Inverse Dynamics Approach Research Articles

Inverse Dynamic Analysis of the Lower Extremities during Nordic Walking, Walking, and Running

Compared with walking (W), Nordic walking (NW) exhibits greater cardiopulmonary and cardiovascular benefits. Some authors conjecture that compared with W or running (R), NW imposes smaller mechanical loads on the musculoskeletal system. The purpose of the current study was to quantify any differences in joint loading of the lower extremities among NW, W, and R. Fifteen experienced adults participated. Kinematic and force measurements were combined using an inverse dynamics approach to yield joint moments. The results showed no biomechanical benefit of NW. Instead, NW involved greater knee joint loading just after heel strike compared with W. This was due to the longer steps and the higher sole angle during the first part of the stance phase. The sagittal and frontal plane moments were smaller for NW compared with R, but in the transverse plane, the ankle moments were greater in NW than in W or R. Based on these results, NW is not recommended as an exercise for persons who seek to reduce biomechanical loading of the lower extremities.

The kinematic determinants of anuran swimming performance: an inverse and forward dynamics approach

The aims of this study were to explore the hydrodynamic mechanism of Xenopus laevis swimming and to describe how hind limb kinematics shift to control swimming performance. Kinematics of the joints, feet and body were obtained from high speed video of X. laevis frogs (N=4) during swimming over a range of speeds. A blade element approach was used to estimate thrust produced by both translational and rotational components of foot velocity. Peak thrust from the feet ranged from 0.09 to 0.69 N across speeds ranging from 0.28 to 1.2 m s(-1). Among 23 swimming strokes, net thrust impulse from rotational foot motion was significantly higher than net translational thrust impulse, ranging from 6.1 to 29.3 N ms, compared with a range of -7.0 to 4.1 N ms from foot translation. Additionally, X. laevis kinematics were used as a basis for a forward dynamic anuran swimming model. Input joint kinematics were modulated to independently vary the magnitudes of foot translational and rotational velocity. Simulations predicted that maximum swimming velocity (among all of the kinematics patterns tested) requires that maximal translational and maximal rotational foot velocity act in phase. However, consistent with experimental kinematics, translational and rotational motion contributed unequally to total thrust. The simulation powered purely by foot translation reached a lower peak stroke velocity than the pure rotational case (0.38 vs 0.54 m s(-1)). In all simulations, thrust from the foot was positive for the first half of the power stroke, but negative for the second half. Pure translational foot motion caused greater negative thrust (70% of peak positive thrust) compared with pure rotational simulation (35% peak positive thrust) suggesting that translational motion is propulsive only in the early stages of joint extension. Later in the power stroke, thrust produced by foot rotation overcomes negative thrust (due to translation). Hydrodynamic analysis from X. laevis as well as forward dynamics give insight into the differential roles of translational and rotational foot motion in the aquatic propulsion of anurans, providing a mechanistic link between joint kinematics and swimming performance.

Evidence for early stance phase pre-loading of the plantar aponeurosis

An inverse dynamics approach has been used to gain an insight into the mechanical behaviour of the plantar aponeurosis (PA) at different walking speeds. Mechanical [1] and finite element models [2] have evaluated its biomechanics in quasi static conditions. To our knowledge only one study has addressed the dynamic behaviour of the PA with relation to the Achilles tendon force [3]. The aims of this study were to create a multibody model to quantify PA tension and to examine how PA tension changes with walking speed.

Nordic Walking does not reduce the loading of the knee joint

The use of Nordic Walking (NW) as a rehabilitation modality has increased considerably. NW (walking with poles) is advocated as a healthy physical activity that reduces the load on the knees. Few studies using the techniques of NW exist, and the findings are contradictory. The aim of this study was to investigate whether NW reduces the loadings upon the knee joint compared with walking without poles (NP). Seven experienced female NW instructors volunteered. Three-dimensional gait analyses were performed. Internal flexor and extensor joint moments were calculated using an inverse dynamics approach and the knee joint compressive forces were calculated. No differences in compression or shear forces between NW and NP were found. The peak knee flexion angles were larger during NW (-32.5+/-6.0 degrees) compared with NP (-28.2+/-4.2 degrees). The hip range of motion (ROM) was significantly increased during NW (64.4+/-10.2 degrees) compared with NP (57.8+/-9.7 degrees); no differences in the knee and ankle joint ROM were observed. The changes in the joint angles were not followed by changes in the joint dynamics. The present study does not support the statement that NW reduces the load on the knees.

Joint kinetics during Tai Chi gait and normal walking gait in young and elderly Tai Chi Chuan practitioners

Background Tai Chi Chuan is becoming a popular exercise among elders. This study measured the inter-segmental forces and moments at the lower extremity joints during a Tai Chi gait as compared to those during normal walking gait, in both apparently healthy young and elderly Tai Chi Chuan practitioners. Methods Three-dimensional inter-segmental joint reaction force and moment were computed using the Inverse Dynamic Approach based on the kinematics and ground reaction force measurements in a laboratory setting in six young (two females, mean age 28; SD 6 years) and six elderly (five females, mean age 72; SD 8 years) subjects who had previous training of Yang style Tai Chi Chuan. Findings The results showed significant gait differences in both age groups, with significantly smaller peak compressive forces, larger peak shear forces in the ankle, knee and hip joints, and larger peak moments in the knee and hip joints during Tai Chi gait as compared to normal gait. Moreover, the peak shear force was oriented more in the medial–lateral direction at the ankle and knee joints, and the peak moment was in the frontal plane at the knee and hip joints. The results also showed significant age differences, with significantly smaller peak shear forces in all three joints in the elderly group than in the young group during Tai Chi gait. Interpretation Tai Chi gait has an increased shear force and frontal plane torque at lower extremity joints than normal gait. The shear force at all three lower extremity joints during Tai Chi gait is lower in the elderly subjects than young subjects. This data suggest that, in Tai Chi Chuan training, elderly people with degenerative joint diseases in the lower extremity should use caution when practicing Tai Chi Chuan.

Dynamic Stability of Spine Using Stability-Based Optimization and Muscle Spindle Reflex

A computational method for simulation of 3-D movement of the trunk under the control of 48 anatomically oriented muscle actions was developed. Neural excitation of muscles was set based on inverse dynamics approach along with the stability-based optimization. The effect of muscle spindle reflex response on the trunk movement stability was evaluated upon the application of a perturbation moment. The method was used to simulate the trunk movement from the upright standing to 60 degrees of flexion. Incorporation of the stability condition as an additional constraint in the optimization resulted in an increase in antagonistic activities demonstrating that the antagonistic co-activation acts to increase the trunk stability in response to self-induced postural internal perturbation. In presence of a 30 Nm flexion perturbation moment, muscle spindles decreased the induced deviation of the position and velocity profiles from the desired ones. The stability-generated co-activation decreased the reflexive response of muscle spindles to the perturbation demonstrating that the rise in muscle co-activation can ameliorate the corruption of afferent neural sensory system at the expense of higher loading of the spine.

Improving joint torque calculations: Optimization-based inverse dynamics to reduce the effect of motion errors

The accuracy of joint torques calculated from inverse dynamics methods is strongly dependent upon errors in body segment motion profiles, which arise from two sources of noise: the motion capture system and movement artifacts of skin-mounted markers. The current study presents a method to increase the accuracy of estimated joint torques through the optimization of the angular position data used to describe these segment motions. To compute these angular data, we formulated a constrained nonlinear optimization problem with a cost function that minimizes the difference between the known ground reaction forces (GRFs) and the GRF calculated via a top-down inverse dynamics solution. To evaluate this approach, we constructed idealized error-free reference movements (of squatting and lifting) that produced a set of known “true” motions and associated true joint torques and GRF. To simulate real-world inaccuracies in motion data, these true motions were perturbed by artificial noise. We then applied our approach to these noise-induced data to determine optimized motions and related joint torques. To evaluate the efficacy of the optimization approach compared to traditional (bottom-up or top-down) inverse dynamics approaches, we computed the root mean square error (RMSE) values of joint torques derived from each approach relative to the expected true joint torques. Compared to traditional approaches, the optimization approach reduced the RMSE by 54% to 79%. Average reduction due to our method was 65%; previous methods only achieved an overall reduction of 30%. These results suggest that significant improvement in the accuracy of joint torque calculations can be achieved using this approach.

Dynamic iso-resistive trunk extension simulation: Contributions of the intrinsic and reflexive mechanisms to spinal stability

The effects of external resistance on the recruitment of trunk muscles and the role of intrinsic and reflexive mechanisms to ensure the spinal stability are significant issues in spinal biomechanics. A computational model of spine under the control of 48 anatomically oriented muscle actions was used to simulate iso-resistive trunk movements. Neural excitation of muscles was attained based on inverse dynamics approach along with the stability-based optimization. The effect of muscle spindle reflex response on the trunk movement stability was evaluated upon the application of a perturbation moment. In this study, the trunk extension movement at various resistance levels while extending from 60 degrees flexion to the upright posture was investigated. Incorporation of the stability condition as an additional constraint in the optimization algorithm increased antagonistic activities for all resistance levels demonstrating that the co-activation caused an increase in the intrinsic stiffness of the spine and its stability in a feed-forward manner. During the acceleration phase of the movement, extensors activity increased while flexors activity decreased in response to the higher resistance. The co-activation ratio noticed in the braking phase of the movement increased with higher resistance. In presence of a 30 Nm flexion perturbation moment, reflexive feed-back noticeably decreased the induced deviation of the velocity and position profiles from the desired ones at all resistance levels. The stability-generated co-activation decreased the reflexive response of muscle spindles to the perturbation demonstrating that both intrinsic and reflexive mechanisms contribute to the trunk stability. The rise in muscle co-activation can ameliorate the corruption of afferent neural sensory system at the expense of higher loading of the spine.

Influence of cadence, power output and hypoxia on the joint moment distribution during cycling

The purpose of this study was to use a hypoxic stress as a mean to disrupt the normal coordinative pattern during cycling. Seven male cyclists pedalled at three cadence (60, 80, 100 rpm) and three power output (150, 250, 350 W) conditions in normoxia and hypoxia (15% O2). Simultaneous measurements of pedal force, joint kinematics, % oxyhaemoglobin saturation, and minute ventilation were made for each riding condition. A conventional inverse dynamics approach was used to compute the joint moments of force at the hip, knee, and ankle. The relative contribution of the joint moments of force with respect to the total moment was computed for each subject and trial condition. Overall, the ankle contributed on average 21%, the knee 29% and the hip 50% of the total moment. This was not affected by the relative inspired oxygen concentration. Results showed that the relative ankle moment of force remained at 21% regardless of manipulation. The relative hip moment was reduced on average by 4% with increased cadence and increased on average by 4% with increased power output whereas the knee moment responded in the opposite direction. These results suggest that the coordinative pattern in cycling is a dominant characteristic of cycling biomechanics and remains robust even in the face of arterial hypoxemia.

On parameters identification of computational models of vibrations during quiet standing of humans

Vibration of the center of pressure (COP) of human body on the base of support during quiet standing is a very popular clinical research, which provides useful information about the physical and health condition of an individual. In this work, vibrations of COP of a human body in forward–backward direction during still standing are generated using controlled inverted pendulum (CIP) model with a single degree of freedom (dof) supplied with proportional, integral and differential (PID) controller, which represents the behavior of the central neural system of a human body and excited by cumulative disturbance vibration, generated within the body due to breathing or any other physical condition. The identification of the model and disturbance parameters is an important stage while creating a close-to-reality computational model able to evaluate features of disturbance. The aim of this study is to present the CIP model parameters identification approach based on the information captured by time series of the COP signal. The identification procedure is based on an error function minimization. Error function is formulated in terms of time laws of computed and experimentally measured COP vibrations. As an alternative, error function is formulated in terms of the stabilogram diffusion function (SDF). The minimization of error functions is carried out by employing methods based on sensitivity functions of the error with respect to model and excitation parameters. The sensitivity functions are obtained by using the variational techniques. The inverse dynamic problem approach has been employed in order to establish the properties of the disturbance time laws ensuring the satisfactory coincidence of measured and computed COP vibration laws. The main difficulty of the investigated problem is encountered during the model validation stage. Generally, neither the PID controller parameter set nor the disturbance time law are known in advance. In this work, an error function formulated in terms of time derivative of disturbance torque has been proposed in order to obtain PID controller parameters, as well as the reference time law of the disturbance. The disturbance torque is calculated from experimental data using the inverse dynamic approach. Experiments presented in this study revealed that vibrations of disturbance torque and PID controller parameters identified by the method may be qualified as feasible in humans. Presented approach may be easily extended to structural models with any number of dof or higher structural complexity.

Side difference in the hip and knee joint moments during sit-to-stand and stand-to-sit tasks in individuals with hemiparesis

No study has reported the differences between sides in the net muscular moment of lower limbs of subjects with hemiparesis during sit-to-stand and stand-to-sit tasks in various foot positions. Moreover, the asymmetry of lower-joint moments has not yet been related to muscular weakness of the lower limbs in this population. A convenience sample of 12 individuals (mean age (standard deviation): 49.7 (9.0) years) with chronic hemiparesis due to stroke were asked to stand up and sit down at their natural speed in four foot positions. The joint moments at the hip and knee on both sides during the tasks were estimated with an inverse dynamic approach while the dynamic concentric strength in extension at the hip and knee was assessed with a Biodex dynamometric system. Statistical analyses (paired t-tests and ANOVAs) were used to assess the effects of sides and foot position factor on the asymmetry in the hip and knee joint moments. The level of association between muscle weakness and the asymmetry in the joint moments was quantified with Pearson correlation coefficients (r). At the knee, the extensor moments were significantly lower on the affected side (P<0.05) and were affected by the foot position. At the hip, the moments were not significantly different between sides and were slightly modified by the foot positions. There were also strong correlations (0.70<r<0.89; P<0.05, for symmetrical foot position) between the asymmetry in knee extensor moments and the asymmetry in strength. No relation was established at the hip. The sit-to-stand and stand-to-sit tasks are characterized by a marked asymmetry in the knee extensor moments, which is associated with knee extensor weakness.

EFFECTS OF BELOW AND ABOVE ANKLE ORTHOSES ON GAIT STABILTY IN PARTIAL FOOT AMPUTEES

This study aimed to compare the muscle activities of the lower limb during overground level running (LR) and uphill running (UR) by using a musculoskeletal model. Six male distance runners ran at three running speeds (slow: 3.3 m/s; medium: 4.2 m/s; and high: 5.0 m/s) on a level runway and a slope of 9.1% grade in which force platforms were mounted. A musculoskeletal leg model and optimization were used to estimate the muscle activation and muscle torque from the joint torque of the lower limb calculated by the inverse dynamics approach. At high speed, the activation and muscle torque of the muscle groups surrounding the hip joints, such as the hamstrings and iliopsoas, during the recovery phase were significantly greater during UR than during LR. At all the running speeds, the knee extension torque by the vasti during the support phase was significantly smaller during UR. Further, the hip flexion and knee extension torques by the rectus femoris during UR were significantly greater than those during LR at all the speeds; this would play a role in compensating for the decrease in the knee extension torque by the vasti and in maintaining the trunk in a forward-leaning position. These results revealed that the activation and muscle torque of the hip extensors and flexors were augmented during UR at the high speed.

Muscle activities of the lower limb during level and uphill running

This study aimed to compare the muscle activities of the lower limb during overground level running (LR) and uphill running (UR) by using a musculoskeletal model. Six male distance runners ran at three running speeds (slow: 3.3 m/s; medium: 4.2 m/s; and high: 5.0 m/s) on a level runway and a slope of 9.1% grade in which force platforms were mounted. A musculoskeletal leg model and optimization were used to estimate the muscle activation and muscle torque from the joint torque of the lower limb calculated by the inverse dynamics approach. At high speed, the activation and muscle torque of the muscle groups surrounding the hip joints, such as the hamstrings and iliopsoas, during the recovery phase were significantly greater during UR than during LR. At all the running speeds, the knee extension torque by the vasti during the support phase was significantly smaller during UR. Further, the hip flexion and knee extension torques by the rectus femoris during UR were significantly greater than those during LR at all the speeds; this would play a role in compensating for the decrease in the knee extension torque by the vasti and in maintaining the trunk in a forward-leaning position. These results revealed that the activation and muscle torque of the hip extensors and flexors were augmented during UR at the high speed.

Biomechanical Model for Muscular Dysfunction of the Human Pharynx Using Finite Element Analysis

The oropharynx functions to transport food from the oral cavity to the esophagus, as well as to maintain an air passage from the nose to the lungs. By combining data from prior material property experimentation, a 3-dimensional finite element method reconstruction of the pharynx, and the utilization of a optimization process based on an inverse dynamic approach, we can estimate the pressures and associated consecutive pressure gradients created internally when the pharynx functions during swallowing. In this study, pharyngeal muscular dysfunction was modeled under 3 scenarios of increasing tissue stiffness. This was done by modifications in the stress-strain relationship material property within the finite element method nodes. This mechanical property was used as a surrogate for clinical changes in muscle function complicating neuromuscular disorders, such as stroke and amyotrophic lateral sclerosis. The pharyngeal tissue and deformation of the cross-sectional area of the pharynx were analyzed while increasing the mechanical stiffness by 25%, 50%, and 75%. Increases in stiffness resulted in modified pressure-area curves predicting diminished movement, primarily in stiffened regions. These simulation results may act as a clinical index illustrating the association between tissue dysfunction and pharyngeal pressure and movement dysfunction. This type of modeling has the potential to act as an investigational tool, as well as a predictive tool, regarding disease progression, cancer treatment, and perhaps even the effects of aging on swallowing function.

Vertical jumping performance of bonobo (Pan paniscus) suggests superior muscle properties

Vertical jumping was used to assess muscle mechanical output in bonobos and comparisons were drawn to human jumping. Jump height, defined as the vertical displacement of the body centre of mass during the airborne phase, was determined for three bonobos of varying age and sex. All bonobos reached jump heights above 0.7 m, which greatly exceeds typical human maximal performance (0.3-0.4m). Jumps by one male bonobo (34 kg) and one human male (61.5 kg) were analysed using an inverse dynamics approach. Despite the difference in size, the mechanical output delivered by the bonobo and the human jumper during the push-off was similar: about 450 J, with a peak power output close to 3000 W. In the bonobo, most of the mechanical output was generated at the hips. To account for the mechanical output, the muscles actuating the bonobo's hips (directly and indirectly) must deliver muscle-mass-specific power and work output of 615 Wkg-1 and 92 Jkg-1, respectively. This was twice the output expected on the basis of muscle mass specific work and power in other jumping animals but seems physiologically possible. We suggest that the difference is due to a higher specific force (force per unit of cross-sectional area) in the bonobo.

Identification of human-generated forces on wheelchairs during total-body extensor thrusts

Involuntary extensor thrust experienced by wheelchair users with neurological disorders may cause injuries via impact with the wheelchair, lead to the occupant sliding out of the seat, and also damage the wheelchair. The concept of a dynamic seat, which allows movement of a seat with respect to the wheelchair frame, has been suggested as a potential solution to provide greater freedom and safety. Knowledge of the human-generated motion and forces during unconstrained extensor thrust events is of great importance in developing more comfortable and effective dynamic seats. The objective of this study was to develop a method to identify human-generated motions and forces during extensor thrust events. This information can be used to design the triggering system for a dynamic seat. An experimental system was developed to automatically track the motions of the wheelchair user using a video camera and also measure the forces at the footrest. An inverse dynamic approach was employed along with a three-link human body model and the experimental data to predict the human-generated forces. Two kinds of experiments were performed: the first experiment validated the proposed model and the second experiment showed the effects of the extensor thrust speed, the footrest angle, and the seatback angle. The proposed method was tested using a sensitivity analysis, from which a performance index was deduced to help indicate the robust region of the force identification. A system to determine human-generated motions and forces during unconstrained extensor thrusts was developed. Through experiments and simulations, the effectiveness and reliability of the developed system was established.

Lower Extremity Joint Power Production during Olympic Weightlifting Exercise

Athletic performance can be maximized with power training. Olympic weightlifting exercises are particularly beneficial due to biomechanical similarities to a number of sporting events and the fact that these exercises result in power outputs greater than other modes of exercise. PURPOSE: To determine the optimal loads for mechanical power production of individual lower extremity joints during the pull-phase of the clean exercise. METHODS: Ten weightlifters (BW = 92.5 kg, 1-RM= 113.1 kg) performed five sets of 1–3 repetitions of the clean exercise. However, only the first lift of each set was analyzed. Loads lifted represented 35, 50, 65, 75, and 85% of the subject's 1-RM. Three-dimensional lower extremity joint kinematics were collected with a VICON Motion Capture System at 250 Hz while bilateral ground reaction forces were collected using Kistler force plates at 1250 Hz. Joint moments were determined using an inverse dynamics approach. Sagittal plane joint powers were calculated for three joints of the right lower extremity (hip, knee, and ankle). Comparisons between loads and across joints were made using Student's t-test. Statistical significance was set at □ = .05. RESULTS: Mechanical power output at the hip was significantly greater than at the knee or ankle, while no major differences were found between the latter two. Hip and ankle joint power did not change significantly after reaching 50% and 65% of 1-RM, respectively. Knee joint power output achieved a maximum at 75% of 1 -RM, which was significantly different from all other loads (Table 1).Table 1: Peak power output at the lower extremity joints for 5 magnitudes of clean lift. All values are given in Watts/kg ± SD.CONCLUSIONS The optimal load for lower extremity power production varies depending on the respective joint. Power outputs at the hip and ankle become relatively constant as higher lifting intensities are approached whereas the knee joint displays a distinct maximum at 75% of 1 -RM. This information should be considered when designing resistance training programs aimed to improve power production of the lower extremity.

A simple 1 + dimensional model of rowing mimics observed forces and motions

We have devised a simple, yet predictive model of the mechanics of both sculling and sweep rowing that reasonably mimics observed kinematic and force data. Our physical model is largely based upon the model proposed by Alexander [Alexander, F. H. (1925). The theory of rowing. In Proceedings of the University of Durham Philosophical Society (pp. 160–179).]. The model’s primary features include: one dimensional momentum balance, a point mass rower, infinitely stiff oars with inertia and non-infinitesimal stroke angles, and quadratic relationships between force and velocity for the boat and oar blade. Using an inverse dynamics approach, we are able to construct reasonable fits to force and kinematic data of real rowing. We show that the model is able to reasonably well predict boat velocity even when we do not fit for it. A sensitivity analysis shows that the quality of fit is more sensitive to the boat and oar drag coefficients than to other physical parameters. Allowing oar slip ( C D < ∞) proves to be a necessary model ingredient but, for example, allowing for oar flexibility does not improve the quality of fit. The model seems to have the key terms and a minimum of superfluous terms for investigations of rowing.

Estimation of the muscle force distribution in ballistic motion based on a multibody methodology

This work presents a general three-dimensional multibody procedure for studying the human body motion with emphasis on the locomotion apparatus. The methodology includes a three-dimensional biomechanical model, data acquisition techniques and an inverse dynamics approach. The biomechanical model is based on a multibody formulation using natural coordinates and consists of 16 anatomical segments modeled by 33 rigid bodies for a total of 44 degrees-of-freedom. The action of the muscles is introduced in the equations of motion of the multibody model by means of driver actuators defined as kinematic constraints. By associating a Lagrange multiplier to each muscle actuator the muscle forces became coupled with the biomechanical model through the Jacobian matrix of the underlying multibody system. A Hill type muscle model is used to calculate individual muscle forces. The model for the muscle apparatus comprises 43 muscle groups for each leg, which use the full three-dimensional lines of action for these muscles in their geometric description. The problem of the redundancy of the forces on the musculoskeletal structure is solved by using inverse dynamics and static optimization methods. In the process of describing the methodology the benefits of modeling in natural coordinates are highlighted. The methodology developed is demonstrated through its application to a case of ballistic motion, represented by the take-off to an aerial trajectory in order to estimate the joint torques and the muscle force distribution in the supporting leg. The time characteristics of the resultant net torques at the basic joints of the supporting leg and the time-varying muscle force patterns are presented and discussed. The results obtained are explained in terms of their relevance to the activity under study.

Effects of Turn Angle and Pivot Foot on Lower Extremity Kinetics during Walk and Turn Actions

This study examined lower extremity joint moments during walk and turn with different turn angles and pivot feet. Seven young adults (age 21+/-1.3 yrs) were asked to walk at a self-selected speed (1.35+/-0.15 m/s) and to turn to the right using right (spin turn) and left (step turn) pivot feet at turn angles of 0 degrees (walking straight), 45 degrees, and 90 degrees. Video and forceplate systems were employed for kinematic and kinetic data collection. Inverse dynamics approach was used to compute joint moments using segmental kinematics, ground reaction forces, and moments. The participants decreased their forward speed by increasing the ankle plantar flexion moment as the turn angle increased. The peak ankle plantar flexion moment during the braking phase increased with increasing turn angle for both spin and step turns. Ankle invertor moments were observed only in spin turns, suggesting that more ankle muscles are involved in spin turns than in step turns. The turn angle had a significant effect on the transverse plane moment profiles at the different lower extremity joints. The results suggest that the loading patterns of different anatomical structures in the lower extremity are affected by both turn angle and pivot foot during walk and turn actions.