control animals (CON group) (p < 0.05). Furthermore, the majority of LL animals had a lower cost of walking with the limb load compared to walking without it. On average, LL animals did not use more energy walking with the limb load compared to CON animals walking unloaded. This remarkable limb-load carrying economy is, to our knowledge, the lowest reported for legged animal locomotion. Notably, we also found that CON and LL animals used the same amount of energy during unloaded walking, despite this being a novel condition for the LL group. These data suggest that energy minimization is critical not only across evolutionary and acute behavioural time frames, but also drives adaptation during the growth span.

Hopping kangaroos exhibit remarkably little change in their rate of metabolic energy expenditure with locomotor speed compared to other running animals. This phenomenon may be related to greater elastic energy savings due to increasing tendon stress; however, the mechanisms which enable the rise in stress without additional muscle work remain poorly understood. In this study, we created a three-dimensional (3D) kangaroo musculoskeletal model, integrating 3D motion capture and force plate data, to analyse the kinematics and kinetics of hopping red and grey kangaroos. Using our model, we evaluated how body mass and speed influence (i) hindlimb posture, (ii) effective mechanical advantage (EMA), (iii) the associated tendon stress in the ankle extensors, and (iv) ankle work during hopping. We found that increasing ankle dorsiflexion and metatarsophalangeal plantarflexion likely played an important role in decreasing ankle EMA by altering both the muscle and external moment arms, which subsequently increased energy absorption and peak tendon stress at the ankle. Surprisingly, kangaroo hindlimb posture changes appeared to contribute to increased tendon stress, allowing more elastic energy storage at faster speeds. These posture-mediated increases in elastic energy storage and return could be a key factor enabling kangaroos to achieve energetic benefits at faster hopping speeds, but may limit the performance of large kangaroos due to the risk of tendon rupture.

Recapitulating avian locomotion opens the door for simple and economical control of legged robots without sensory feedback systems.

Metabolic cost minimization is thought to underscore the neural control of locomotion. Yet, avoiding high muscle activation, a cause of fatigue, often outperforms energy minimization in computational predictions of human gait. Discerning the relative importance of these criteria in human walking has proved elusive, in part, because they have not been empirically decoupled. Here we explicitly decouple whole-body metabolic cost and ‘fatigue-like’ muscle activation costs (estimated from electromyography) by pitting them against one another using two distinct gait tasks. When experiencing these competing costs, participants ( N =10) chose the task that avoided overburdening muscles (fatigue avoidance) at the expense of higher metabolic power (p<0.05). Muscle volume-normalized activation more closely models energy use and was also minimized by the participants’ decision (p<0.05), demonstrating that muscle activation was, at best, an inaccurate signal for metabolic energy. Energy minimization was only observed when there was no adverse effect on muscle activation costs. By decoupling whole-body metabolic and muscle activation costs, we provide among the first empirical evidence of humans embracing non-energetic optimality in favor of a clearly defined neuromuscular objective. This finding indicates that local muscle fatigue and effort may well be key factors dictating human walking behavior and its evolution.

Elastic energy storage and release can enhance performance that would otherwise be limited by the force–velocity constraints of muscle. Although functional influence of a biological spring depends on tuning between components of an elastic system (the muscle, spring-driven mass and lever system), we do not know whether elastic systems systematically adapt to functional demand. To test whether altering work and power generation during maturation alters the morphology of an elastic system, we prevented growing guinea fowl (Numida meleagris) from jumping. We compared the jump performance of our treatment group at maturity with that of controls and measured the morphology of the gastrocnemius elastic system. We found that restricted birds jumped with lower jump power and work, yet there were no significant between-group differences in the components of the elastic system. Further, subject-specific models revealed no difference in energy storage capacity between groups, though energy storage was most sensitive to variations in muscle properties (most significantly operating length and least dependent on tendon stiffness). We conclude that the gastrocnemius elastic system in the guinea fowl displays little to no plastic response to decreased demand during growth and hypothesize that neural plasticity may explain performance variation.

Elastic energy storage and release can enhance performance that would otherwise be limited by the force-velocity constraints of muscle. While functional influence of a biological spring depends on tuning between components of an elastic system (the muscle, spring, driven mass, and lever system), we do not know whether elastic systems systematically adapt to functional demand. To test whether altering work and power generation during maturation alters the morphology of an elastic system, we prevented growing guinea fowl ( Numida Meleagris ) from jumping. At maturity, we compared the jump performance of our treatment group to that of controls and measured the morphology of the gastrocnemius elastic system. We found that restricted birds jumped with lower jump power and work, yet there were no significant between-group differences in the components of the elastic system. Further, subject-specific models revealed no difference in energy storage capacity between groups, though energy storage was most sensitive to variations in muscle properties (most significantly operating length and least dependent on tendon stiffness). We conclude that the gastrocnemius elastic system in the guinea fowl displays little to no plastic response to decreased demand during growth and hypothesize that neural plasticity may explain performance variation.

Tendon mechanical properties respond to altered load in adults, but how load history during growth affects adult tendon properties remains unclear. To address this question, we adopted an avian model in which we altered the mechanical load environment across the growth span. Animals were divided at 2 weeks of age into three groups: (1) an exercise control group given the opportunity to perform high-acceleration movements (EXE, n = 8); (2) a sedentary group restricted from high-intensity exercise (RES, n = 8); and (3) a sedentary group also restricted from high-intensity exercise and in which the gastrocnemius muscles were partially paralyzed using repeated bouts of botulinum toxin-A injections (RES-BTX, n = 8). Video analysis of bird movement confirmed the restrictions eliminated high-intensity exercise and did not alter time spent walking and sitting between groups. At skeletal maturity (33–35 weeks) animals were sacrificed for analysis, consisting of high-field MRI and material load testing, of both the entire free Achilles tendon and the tendon at the bone-tendon junction. Free tendon stiffness, modulus, and hysteresis were unaffected by variation in load environment. Further, the bone-tendon junction cross-sectional area, stress, and strain were also unaffected by variations in load environment. These results suggest that: (a) a baseline level of low-intensity activity (standing and walking) may be sufficient to maintain tendon growth; and (b) if this lower threshold of tendon load is met, non-mechanical mediated tendon growth may override the load-induced mechanotransduction signal attributed to tendon remodeling in adults of the same species. These results are important for understanding of musculoskeletal function and tendon health in growing individuals.

Muscle performance is influenced by where it operates on its force-length curve. Here we explore how activation and tendon compliance interact to influence muscle operating lengths and force-generating capacity. To study this, we built a musculoskeletal model of the lower limb of the guinea fowl and simulated the force-length operating range during fixed-end fixed-posture contractions for 39 actuators under thousands of combinations of activation and posture using three different muscle models: Muscles with non-compliant tendons, muscles with compliant tendons but no activation dependent shift in optimal fiber length (L0), and muscles with both compliant tendons and activation-dependent shifts in L0. We found that activation dependent effects altered muscle fiber lengths up to 40% and increased or decreased force capacity by up to 50% during fixed-end contractions. Typically, activation-compliance effects reduce muscle force and are dominated by the effects of tendon compliance at high activations. At low activation, however, activation-dependent shifts in L0 are equally important and can result in relative force changes for low compliance muscles of up to 60%. There are regions of the force-length curve in which muscles are most sensitive to compliance and there are troughs of influence where these factors have little effect. These regions are hard to predict, though, because the magnitude and location of these areas of high and low sensitivity shift with compliance level. Here we provide a map for when these effects will meaningfully influence force capacity and an example of their contributions to force production during a static task, namely standing.

Center of mass (COM) control has been proposed to serve economy- and stability-related locomotor task objectives. However, given the lack of evidence supporting direct sensing and/or regulation of the COM, it remains unclear whether COM mechanics are prioritized in the control scheme of walking. We posit that peripheral musculoskeletal structures, e.g., muscle, are more realistic control targets than the COM, given their abundance of sensorimotor receptors, and ability to influence whole-body energetics. As a first test of this hypothesis we examined whether conservation of stance phase joint mechanics is prioritized over COM mechanics in a locomotor task where simultaneous conservation of COM and joint mechanics is not feasible; imposed leg-length asymmetry. Positive joint mechanical cost of transport (work per distance traveled; COT_JNT) was maintained at values closer to normal walking than COM mechanical cost of transport (COT_COM; pCOM, COM displacement), joint-level variables (COT_JNT, integrated total support moment) also displayed stronger conservation (less change from normal walking) when the participants’ self-selected gait was assessed against other possible gait solutions. We conclude that when walking humans are exposed to an asymmetric leg-length perturbation, control of joint mechanics is prioritized over COM mechanics. Our results suggest that mechanical and metabolic effort is likely regulated via control of peripheral structures and not directly at the level of the COM. Joint mechanics may provide a more accurate representation of underlying locomotor control targets and may prove advantageous in informing predictive models of human walking.