Compliance, actuation, and work characteristics of the goat foreleg and hindleg during level, uphill, and downhill running

David V. Lee, M. Polly McGuigan, Edwin H. Yoo, Andrew A. Biewener

Research output: Contribution to journalArticle

29 Citations (Scopus)

Abstract

We model the action of muscle-tendon system(s) about a given joint as a serial actuator and spring. By this technique, the experimental joint moment is imposed while the combined angular deflection of the actuator and spring are constrained to match the experimental joint angle throughout the stance duration. The same technique is applied to the radial leg (i.e., shoulder/hip-to-foot). The spring constant that minimizes total actuator work is considered optimal, and this minimum work is expressed as a fraction of total joint/radial leg work, yielding an actuation ratio (AR; 1 = pure actuation and 0 = pure compliance). To address work modulation, we determined the specific net work (SNW), the absolute value of net divided by total work. This ratio is unity when only positive or negative work is done and zero when equal energy is absorbed and returned. Our proximodistal predictions of joint function are supported during level and 15 grade running. The greatest AR and SNW are found in the proximal leg joints (elbow and knee). The ankle joint is the principal spring of the hindleg and shows no significant change in SNW with grade, reflecting the true compliance of the common calcaneal tendon. The principal foreleg spring is the metacarpophalangeal joint. The observed pattern of proximal actuation and distal compliance, as well as the substantial SNW at proximal joints, minimal SNW at intermediate joints, and variable energy absorption at distal joints, may emerge as general principles in quadruped limb mechanics and help to inform the leg designs of highly capable running robots.
Original languageEnglish
Pages (from-to)130-141
Number of pages12
JournalJournal of Applied Physiology
Volume104
Issue number1
Early online date17 Oct 2007
DOIs
Publication statusPublished - Jan 2008

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Goats
Running
Compliance
Joints
Leg
Metacarpophalangeal Joint
Elbow Joint
Achilles Tendon
Ankle Joint
Knee Joint
Mechanics
Tendons
Hip
Foot
Extremities
Muscles

Cite this

Compliance, actuation, and work characteristics of the goat foreleg and hindleg during level, uphill, and downhill running. / Lee, David V.; McGuigan, M. Polly; Yoo, Edwin H.; Biewener, Andrew A.

In: Journal of Applied Physiology, Vol. 104, No. 1, 01.2008, p. 130-141.

Research output: Contribution to journalArticle

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