A Computational Musculoskeletal Model of the Human Elbow and Forearm in the Analysis of Ballistic Movements

This dissertation describes the development and evaluation of a musculoskeletal model of the elbow joint complex (EJC) that represents human elbow flexion-extension and forearm pronation-supination. This study showed that EJC movements can be accurately modeled when the kinematics, kinetics, musculotendon characteristics, and muscle excitation patterns are precisely represented. Eight musculotendon actuators were represented at the EJC. The length, velocity, and moment arm for each of the eight musculotendon actuators were based on skeletal anatomy and joint position. Previously determined musculotendon parameters and skeletal geometry were utilized in the musculoskeletal model for the analysis of ballistic (rapid-directed) elbow joint complex movements. The key objective was to develop a computational model, guided by parameterized optimal control, to investigate the relationship among patterns of muscle excitation and kinematics, and to determine the effects of forearm and elbow position on the recruitment of individual muscles during a variety of ballistic movements. An extension of this model also characterized the function and movement of the elbow and forearm system by using processed electromyography (EMG) as the model driver. The model was verified using data from two volunteer subjects performing sixteen tasks that involved combinations of ballistic elbow flexion-extension and forearm pronation-supination. The testing and evaluation stage included electrogoniometer recordings of arm kinematics in conjunction with calibrated EMG recordings for numerical analysis. The modeling results showed (1) muscles which cross the EJC are affected in their recruitment by the orientation of the joint, (2) no fixed synergistic muscle recruitment was observed, (3) recruitment of the flexor muscles are most affected by the orientation of the EJC while recruitment of the extensor muscles are least affected, (4) Anconeus muscle activation likely represents its role in stabilization of the EJC, (5) for particular movements, the model results showed how it could be advantageous to activate a muscle that is antagonist to the movement desired in order to further minimize the final movement time, (6) triphasic patterns were demonstrated in the solutions predicted, and (7) an EMG signal processing scheme provided not only the trend but also the general magnitude of EJC movements when used to drive the model.

Year	Entry
1990	Winter DA, Ruder GK, MacKinnon CD. Control of balance of upper body during gait. In: Winters JM, Woo SL-Y, eds. Multiple Muscle Systems: Biomechanics and Movement Organization. New York, NY: Springer-Verlag; 1990:534-541.
1990	Gielen S, Schenau G-JvI, Tax T, Theeuwen M. The activation of mono- and bi-articular muscles in multi-joint movements. In: Winters JM, Woo SL-Y, eds. Multiple Muscle Systems: Biomechanics and Movement Organization. New York, NY: Springer-Verlag; 1990:302-311.
1990	Pandy MG, Zajac FE, Sim E, Levine WS. An optimal control model for maximum-height human jumping. J Biomech. 1990;23(12):1185-1198.
1957	Huxley AF. Muscle structure and theories of contraction. Prog Biophys Biophys Chem. 1957;7:255-318.
1990	Yamaguchi GT. Performing whole-body simulations of gait with 3-D, dynamic musculoskeletal models. In: Winters JM, Woo SL-Y, eds. Multiple Muscle Systems: Biomechanics and Movement Organization. New York, NY: Springer-Verlag; 1990:663-679.
1976	Yeo BP. Investigations concerning the principle of minimal total muscular force. J Biomech. 1976;9(6):413-416.
1990	Gracovetsky S. Musculoskeletal function of the spine. In: Winters JM, Woo SL-Y, eds. Multiple Muscle Systems: Biomechanics and Movement Organization. New York, NY: Springer-Verlag; 1990:410-437.
1976	Hatze H. The complete optimization of a human motion. Math Biosci. 1976;28(1-2):99-135.
1985	Flash T, Hogan N. The coordination of arm movements: an experimentally confirmed mathematical model. J Neurosci. July 1985;5(7):1688-1703.
1979	Amis AA, Dowson D, Wright V. Muscle strengths and musculoskeletal geometry of the upper limb. Eng Med. 1979;8(1):41.
1978	Crowninshield RD. Use of optimization techniques to predict muscle forces. J Biomech Eng. May 1978;100(2):88-92.
1984	An KN, Kwak BM, Chao EY, Morrey BF. Determination of muscle and joint forces: a new technique to solve the indeterminate problem. J Biomech Eng. November 1984;106(4):364-367.
1981	An KN, Hui FC, Morrey BF, Linscheid RL, Chao EY. Muscles across the elbow joint: a biomechanical analysis. J Biomech. 1981;14(10):659-669.
1978	Chao EY, Morrey BF. Three-dimensional rotation of the elbow. J Biomech. 1978;11(1-2):57-73.
1938	Hill AV. The heat of shortening and the dynamic constants of muscle. Proc R Soc Lond B Biol Sci. October 10, 1938;126(843):136-195.
1990	Meek SG, Wood JE, Jacobsen SC. Model-based, multi-muscle EMG control of upper-extremity prostheses. In: Winters JM, Woo SL-Y, eds. Multiple Muscle Systems: Biomechanics and Movement Organization. New York, NY: Springer-Verlag; 1990:360-376.
1990	Winters JM, Peles JD. Neck muscle activity and 3-D head kinematics during quasi-static and dynamic tracking movements. In: Winters JM, Woo SL-Y, eds. Multiple Muscle Systems: Biomechanics and Movement Organization. New York, NY: Springer-Verlag; 1990:461-480.
1990	Winter DA. Biomechanics and Motor Control of Human Movement. 2nd ed. New York, NY: Inc., John Wiley & Sons; 1990.
1990	van der Gon JJD; A. C. C. Coolen; C. J. Erkelens; H. J. J. Jonker. Self-organizing neural mechanisms possibly responsible for muscle coordination. In: Winters JM, Woo SL-Y, eds. Multiple Muscle Systems: Biomechanics and Movement Organization. New York, NY: Springer-Verlag; 1990:335-342.
1990	Flash T. The organization of human arm trajectory control. In: Winters JM, Woo SL-Y, eds. Multiple Muscle Systems: Biomechanics and Movement Organization. New York, NY: Springer-Verlag; 1990:282-301.
1990	Yamaguchi GT, Sawa AGU, Moran DW, Fessler MJ, Winters JM. A survey of human musculotendon actuator parameters. In: Winters JM, Woo SL-Y, eds. Multiple Muscle Systems: Biomechanics and Movement Organization. New York, NY: Springer-Verlag; 1990:717-773.
1990	Seif-Naraghi AH, Winters JM. Optimized strategies for scaling goal-directed dynamic limb movements. In: Winters JM, Woo SL-Y, eds. Multiple Muscle Systems: Biomechanics and Movement Organization. New York, NY: Springer-Verlag; 1990:312-334.
1985	Winters JM, Stark L. Analysis of fundamental human movement patterns through the use of in-depth antagonistic muscle models. IEEE Trans Biomed Eng. 1985;32(10):826-839.
1990	Delp SL. Surgery Simulation: A Computer Graphics System to Analyze and Design Musculoskeletal Reconstructions of the Lower Limb [PhD thesis]. Stanford University; August 1990.
1990	Hoy MG, Zajac FE, Gordon ME. A musculoskeletal model of the human lower extremity: the effect of muscle, tendon, and moment arm on the moment-angle relationship of musculotendon actuators at the hip, knee, and ankle. J Biomech. 1990;23(2):157-169.
1991	Pandy MG, Zajac FE. Optimal muscular coordination strategies for jumping. J Biomech. 1991;24(1):1-10.
1992	Pandy MG, Anderson FC, Hull DG. A parameter optimization approach for the optimal control of large-scale musculoskeletal systems. J Biomech Eng. November 1992;114(4):450-460.
1985	Olney SJ, Winter DA. Predictions of knee and ankle moments of force in walking from EMG and kinematic data. J Biomech. 1985;18(1):9-20.
1990	Hogan N, Winters JM. Principles underlying movement organization: upper limb. In: Winters JM, Woo SL-Y, eds. Multiple Muscle Systems: Biomechanics and Movement Organization. New York, NY: Springer-Verlag; 1990:182-194.

Year

Entry

1990

Winter DA, Ruder GK, MacKinnon CD. Control of balance of upper body during gait. In: Winters JM, Woo SL-Y, eds. Multiple Muscle Systems: Biomechanics and Movement Organization. New York, NY: Springer-Verlag; 1990:534-541.

1990

Gielen S, Schenau G-JvI, Tax T, Theeuwen M. The activation of mono- and bi-articular muscles in multi-joint movements. In: Winters JM, Woo SL-Y, eds. Multiple Muscle Systems: Biomechanics and Movement Organization. New York, NY: Springer-Verlag; 1990:302-311.

1990

Pandy MG, Zajac FE, Sim E, Levine WS. An optimal control model for maximum-height human jumping. J Biomech. 1990;23(12):1185-1198.

1957

Huxley AF. Muscle structure and theories of contraction. Prog Biophys Biophys Chem. 1957;7:255-318.

1990

Yamaguchi GT. Performing whole-body simulations of gait with 3-D, dynamic musculoskeletal models. In: Winters JM, Woo SL-Y, eds. Multiple Muscle Systems: Biomechanics and Movement Organization. New York, NY: Springer-Verlag; 1990:663-679.

1976

Yeo BP. Investigations concerning the principle of minimal total muscular force. J Biomech. 1976;9(6):413-416.

1990

Gracovetsky S. Musculoskeletal function of the spine. In: Winters JM, Woo SL-Y, eds. Multiple Muscle Systems: Biomechanics and Movement Organization. New York, NY: Springer-Verlag; 1990:410-437.

1976

Hatze H. The complete optimization of a human motion. Math Biosci. 1976;28(1-2):99-135.

1985

Flash T, Hogan N. The coordination of arm movements: an experimentally confirmed mathematical model. J Neurosci. July 1985;5(7):1688-1703.

1979

Amis AA, Dowson D, Wright V. Muscle strengths and musculoskeletal geometry of the upper limb. Eng Med. 1979;8(1):41.

1978

Crowninshield RD. Use of optimization techniques to predict muscle forces. J Biomech Eng. May 1978;100(2):88-92.

1984

An KN, Kwak BM, Chao EY, Morrey BF. Determination of muscle and joint forces: a new technique to solve the indeterminate problem. J Biomech Eng. November 1984;106(4):364-367.

1981

An KN, Hui FC, Morrey BF, Linscheid RL, Chao EY. Muscles across the elbow joint: a biomechanical analysis. J Biomech. 1981;14(10):659-669.

1978

Chao EY, Morrey BF. Three-dimensional rotation of the elbow. J Biomech. 1978;11(1-2):57-73.

1938

Hill AV. The heat of shortening and the dynamic constants of muscle. Proc R Soc Lond B Biol Sci. October 10, 1938;126(843):136-195.

1990

Meek SG, Wood JE, Jacobsen SC. Model-based, multi-muscle EMG control of upper-extremity prostheses. In: Winters JM, Woo SL-Y, eds. Multiple Muscle Systems: Biomechanics and Movement Organization. New York, NY: Springer-Verlag; 1990:360-376.

1990

Winters JM, Peles JD. Neck muscle activity and 3-D head kinematics during quasi-static and dynamic tracking movements. In: Winters JM, Woo SL-Y, eds. Multiple Muscle Systems: Biomechanics and Movement Organization. New York, NY: Springer-Verlag; 1990:461-480.

1990

Winter DA. Biomechanics and Motor Control of Human Movement. 2nd ed. New York, NY: Inc., John Wiley & Sons; 1990.

1990

van der Gon JJD; A. C. C. Coolen; C. J. Erkelens; H. J. J. Jonker. Self-organizing neural mechanisms possibly responsible for muscle coordination. In: Winters JM, Woo SL-Y, eds. Multiple Muscle Systems: Biomechanics and Movement Organization. New York, NY: Springer-Verlag; 1990:335-342.

1990

Flash T. The organization of human arm trajectory control. In: Winters JM, Woo SL-Y, eds. Multiple Muscle Systems: Biomechanics and Movement Organization. New York, NY: Springer-Verlag; 1990:282-301.

1990

Yamaguchi GT, Sawa AGU, Moran DW, Fessler MJ, Winters JM. A survey of human musculotendon actuator parameters. In: Winters JM, Woo SL-Y, eds. Multiple Muscle Systems: Biomechanics and Movement Organization. New York, NY: Springer-Verlag; 1990:717-773.

1990

Seif-Naraghi AH, Winters JM. Optimized strategies for scaling goal-directed dynamic limb movements. In: Winters JM, Woo SL-Y, eds. Multiple Muscle Systems: Biomechanics and Movement Organization. New York, NY: Springer-Verlag; 1990:312-334.

1985

Winters JM, Stark L. Analysis of fundamental human movement patterns through the use of in-depth antagonistic muscle models. IEEE Trans Biomed Eng. 1985;32(10):826-839.

1990

Delp SL. Surgery Simulation: A Computer Graphics System to Analyze and Design Musculoskeletal Reconstructions of the Lower Limb [PhD thesis]. Stanford University; August 1990.

1990

Hoy MG, Zajac FE, Gordon ME. A musculoskeletal model of the human lower extremity: the effect of muscle, tendon, and moment arm on the moment-angle relationship of musculotendon actuators at the hip, knee, and ankle. J Biomech. 1990;23(2):157-169.

1991

Pandy MG, Zajac FE. Optimal muscular coordination strategies for jumping. J Biomech. 1991;24(1):1-10.

1992

Pandy MG, Anderson FC, Hull DG. A parameter optimization approach for the optimal control of large-scale musculoskeletal systems. J Biomech Eng. November 1992;114(4):450-460.

1985

Olney SJ, Winter DA. Predictions of knee and ankle moments of force in walking from EMG and kinematic data. J Biomech. 1985;18(1):9-20.

1990

Hogan N, Winters JM. Principles underlying movement organization: upper limb. In: Winters JM, Woo SL-Y, eds. Multiple Muscle Systems: Biomechanics and Movement Organization. New York, NY: Springer-Verlag; 1990:182-194.

Year	Entry
2001	Koo K-kT. Neuromusculoskeletal Modeling of the Elbow Joint in Subjects With and Without Spasticity [PhD thesis]. Hong Kong Polytechnic University; December 2001.
1999	Anderson FC III. A Dynamic Optimization Solution for a Complete Cycle of Normal Gait [PhD thesis]. University of Texas at Austin; December 1999.

Year

Entry

2001

Koo K-kT. Neuromusculoskeletal Modeling of the Elbow Joint in Subjects With and Without Spasticity [PhD thesis]. Hong Kong Polytechnic University; December 2001.

1999

Anderson FC III. A Dynamic Optimization Solution for a Complete Cycle of Normal Gait [PhD thesis]. University of Texas at Austin; December 1999.