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Advanced biomechanical modelling and optimisation

Lecture 5: Muscle models

Mark de Zee and John Rasmussen

http://www.ime.auc.dk/~mdz/lecturenotes.asp

Overview of the 5 lectures

Inverse dynamics (Mark de Zee) Optimisation technology (John Rasmussen) Forward dynamics (MdZ and JR) Solid Mechanics and FEM (JR) Muscle models (MdZ)

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Program for today

The real muscle Exercise 1 The Hill model Exercise 2 Parameters in muscle model in AnyBody Other types of muscle models Exercise 2

Muscles types
Non-striated muscles
Autonomic Veines, intestine

Striated muscles
Cardiac muscles
Autonomic

Skeletal muscles
Voluntary control 50 % of body weight

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Muscles contraction types

Concentric contraction
Muscle shortens

Isometric contraction
Muscle keeps the same length

Eccentric contraction
Muscle lengthens

Muscle strength depends on:

The amount of fibres parallel with each other The neural drive Length Shortening /lengthening velocity

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Single muscle fiber

Cross-bridge theory (Huxley)

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Cross-bridge theory (Huxley)

Exercise 1
Try to reason out of the cross-bridge theory how the forcelength relationship will look like. Draw the result on the black board.

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A.V. Hill (1886-1977)

Nobel prize in 1922 Muscle mechanics Muscle energetics

Hill Muscle Model (1)

1

Fce

0 1

L0

lce
CE = Contractile Element

Fsee

SEE = Series Elastic Element

lsee

lsee* 4%

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Hill Muscle Model (2)

PEE

CE = Contractile Element SEE = Series Elastic Element PEE = Parallel Elastic Element

Force-velocity relation
F=
( F0b av) (b + v)

(1)
Lengthening

v = shortening velocity F0 = max isometric force a and b are constants ONLY VALID FOR SHORTENING!!

1 F0

Shortening

Fce

vce

V0

V0 = c*L0

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Force in CE

FCE = f CE ( LCE , LCE , A)

A = activation state (neural drive) between 0 and 1

Statical indeterminancy: Solution

Distribution of muscle forces according to an optimality criterion: Minimize maximum relative muscle load.
This is equivalent to maximization of endurance. Can be cast into the form of a linear programming problem: very computationally efficient.
Min
f ,

CE

PE

Subject to
Cf = d

f i (M) 0, i 1,..., n (M) fi(M ) , i 1,..., n (M) Ni

{ {

} }

Muscle strenght N as a function of muscle length and velocity

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Exercise 2
1. 2. 3. 4. 5. 6. 7. 8. Download HillMuscle.any Run a kinematic analysis. Investigate the strength (max Fce as a function of Lmt. Make a quick drawing Make the fiber shorter (0.05), and the tendon longer. The total length should be the same. Do the same as in 2. Make the fiber longer (0.15), and the tendon shorter. Do the same as in 2. Compare the 3 drawings. Go back to the original fiber length. Change the shortening speed to 0.05 m/s. What happens with the strength? Change DriverPos to 0.17 and the speed to 0.05 and put a minus before tEnd. What happens with the strength? Go back to the original situation. Run an inverse analysis. Investigate the activity. Why is this one not constant? If you add Fp and Fm what do you get?

Uni-pennate spier
laat ees-p P

Ve ze

ls

Pees

Pees

menten laat ele Pees-p

Spier element

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Exercise 3
1. 2. 3. 4. 5. Download CycleModelForCourse.zip Run a kinematic analysis and investigate the strength of the gastrocnemius. Run the calibrations and an inverse analysis. Plot the activities of the vastus lateralis and the gastrocnemius. Change the fiber length of the gastrocnemius to 0.12 and repeat step 3. What happens and why? Go back to the original situation. Increase the cadence to 140. Run again the calibrations and an inverse analysis. Plot all the activities. What happens and why?

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