Markerless 3D kinematics and force estimation in cheetahs.

The complex dynamics of animal manoeuvrability in the wild is extremely challenging to study. The cheetah (Acinonyx jubatus) is a perfect example: despite great interest in its unmatched speed and manoeuvrability, obtaining complete whole-body motion data from these animals remains an unsolved problem. This is especially difficult in wild cheetahs, where it is essential that the methods used are remote and do not constrain the animal's motion. In this work, we use data obtained from cheetahs in the wild to present a trajectory optimisation approach for estimating the 3D kinematics and joint torques of subjects remotely. We call this approach kinetic full trajectory estimation (K-FTE). We validate the method on a dataset comprising synchronised video and force plate data. We are able to reconstruct the 3D kinematics with an average reprojection error of 17.69 pixels (62.94% PCK using the nose-to-eye(s) length segment as a threshold), while the estimates produce an average root-mean-square error of 171.3N ( ≈ 17.16% of peak force during stride) for the estimated ground reaction force when compared against the force plate data. While the joint torques cannot be directly validated against ground truth data, as no such data is available for cheetahs, the estimated torques agree with previous studies of quadrupeds in controlled settings. These results will enable deeper insight into the study of animal locomotion in a more natural environment for both biologists and roboticists.

Multiplanar lumbar, pelvis and kick leg sequencing during soccer instep kicking from different approach angles.

Multiplanar kinematic and kinetic sequencing from different approach angles can highlight how soccer players perform fast and accurate kicks. This study therefore aimed to a) determine multiplanar torso, pelvis and kick leg sequencing during instep kicks and b) highlight the effect of different approach angles on these sequencing patterns. Twenty male soccer players (mass 77.9 ± 6.5 kg, height 1.71 ± 0.09 m, age 23.2 ± 3.7 years) performed kicks from self-selected (∼30-45°), straight (0°) and wide (67.5°) approaches and multiplanar lumbo-pelvic, hip and knee angular velocities, moments and powers were derived from 3D motion analysis. The results suggest tension arc release between the upper and lower body functions as a two-stage mechanism. The first phase of arc release was characterised by increases in concentric hip flexion and transverse lumbo-pelvic velocities towards the ball. The second phase was characterised by increasing concentric lumbo-pelvic flexion and knee extension work to angularly accelerate the kicking knee towards foot-to-ball contact. Further, alterations in kinematic and kinetic sequencing helped maintain performance (ball and foot velocities at ball contact) and accuracy at approach angles other than self-selected. These findings can help coaches and practitioners design effective training practices.

Choice of low-pass filter influences practical interpretation of ball kicking motions: the effect of a time-frequency filter method.

When studying ball kicking, conventional low-pass filters may distort kick leg kinematics near the time of foot-to-ball contact, leading to flawed practical interpretation of the skill. Time-frequency filters are a viable alternative but are not widely used. This study compared a fractional Fourier filter (FrFF) with conventional filters (CF) methods for estimating common parameters used to define kicking performance. Instep kicks from 23 experienced soccer players were captured by 3D motion analysis (1000 Hz), and kick leg foot velocities, knee angular velocities and ankle dorsi-plantarflexion angles compared between the FrFF and variations of a Butterworth CF. The FrFF and CFs using a higher cut-off frequency (>70 Hz) successfully detected lower leg motion prior to, during and following impact, whereas CFs with low cut-off frequencies (<20 Hz) attenuated motion near impact. Truncating data at impact provided valid pre-impact kinematics, but ignored information thereafter. Rather than decelerating the lower leg to conserve accuracy, 'kicking through the ball' should be considered a valid coaching cue. Further, controlling ankle plantar flexion to ensure efficient impact mechanics may be important for skilled kicking. Practitioners should consider how choice of filter will affect their data, and use of time-frequency methods can help inform empirically grounded coaching practices.

Defining movement strategies in soccer instep kicking using the relationship between pelvis and kick leg rotations.

Growing evidence suggests skilled ball kickers use distinct pelvis and kick leg strategies to achieve successful performance. However, since the interaction between different strategies remains unexplored, the aims of this study were to a) examine relationships between pelvis and kick leg rotations in male players performing soccer instep kicks and b) classify different 'types' of kickers based on the observed movement strategies. Twenty semi-professional players performed kicks for maximal speed and accuracy, and kick leg and pelvis kinematics were analysed using 3D motion capture (1000 Hz). A strong relationship was found between change in pelvis transverse angular velocity and thigh-knee angular velocity ratio upon ball contact (r = 0.76, p < 0.001), and participants were categorised by their location on kick leg (thigh-knee) and pelvis (maintainer-reverser) continuums. Knowledge of a player's preferred strategy can inform departure from 'one size fits all' technical and conditioning training practices towards more individualised approaches. For example, pelvis maintainer-thigh dominant kickers might benefit from focus towards the concentric capabilities of the hip flexors, whereas reverser-knee dominant kickers might benefit from developing the ability to decelerate the pelvis and thigh to induce motion-dependent angular acceleration of the lower leg towards the ball.

Whole-body energy transfer strategies during football instep kicking: implications for training practices.

Knowledge of whole-body energy transfer strategies during football instep kicking can help inform empirically grounded training practices. The aim of this study was thus to investigate energy transfer strategies of 15 semi-professional players performing kicks for speed and accuracy. Three-dimensional kinematics and GRFs (both 1000 Hz) were incorporated into segment power analyses to derive energy transfers between the support leg, torso, pelvis and kick leg throughout the kick. Energy transferred from support leg (r = 0.62, P = 0.013) and torso (r = 0.54, P = 0.016) into the pelvis during tension arc formation and leg cocking was redistributed to the kick leg during the downswing (r = 0.76, P < 0.001) and were associated with faster foot velocities at ball contact. This highlights whole-body function during instep kicking. Of particular importance were: (a) regulating support leg energy absorption, (b) eccentric formation and concentric release of a 'tension arc' between the torso and kicking hip, and (c) coordinated proximal to distal sequencing of the kick leg. Resistance exercises that replicate the demands of these interactions may help develop more powerful kicking motions and varying task and/or environmental constraints might facilitate development of adaptable energy transfer strategies.

The effect of approach velocity on pelvis and kick leg angular momentum conversion strategies during football instep kicking.

During football instep kicking, whole-body deceleration during the final stride has been associated with greater kick leg angular momentum and enhanced foot and ball velocities, but the influence of approach velocity on these mechanisms is unknown. This study assessed how approach velocity affects momentum conversion strategies of experienced players performing fast and accurate kicks. Eleven semi-professional footballers performed instep kicks from self-selected (3.34 ± 0.43 m/s), fast (3.71 ± 0.33 m/s) and slow (2.77 ± 0.32 m/s) approaches. Kicking motions and ground reaction forces under the support leg were captured using 3D motion analysis (1000 Hz). The players responded to perturbations in approach velocity by using the support leg to regulate whole-body deceleration and create ideal conditions for co-ordinated pelvic and kick leg momentums during the downswing. Further, the pelvis was key for generating transverse momentum at the kick leg, but the participants displayed distinctly different pelvis transverse rotation strategies. Identification of these inter-individual strategies may provide a basis for technical and strength training practices to be tailored for individual players. Future research might investigate if training practices that expose footballers to varying approach velocities of between 2.5 and 4.0 m/s promotes development of movement strategies that are robust to perturbations in approach conditions.

Quasi-stiffness of the knee joint is influenced by walking on a destabilising terrain.

BACKGROUND: Predictive models have been devised to estimate the necessary quasi-stiffness that a transfemoral prosthesis should be set to aligning the body and gait parameters of the user. Current recommendations exist only for walking over level ground. This study aimed to ascertain whether walking across destabilising terrain influences the quasi-stiffness of the knee joint thus influencing prosthetic engineering. METHODS: Ten healthy males (age: 25.1 ± 2.5 years; mean ± sd, height: 1.78 ± 0.05 m, weight: 84.40 ± 11.02 kg) performed 14 gait trials. Seven trials were conducted over even ground and seven over 20 mm ballast. Three-dimensional motion capture and ground reaction force were collected. Paired samples t-tests and Wilcoxon signed ranked test compared variables including; quasi-stiffness, gait speed, stride length and stride width. RESULTS: Quasi-stiffness (d = 0.562, P = 0.001) and stride width (d = 0.909, P < 0.001) were significantly greater in the destabilising terrain condition. Gait speed (r = -0.731, P = 0.001) was significantly greater in the control condition. No significant difference was seen in stride length (d = 0.583, P = 0.016). CONCLUSIONS: An increase in quasi-stiffness when walking across destabilising terrain was attributed to a magnified shock absorption mechanism, facilitating an increased flexion angle during the stance phase. This causes a lower centre of mass resulting in the musculoskeletal system having to produce a greater knee extensor moment to prevent the knee collapsing. Therefore, transfemoral prostheses should be tuned to apply increased extension moments if ambulation is to occur on a destabilising terrain.

Improved accuracy of biomechanical motion data obtained during impacts using a time-frequency low-pass filter.

Biomechanical motion data involving impacts are not adequately represented using conventional low-pass filters (CF). Time-frequency filters (TFF) are a viable alternative, but have been largely overlooked by movement scientists. We modified Georgakis and Subramaniam's (2009) fractional Fourier filter (MFrFF) and demonstrated it performed better than CFs for obtaining lower leg accelerations during football instep kicking. The MFrFF displayed peak marker accelerations comparable to a reference accelerometer during foot-to-ball impact (peak % error = -5.0 ± 11.4%), whereas CFs severely underestimated these peaks (30-70% error). During the non-impact phases, the MFrFF performed comparably to CFs using an appropriate (12-20 Hz) cut-off frequency (RMSE = 37.3 ± 7.6 m/s2 vs. 42.1 ± 11.4 m/s2, respectively). Since accuracy of segmental kinematics is fundamental for understanding human movement, the MFrFF should be applied to a range of biomechanical impact scenarios (e.g. locomotion, landing and striking motions) to enhance the efficacy of study in these areas.

Comparative functional anatomy of the epaxial musculature of dogs (Canis familiaris) bred for sprinting vs. fighting.

The axial musculoskeletal system of quadrupedal mammals is not currently well understood despite its functional importance in terms of facilitating postural stability and locomotion. Here we examined the detailed architecture of the muscles of the vertebral column of two breeds of dog, the Staffordshire bull terrier (SBT) and the racing greyhound, which have been selectively bred for physical combat and high speed sprint performance, respectively. Dissections of the epaxial musculature of nine racing greyhounds and six SBTs were carried out; muscle mass, length, and fascicle lengths were measured and used to calculate muscle physiological cross-sectional area (PCSA), and to estimate maximum muscle potential for force, work and power production. The longissimus dorsi muscle was found to have a high propensity for force production in both breeds of dog; however, when considered in combination with the iliocostalis lumborum muscle it showed enhanced potential for production of power and facilitating spinal extension during galloping gaits. This was particularly the case in the greyhound, where the m. longissimus dorsi and the m. iliocostalis lumborum were estimated to have the potential to augment hindlimb muscle power by ca. 12%. Breed differences were found within various other muscles of the axial musculoskeletal system, particularly in the cranial cervical muscles and also the deep muscles of the thorax which insert on the ribs. These may also highlight key functional adaptations between the two breeds of dog, which have been selectively bred for particular purposes. Additionally, in both breeds of dog, we illustrate specialisation of muscle function by spinal region, with differences in both mass and PCSA found between muscles at varying levels of the axial musculoskeletal system, and between muscle functional groups.

High speed galloping in the cheetah (Acinonyx jubatus) and the racing greyhound (Canis familiaris): spatio-temporal and kinetic characteristics.

The cheetah and racing greyhound are of a similar size and gross morphology and yet the cheetah is able to achieve a far higher top speed. We compared the kinematics and kinetics of galloping in the cheetah and greyhound to investigate how the cheetah can attain such remarkable maximum speeds. This also presented an opportunity to investigate some of the potential limits to maximum running speed in quadrupeds, which remain poorly understood. By combining force plate and high speed video data of galloping cheetahs and greyhounds, we show how the cheetah uses a lower stride frequency/longer stride length than the greyhound at any given speed. In some trials, the cheetahs used swing times as low as those of the greyhounds (0.2 s) so the cheetah has scope to use higher stride frequencies (up to 4.0 Hz), which may contribute to it having a higher top speed that the greyhound. Weight distribution between the animal's limbs varied with increasing speed. At high speed, the hindlimbs support the majority of the animal's body weight, with the cheetah supporting 70% of its body weight on its hindlimbs at 18 m s(-1); however, the greyhound hindlimbs support just 62% of its body weight. Supporting a greater proportion of body weight on a particular limb is likely to reduce the risk of slipping during propulsive efforts. Our results demonstrate several features of galloping and highlight differences between the cheetah and greyhound that may account for the cheetah's faster maximum speeds.

Functional anatomy of the cheetah (Acinonyx jubatus) forelimb.

Despite the cheetah being the fastest living land mammal, we know remarkably little about how it attains such high top speeds (29 m s(-1)). Here we aim to describe and quantify the musculoskeletal anatomy of the cheetah forelimb and compare it to the racing greyhound, an animal of similar mass, but which can only attain a top speed of 17 m s(-1). Measurements were made of muscle mass, fascicle length and moment arms, enabling calculations of muscle volume, physiological cross-sectional area (PCSA), and estimates of joint torques and rotational velocities. Bone lengths, masses and mid-shaft cross-sectional areas were also measured. Several species differences were observed and have been discussed, such as the long fibred serratus ventralis muscle in the cheetah, which we theorise may translate the scapula along the rib cage (as has been observed in domestic cats), thereby increasing the cheetah's effective limb length. The cheetah's proximal limb contained many large PCSA muscles with long moment arms, suggesting that this limb is resisting large ground reaction force joint torques and therefore is not functioning as a simple strut. Its structure may also reflect a need for control and stabilisation during the high-speed manoeuvring in hunting. The large digital flexors and extensors observed in the cheetah forelimb may be used to dig the digits into the ground, aiding with traction when galloping and manoeuvring.

Functional anatomy of the cheetah (Acinonyx jubatus) hindlimb.

The cheetah is capable of a top speed of 29 ms(-1) compared to the maximum speed of 17 ms(-1) achieved by the racing greyhound. In this study of the hindlimb and in the accompanying paper on the forelimb we have quantified the musculoskeletal anatomy of the cheetah and greyhound and compared them to identify any differences that may account for this variation in their locomotor abilities. Specifically, bone length, mass and mid-shaft diameter were measured, along with muscle mass, fascicle lengths, pennation angles and moment arms to enable estimates of maximal isometric force, joint torques and joint rotational velocities to be calculated. Surprisingly the cheetahs had a smaller volume of hip extensor musculature than the greyhounds, and we therefore propose that the cheetah powers acceleration using its extensive back musculature. The cheetahs also had an extremely powerful psoas muscle which could help to resist the pitching moments around the hip associated with fast accelerations. The hindlimb bones were proportionally longer and heavier, enabling the cheetah to take longer strides and potentially resist higher peak limb forces. The cheetah therefore possesses several unique adaptations for high-speed locomotion and fast accelerations, when compared to the racing greyhound.