A kinematic and strain gauge study of the reciprocal apparatus in the equine hind limb

Weeren, P. R. van; Jansen, Margot O.; Bogert, Antonie J. van den; Barneveld, A.

doi:10.1016/0021-9290(92)90284-8

Cited by 22 publications

(21 citation statements)

References 15 publications

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“…The results presented here show that in the swing phase each hindlimb joint is almost exclusively involved in either generation or absorption of energy. Even so, the initial flexion of the tarsus may be due to release of elastic energy stored during stance in the tendinous peroneus tertius, which shows increasing tension during the second half of stance, peaking around the start of breakover and decreasing after lift-off (van Weeren et al 1992b). This supports the suggestion that the peroneus tertius catapults the distal limb forward in the swing phase using elastic energy stored during stance.…”

Section: Discussionmentioning

confidence: 99%

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Hindlimb net joint energies during swing phase as a function of trotting velocity

Clayton

Hoyt

Wickler

et al. 2002

Equine Veterinary Journal

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Net joint powers and energies have been described in walking horses during the swing phase of the stride in the fore- and hindlimb (Clayton et al. 2001). During trotting, swing phase net joint powers have been described in the forelimb but not in the hindlimb. The effects of velocity on power profiles and energy patterns are important in relation to locomotor energetics. The objective of this study was to evaluate velocity-dependent changes in hindlimb net energy profiles of the swing phase during trotting. Inverse dynamic analysis was used to calculate net joint energies at the hindlimb joints of 6 horses trotting overground at velocities ranging from 2.27-5.17 m/s. At all velocities, there was net energy generation at the hip and tarsus and net energy absorption at the stifle, fetlock and coffin joints. Velocity-dependent bursts of energy generation at the hip actively protracted the limb in early swing and initiated retraction in late swing. Synchronous with the bursts of energy generation at the hip were velocity-dependent bursts of energy absorption across the stifle that acted to control flexion in early swing and extension in late swing. The distal limb was raised and lowered by velocity-dependent bursts of energy generation that flexed the tarsus in early swing and extended it in late swing. The energy bursts in early swing increased linearly with velocity, whereas the energy bursts in late swing increased as a function of the square or cube of velocity. The results contribute to understanding the mechanisms used to accelerate and decelerate the limbs more rapidly as velocity increases, which is an important consideration in racing and sporting performance.

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Section: Discussionmentioning

confidence: 99%

“…The forces are transmitted distally to the tarsal joint by the tendinous reciprocal apparatus consisting of the peroneus tertius and the superficial digital flexor tendon. The actions of these tendons represent an extreme example of joint motions being coordinated by biarticular structures (van Weeren et al 1992b).…”

Section: Discussionmentioning

confidence: 99%

Hindlimb net joint energies during swing phase as a function of trotting velocity

Clayton

Hoyt

Wickler

et al. 2002

Equine Veterinary Journal

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“…Early studies of equine kinematics described the movement of the limbs and joints (Leach and Dagg 1983;van Weeren et al 1992;Deuel 1994) under a variety of circumstances including high-speed trotting (Johnston et al 1995). A study of 24 Dutch Warmblood foals included the responses to training (Back et al 1995a) and used those kinematics to predict performance at maturity (Back et al 1995b).…”

Section: Introductionmentioning

confidence: 99%

Effect of trotting speed, load and incline on hindlimb stance‐phase kinematics

Hoyt

Molinari

Wickler

et al. 2002

Equine Veterinary Journal

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The objective was to understand how the stance-phase kinematics of the hindlimb of trotting horses change with speed under 3 conditions (level, loaded and incline), to compare our results with the predictions of the spring-mass model and to help focus our future studies of muscle function. Video recordings were made of 5 Arabian horses trotting on a treadmill. Five consecutive strides were digitised and averaged for each trial. The angle-time diagrams were qualitatively similar to those reported previously. As speed increases, the range of motion of the hindlimb increases, as predicted by the spring-mass model. This is the result of increased range of motion in the coxofemoral and tarsal joints. The hindlimb does not 'land short-take off long'. When trotting up an incline, the hindlimb undergoes a greater range of motion because of increased retraction resulting from increased extension of the coxofemoral joint. At hoof contact on an incline, the 3 proximal joints are more flexed than on the level. Carrying a load had no effect on kinematics. These results suggest that there may be larger changes in strain with speed in muscles acting at the coxofemoral and tarsal joints than at the femorotibial joint, and that locomotion up an incline will change muscle strain more than carrying a load.

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“…Of the seven musculotendinous structures in the distal part of the equine hindlimb, four have become almost completely tendinous and the others have short muscle fibers with strong parallel elastic tissue and a long series elastic component spanning up to four major joints [10-12] (Figure 1). Measurements of bone kinematics and tendon strain have shown that forces in the digital flexors and in the Peroneus Tertius are consistent with passive elastic mechanisms for force generation [13-15]. This limb design results in various "pogo-stick" and "catapult" mechanisms that contribute to efficient locomotion [15-17].…”

Section: Introductionmentioning

confidence: 99%

“…Measurements of bone kinematics and tendon strain have shown that forces in the digital flexors and in the Peroneus Tertius are consistent with passive elastic mechanisms for force generation [13-15]. This limb design results in various "pogo-stick" and "catapult" mechanisms that contribute to efficient locomotion [15-17]. Consequently, horses consume 50% less metabolic energy for running than humans, per kg of body weight [10].…”

Section: Introductionmentioning

confidence: 99%

Exotendons for assistance of human locomotion

Bogert

2003

BioMed Eng OnLine

112

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BackgroundPowered robotic exoskeletons for assistance of human locomotion are currently under development for military and medical applications. The energy requirements for such devices are excessive, and this has become a major obstacle for practical applications. Legged locomotion in many animals, however, is very energy efficient. We propose that poly-articular elastic mechanisms are a major contributor to the economy of locomotion in such specialized animals. Consequently, it should be possible to design unpowered assistive devices that make effective use of similar mechanisms.MethodsA passive assistive technology is presented, based on long elastic cords attached to an exoskeleton and guided by pulleys placed at the joints. A general optimization procedure is described for finding the best geometrical arrangement of such "exotendons" for assisting a specific movement. Optimality is defined either as minimal residual joint moment or as minimal residual joint power. Four specific exotendon systems with increasing complexity are considered. Representative human gait data were used to optimize each of these four systems to achieve maximal assistance for normal walking.ResultsThe most complex exotendon system, with twelve pulleys per limb, was able to reduce the joint moments required for normal walking by 71% and joint power by 74%. A simpler system, with only three pulleys per limb, could reduce joint moments by 46% and joint power by 47%.ConclusionIt is concluded that unpowered passive elastic devices can substantially reduce the muscle forces and the metabolic energy needed for walking, without requiring a change in movement. When optimally designed, such devices may allow independent locomotion in patients with large deficits in muscle function.

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A kinematic and strain gauge study of the reciprocal apparatus in the equine hind limb

Cited by 22 publications

References 15 publications

Hindlimb net joint energies during swing phase as a function of trotting velocity

Hindlimb net joint energies during swing phase as a function of trotting velocity

Effect of trotting speed, load and incline on hindlimb stance‐phase kinematics

Exotendons for assistance of human locomotion

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