Tendon Structure Research Articles

Patellofemoral pain and musculoskeletal features in young pre- and post-pubertal female dancers

ABSTRACT The aim of this study was to examine associations between patellofemoral pain (PFP) and musculoskeletal features (such as tendon structure and bone properties) in young (pre- and post-pubertal) female dancers. A total of 49 dancers participated in this study (mean age 13.6 ± 2.9; weight 47.0 ± 13.2; height 153.7 ± 12.9 and body mass index (BMI) 19.4 ± 3.1) and were assessed for the following factors: dance background and Tanner stage through interviews; ultrasonography assessments of bone properties and patellar tendon structure through ultrasonographic tissue characterization and quantitative ultrasound, respectively; and anthropometric measurements, muscle strength, range of motion (ROM), hypermobility and PFP through physical examinations. PFP was found in 49% of the participants. Post-pubertal dancers with no-PFP were found to have greater muscle strength, greater radial and tibial properties, and better tendon structure compared to pre-pubertal dancers with PFP and compared to pre-pubertal dancers with no-PFP [F(2, 41) = 18.64, p < .001; F(2, 41) = 20.46, p < .001; F(2, 41) = 33.06, p < .001; and, F(2, 41) = 6.02, p = .007, respectively]. Logistic regression showed that tibial bone properties and range of movement (ROM) in hip external rotation were significantly associated with PFP [odds ratio (OR) = .889 and OR = 2.653, respectively; Cox & Snell R2 = .701]. The study revealed a high prevalence of PFP among young dancers, with low bone properties and hyperjoint ROM emerging as the main factors that are related to PFP. These findings should be addressed by medical teams, athletic trainers, and dance teachers regarding the need for implementing modifications to dance training programmes and injury-prevention strategies in young pre-pubertal dancers.

Influence of Staphylococcus epidermidis on Collagen Crimp Patterns of Soft Tissue Allograft

Background: Postoperative infections, commonly from Staphylococcus epidermidis, may result in anterior cruciate ligament graft failure and necessitate revision surgery. In biomechanical studies, S. epidermidis has been shown to establish biofilms on tendons and reduce graft strength. Purpose/Hypothesis: The goal of this study was to determine the effect of bacterial bioburden on the collagen structure of tendon. It was hypothesized that an increase in S. epidermidis biofilm would compromise tendon crimp, a pattern necessary for mechanical integrity, of soft tissue allografts. Study design: Controlled laboratory study. Methods: Cultures of S. epidermidis were used to inoculate tibialis anterior cadaveric tendons. Conditions assessed included 5 × 105 colony-forming units or concentrated spent media from culture (no living bacteria). Incubation times of 30 minutes, 3 hours, 6 hours, and 24 hours were utilized. Second-harmonic generation imaging allowed for visualization of collagen autofluorescence. Crimp lengths were determined using ImageJ and compared based on incubation time. Results: Incubation time positively correlated with increasing S. epidermidis bioburden. Both fine and coarse crimp patterns lengthened with increasing incubation time. Significant coarse crimp changes were observed after only 30-minute incubations (P < .029), whereas significant fine crimp lengthening occurred after 6 hours (P < .0001). No changes in crimp length were identified after incubation in media lacking living bacteria. Conclusion: The results of this study demonstrate that exposure to S. epidermidis negatively affects collagen crimp structure. Structural alterations at the collagen fiber level occur within 30 minutes of exposure to media containing S. epidermidis. Clinical Relevance: Our study highlights the need for antimicrobial precautions to prevent graft colonization and maximize graft mechanical strength.

Ultrasound Measurement of Local Deformation in the Human Free Achilles Tendon Produced by Dynamic Muscle-Induced Loading: A Systematic Review

Achilles tendinopathy is the most prevalent lower limb tendinopathy, yet it remains poorly understood, with mismatches between observed structure and reported function. Recent studies have hypothesised that Achilles tendon (AT) healthy function is associated with variable deformation across the tendon width during use, focusing on quantifying sub-tendon deformation. Here, the aim of this work was to synthesise recent advances exploring human free AT tissue-level deformation during use. Following PRISMA (Preferred Reporting Items for Systematic Reviews and Meta-Analyses) guidelines, PubMed, Embase, Scopus and Web of Science were systematically searched. Study quality and risk of bias were assessed. Thirteen articles were retained, yielding data on free AT deformation patterns. Seven were categorised as high-quality and six as medium-quality studies. Evidence consistently reports that healthy and young tendons deform non-uniformly, with the deeper layer displacing 18%-80% more than the superficial layer. Non-uniformity decreased by 12%-85% with increasing age and by 42%-91% in the presence of injury. There is limited evidence of large effect that AT deformation patterns during dynamic loading are non-uniform and may act as a biomarker of tendon health, risk of injury and rehabilitation impact. Better considered participant recruitment and improved measurement procedures would particularly improve study quality, to explore links between tendon structure, function, aging and disease in distinct populations.

Flexor hallucis longus tendon morphology in dancers clinically diagnosed with tendinopathy.

The unique demands of dance technique make dancers more prone to certain pathologies especially of the foot and ankle. Flexor hallucis longus (FHL) tendinopathy, colloquially known as "dancer's tendinopathy," is common in dancers and not well studied. The purpose of this study was to assess if morphological alterations in tendon structure occur as an adaptive response to dance activity by comparing the FHL tendon in dancers to non-dancers, and if pathology further alters tendon morphology in dancers clinically diagnosed with tendinopathy. Three groups of ten participants were recruited (healthy non-dancers, healthy dancers, and dancers with FHL tendinopathy). Ultrasound images of the FHL tendons were analyzed for macromorphology by measuring the tendon thickness. The micromorphology was analyzed by determining the peak spatial frequency radius of the tendon. Our study did find increased tendon proper and composite tendon thickness in dancers with tendinopathy but no difference between asymptomatic dancers and non-dancers. There was no significant difference in micromorphology found between any of the groups. As expected, dancers with tendinopathy demonstrated increased composite tendon and tendon proper thickness however, there was no evidence of adaptive thickening of the FHL tendon as might be expected for the dance population. There was also no evidence of micromorphological changes in the presence of clinically diagnosed FHL tendinopathy. Because of the limited normative data for this pathology, these results can help improve diagnosis and therefore treatment for dancers to decrease the impact of this injury on their careers.

Current progress in growth factors and extracellular vesicles in tendon healing.

Tendon injury healing is a complex process that involves the participation of a significant number of molecules and cells, including growth factors molecules in a key role. Numerous studies have demonstrated the function of growth factors in tendon healing, and the recent emergence of EV has also provided a new visual field for promoting tendon healing. This review examines the tendon structure, growth, and development, as well as the physiological process of its healing after injury. The review assesses the role of six substances in tendon healing: insulin-like growth factor-I (IGF-I), transforming growth factor β (TGFβ), vascular endothelial growth factor (VEGF), platelet-derived growth factor (PDGF), basic fibroblast growth factor (bFGF), and EV. Different growth factors are active at various stages of healing and exhibit separate physiological activities. IGF-1 is expressed immediately after injury and stimulates the mitosis of various cells while suppressing the response to inflammation. VEGF, which is also active immediately after injury, accelerates local metabolism by promoting vascular network formation and positively impacts the activities of other growth factors. However, VEGF's protracted action could be harmful to tendon healing. PDGF, the earliest discovered cytokine to influence tendon healing, has a powerful cell chemotaxis and promotes cell proliferation, but it can equally accelerate the response to inflammation and relieve local adhesions. Also useful for relieving tendon adhesion is TGF- β, which is active almost during the entire phase of tendon healing. As a powerful active substance, in addition to its participation in the field of cardiovascular and cerebrovascular vessels, tumour and chronic wounds, TGF- β reportedly plays a role in promoting cell proliferation, activating growth factors, and inhibiting inflammatory response during tendon healing.

A Critical Review on Tendon Structure and Load Remodeling

A Critical Review on Tendon Structure and Load Remodeling

Investigation of the Tissue Degenerative Impact of Increased BMI in Achilles Tendon via Strain Elastography and Finite Element Analysis.

This study is focused on establishing a relationship between poor muscle activity faced by obese individuals due to the change in stiffness of the intramuscular mass of the lower limb. This issue is also common among athletes and physically active teenagers. The study is aimed at a subject assessment diagnosis technique named as Strain Elastography (SE) to measure muscle strain. Further, Finite Element Modelling (FEM) technique is used to investigate the strain and/or deformations generated in the Achilles Tendon (AT) models, which were categorized according to their Body Mass Index (BMI) through computationally applied loadings. Total 54 volunteers with an average age of 21.85 ± 1.28 years were categorized into three groups according to their BMI (kg/m2); under BMI < 18.5 (n=14), normal BMI = 18.5-24.9 (n=20) and over BMI/obese > 25.0 (n=20). Additionally, multiple correlational analyses were performed between full range of BMI values and SE outcome. The presence of significant difference (p<0.05) was measured between different categories for BMI, BFMI, FFMI, DLFC, tendon length, tendon thickness and SR. Moreover, multiple correlational analyses and scatter plot strengthen the results. For FEM simulations, the maximum deformation was observed at the proximal end of the tendon in all three groups. It can be concluded that change in tendon stiffness and the resulting change in tendon structure was visualized with increased BMI. Moreover, obese individuals are more prone to tendon injury due to the increment in tendon thickness which causes bulging of the AT due to higher loads.

MiRNAs contributing to the repair of tendon injury.

Tendon injury is one of the most common disorders of the musculoskeletal system, with a higher likelihood of occurrence in elderly individuals and athletes. In posthealing tendons, two undesirable consequences, tissue fibrosis and a reduction in mechanical properties, usually occur, resulting in an increased probability of rerupture or reinjury; thus, it is necessary to propose an appropriate treatment. Currently, most methods do not sufficiently modulate the tendon healing process and restore the function and structure of the injured tendon to those of a normal tendon, since there is still inadequate information about the effects of multiple cellular and other relevant signaling pathways on tendon healing and how the expression of their components is regulated. microRNAs are vital targets for promoting tendon repair and can modulate the expression of biological components in signaling pathways involved in various physiological and pathological responses. miRNAs are a type of noncoding ribonucleic acid essential for regulating processes such as cell proliferation, differentiation, migration and apoptosis; inflammatory responses; vascularization; fibrosis; and tissue repair. This article focuses on the biogenesis response of miRNAs while presenting their mechanisms in tendon healing with perspectives and suggestions.

A passive ankle dorsiflexion testing system to assess mechanobiological and structural response to cyclic loading in rat Achilles tendon

Tendinopathy is thought to be caused by repeated overload of the tendon with insufficient recovery time, leading to an inadequate healing response and incomplete recovery of preinjury material strength and function. The etiology of tendinopathy induced by mechanical load is being explored with a variety of mechanical load scenarios in small animals. This study establishes a testing system that applies passive ankle dorsiflexion to a rat hindlimb, estimates the force applied to the tendon during cyclic loading and enables the assessment of subsequent structural and biological changes. We demonstrated that the system had no drift in the applied angle, and the registered maximum angle and torque inputs and outputs were consistent between tests. We showed that cyclic loading decreased hysteresis and loading and unloading moduli with increasing cycles applied to the tendon. Histology showed gross changes to tendon structure. This work establishes a system for passively loading the rat Achilles tendon in-vivo in a physiological manner, facilitating future studies that will explore how mechanics, structure, and biology are altered by mechanical repetitive loading.

Effect of Symptom Duration on Injury Severity and Recovery in Patients With Achilles Tendinopathy.

Achilles tendinopathy is a common overuse condition. Distinguishing between early- and late-stage tendinopathy may have implications on treatment decisions and recovery expectations. To compare the effects of time and baseline measures of tendon health on outcomes among patients with varying symptom durations after 16 weeks of comprehensive exercise treatment. Cohort study; Level of evidence, 3. Participants (N = 127) were categorized into 4 groups based on the number of months since symptom onset: ≤3 months (n = 24); between >3 and ≤6 months (n = 25); between >6 and ≤12 months (n = 18); or >12 months (n = 60). All participants received 16 weeks of standardized exercise therapy and pain-guided activity modification. Outcomes representing symptoms, lower extremity function, tendon structure, mechanical properties, psychological factors, and patient-related factors were assessed at baseline and at 8 and 16 weeks after the initiation of exercise therapy. Chi-square tests and 1-way analysis of variance were used to compare baseline measures between groups.Time, group, and interaction effects were evaluated using linear mixed models. The mean age of the participants was 47.8 ± 12.6 years, 62 participants were women, and symptoms ranged from 2 weeks to 274 months. No significant differences were found among symptom duration groups at baseline for any measure of tendon health. At 16 weeks, all groups demonstrated improvements in symptoms, psychological factors, lower extremity function, and tendon structure, with no significant differences among the groups (P > .05). Symptom duration did not influence baseline measures of tendon health. Additionally, no differences were observed among the different symptom duration groups in response to 16 weeks of exercise therapy and pain-guided activity modification.

Principles of Tendon Structure, Healing, and the Microenvironment.

Tendon is a strong viscoelastic tissue, responsible for conducting force from muscle to bone. In the hand, flexor tendons course through fibro-osseous sheaths, composed of an intricate tenosynovium and fibrocartilaginous pulley system. After flexor tendon laceration, changes occur in tendon force transduction as well as vascularity, affecting tendon healing on a tissue and cellular level. Tendon healing occurs through intrinsic and extrinsic mechanisms, which in combination with local anatomy, can predispose to adhesion formation. Understanding the relationship between microenvironmental cues and tendon healing on the cellular and tissue level will improve our knowledge and treatment of flexor tendon injuries.

Surgical Considerations for Flexor Tendon Repair

Flexor tendon injuries are common and occur mostly due to penetrating trauma. Surgical repair is required for complete tendon lacerations, and many techniques exist. This article reviews the principles of tendon structure, function, healing, and anatomy. Repair techniques are discussed in detail for each flexor tendon zone. Postoperative rehabilitation greatly influences outcomes, and several protocols are described.

Tendon collagen fibril morphology and nano-mechanics via atomic force microscopy

Due to the hierarchical structure of tendon tissue (fascicles→fibers→fibrils), it is essential to investigate morphology and mechanics at the nano-scopic level to better understand whole body function. Previous studies investigating changes in tendon mechanics after exercise/disease/unloading have focused on the whole tendon and fascicle levels, but limited data exists on adaptations at the collagen fibril level. Objective: Provide a new method to study previously frozen tendon tissue by investigating collagen fibril 1) morphology, 2) nano-mechanical properties, and 3) elasticity maps using atomic force microscopy (AFM). Hypothesis: This method will provide a reliable way to assess tendon structure and function at the nano-scale. Methods: C57BL/6J mouse tendons from NASA Rodent Research-1 (-80°C) were chemically separated and mounted onto glass slides then mechanically separated into tendon subunit sheets and left to air-dry. Collagen fibril morphology was tested with a JPK Nanowizard 4a in tapping mode with a Tap300Al-G cantilever (tip radius=10nm, k=40N/m). Samples were then rehydrated for mechanical testing in Quantitative Imaging (QI) mode with an SNL-10D cantilever (tip radius=2nm, k=0.06N/m). Force data acquisition took place in liquid with a set point of 2nN and Z-speed of 40μm/s. Force-microscopy (FM) and structural data were processed using JPK Data Processing Software and Gwyddion, respectively. Data: Tendon collagen fibrils exhibited uniform D-periods across 38 fibril sections (D-period: 66nm±2.1, diameter: 63nm±23.5). Quantitative analysis of the force curves (n=30) along the highest point of the fibril revealed an average Young’s Modulus (YM) of 2.53MPa±0.31. Elasticity maps (n=3) highlighting the distribution of mechanical properties were generated using FM data. Results Summary: Our tissue preparation protocol combined with AFM reliably determines collagen fibril morphology and nano-mechanical properties of mouse tendons that were previously frozen. As evidence, we present systematic YM within and across different data sets. In addition, the YM values were found to be consistent with previous measurements in tendon tissue under similar conditions. Elasticity maps produced by analysis of FM data indicate the similarity of YM values across the tendon surface. Tendon fibrils were found to have similar D-periodicity despite the variation in fibril size, which is consistent with previous literature. Conclusions: This research provides a new method to test tendon collagen fibril structure and mechanical properties at the nano-scale, presenting a novel analysis (elasticity maps) showing contrast in YM across the fibril surface. Funding: CSUPERB New Investigator Grant to JRB This is the full abstract presented at the American Physiology Summit 2023 meeting and is only available in HTML format. There are no additional versions or additional content available for this abstract. Physiology was not involved in the peer review process.

Mammal comparative tendon biology: advances in regulatory mechanisms through a computational modeling.

There is high clinical demand for the resolution of tendinopathies, which affect mainly adult individuals and animals. Tendon damage resolution during the adult lifetime is not as effective as in earlier stages where complete restoration of tendon structure and property occurs. However, the molecular mechanisms underlying tendon regeneration remain unknown, limiting the development of targeted therapies. The research aim was to draw a comparative map of molecules that control tenogenesis and to exploit systems biology to model their signaling cascades and physiological paths. Using current literature data on molecular interactions in early tendon development, species-specific data collections were created. Then, computational analysis was used to construct Tendon NETworks in which information flow and molecular links were traced, prioritized, and enriched. Species-specific Tendon NETworks generated a data-driven computational framework based on three operative levels and a stage-dependent set of molecules and interactions (embryo-fetal or prepubertal) responsible, respectively, for signaling differentiation and morphogenesis, shaping tendon transcriptional program and downstream modeling of its fibrillogenesis toward a mature tissue. The computational network enrichment unveiled a more complex hierarchical organization of molecule interactions assigning a central role to neuro and endocrine axes which are novel and only partially explored systems for tenogenesis. Overall, this study emphasizes the value of system biology in linking the currently available disjointed molecular data, by establishing the direction and priority of signaling flows. Simultaneously, computational enrichment was critical in revealing new nodes and pathways to watch out for in promoting biomedical advances in tendon healing and developing targeted therapeutic strategies to improve current clinical interventions.

A REVIEW OF THE POSTERIOR ASPECT OF GREEVA SHARIR AND ITS IMPORTANCE

Nowadays, many people complain about cervical pain. Everyone is busy with work, which requires long sitting hours and improper posture. The use of mobile and laptops is increasing nowadays. Because of all these reasons, cervical region diseases are increasing in the community. Greeva is called “Uttamang” in Ayurveda. The posterior aspect of greeva contains various structures. It is a complex structure of bones, muscles, vessels, nerves, ligaments, and tendons. It contains the important structure of bone, i.e., cervical vertebrae. They give neck structure, support the head and provide a wide range of neck movement. It also contains various intervertebral joints, which offer movements like flexion, extension, and lateral neck rotation. The cervical spine contains intervertebral discs, which act as shock absorbers to the demands positioned on the spine. They also provide a cushion between the vertebrae during weight-bearing activities. Many muscles are present in the cervical region; not all are attached to the spine, but many do. Krukatika marma is located on the posterior region of the greeva at the junction of the head and neck. Injury to this marma causes ‘Chala Moordhata’, i.e., instability of the head. The neck is covered by numerous muscles which allow a lot of different movements of the head. These muscles contain many tiny and elastic fibres. The complaints we see in everyday life are spasms, strain, headache, and numbness in the neck region. All these complaints are associated with injury to neck muscles. Many vital structures in the posterior of the greeva make it an important topic for study.

Biomaterials for Tissue-Engineered Treatment of Tendinopathy in Animal Models: A Systematic Review.

To conduct a systematic review of studies reporting the treatment of tendon injury using biomaterials in animal models. A systematic search was conducted to retrieve studies involving animal models of tendon repair using biomaterials, in PubMed (database construction to August 2022) and Ovid-Embase (1946 to August 2022). Data related to tendon repair with biomaterials were extracted by two researchers, respectively. Risk of bias was assessed following the Cochrane Handbook for Systematic Reviews of Interventions. A statistical analysis was performed based on the classification of tendon repair biomaterials included in our study. A total of 8413 articles were retrieved, with 78 studies included in our analysis. For tendon repair in animal models using biomaterials, the most commonly seen characteristics were as follows: naturally derived biomaterials, rabbits and rats as animal models, surgery as the injury model, and the Achilles tendon as the injury site. The histology and biomechanical recovery of tendon injury following repair are affected by different biomaterials. Studies of tendon repair in animal models indicate that biomaterials can significantly improve repair outcomes, including tendon structure and biomechanics. Among effective biomaterial strategies are the use of new composites and incorporation of cells or growth factors into the material, both of which provide obvious benefits for tendon healing. More high-quality preclinical studies are required to encourage the translation of biomaterials into clinical practice for tendon repair.

Challenging the assumption of uniformity in patellar tendon structure: Regional patellar tendon morphology and mechanical properties in vivo.

Patellar tendons are assumed to be uniform in morphology and mechanical properties despite a higher prevalence of tendinopathies observed in the medial region. The purpose of this study was to compare the thickness, length, viscosity, and shear modulus of the medial, central, and lateral regions of healthy patellar tendons of young males and females in vivo. B-mode ultrasound and continuous shear wave elastography were performed on 35 patellar tendons (17 females, 18 males) over three regions of interest. A linear mixed-effects model (α = 0.05) was used to determine differences between the three regions and sexes followed by pairwise comparisons for significant findings. The lateral region (mean [95% confidence interval] = 0.34 [0.31-0.37] cm) was thinner compared with the medial (0.41 [0.39-0.44] cm, p < 0.001), and central (0.41 [0.39-0.44] cm, p < 0.001) regions regardless of sex. Viscosity was lower in the lateral (19.8 [16.9-22.7] Pa-s) versus medial region (27.4 [24.7-30.2] Pa-s, p = 0.001). Length had a region-by-sex interaction (p = 0.003) characterized by a longer lateral (4.83 [4.54-5.13] cm) versus medial (4.42 [4.12-4.72] cm) region in males (p < 0.001), but not females (p = 0.992). Shear modulus was uniform between regions and sexes. The thinner, and less viscous lateral patellar tendon may reflect the lower load the tendon experiences explaining the differences in regional prevalence of developing tendon pathology. Statement of Clinical Significance: Healthy patellar tendons are not uniform in morphology or mechanical properties. Considering regional tendon properties may help guide targeted interventions for patellar tendon pathologies.

Current Advancements and Strategies of Biomaterials for Tendon Repair: A Review.

Tendon is a bundle of tissue comprising of a large number of collagen fibers that connects muscle to bone. However, overuse or trauma may cause degeneration and rupture of the tendon tissues, which imposes an enormous health burden on patients. In addition to autogenous and allogeneic transplantation, which is commonly used in the clinic, the current research on tendon repair is focused on developing an appropriate scaffold via biomaterials and fabrication technology. The development of a scaffold that matches the structure and mechanics of the natural tendon is the key to the success of the repair, so the synergistic optimization of the scaffold fabrication technology and biomaterials has always been a concern of researchers. A series of strategies include the preparation of scaffolds by electrospinning and 3D printing, as well as the application of injectable hydrogels and microspheres, which can be used individually or in combination with cells, growth factors for tendon repair. This review introduces the tendon tissue structure, the repair process, the application of scaffolds, and the current challenges facing biomaterials, and gives an outlook on future research directions. With biomaterials and technology continuing to be developed, we envision that the scaffolds could have an important impact on the application of tendon repair.

Architectural and Mechanical Changes after Five Weeks of Intermittent Static Stretch Training on the Medial Gastrocnemius Muscle of Active Adults

We investigated the effects of intermittent long-term stretch training (5 weeks) on the architectural and mechanical properties of the muscle-tendon unit (MTU) in healthy humans. MTU's viscoelastic and architectural properties in the human medial gastrocnemius (MG) muscle and the contribution of muscle and tendon structures to the MTU lengthening were analyzed. Ten healthy volunteers participated in the study (four females and six males). The passive stretch of the plantar flexor muscles was achieved from 0° (neutral ankle position) to 25° of dorsiflexion. Measurements were obtained during a single passive stretch before and after the completion of the stretching protocol. During the stretch, the architectural parameters of the MG muscle were measured via ultrasonography, and the passive torque was recorded by means of a strain-gauge transducer. Repeated-measure ANOVA was applied for all parameters. When expressed as a percentage for all dorsiflexion angles, the relative torque values decreased (p < 0.001). In the same way, architectural parameters (pennation angle and fascicle length) were compared for covariance and showed a significant difference between the slopes (ANCOVA p < 0.0001 and p < 0.001, respectively) suggesting a modification in the mechanical behavior after stretch training. Furthermore, the values for passive stiffness decreased (p < 0.05). The maximum ankle range of motion (ROM) (p < 0.01) and the maximum passive torque (p < 0.05) increased. Lastly, the contribution of the free tendon increased more than fascicle elongation to the total lengthening of the MTU (ANCOVA p < 0.001). Our results suggest that five weeks of intermittent static stretch training significantly change the behavior of the MTU. Specifically, it can increase flexibility and increase tendon contribution during MTU lengthening.

Biomimetic Soft Underwater Robot Inspired by the Red Muscle and Tendon Structure of Fish

Underwater robots are becoming increasingly important in various fields. Fish robots are attracting attention as an alternative to the screw-type robots currently in use. We developed a compact robot with a high swimming performance by mimicking the anatomical structure of fish. In this paper, we focus on the red muscles, tendons, and vertebrae used for steady swimming of fish. A robot was fabricated by replacing the red muscle structure with shape memory alloy wires and rigid body links. In our previous work, undulation motions with various phase differences and backward quadratically increasing inter-vertebral bending angles were confirmed in the air, while the swimming performance in insulating fluid was poor. To improve the swimming performance, an improved robot was designed that mimics the muscle contractions of mackerel using a pulley mechanism, with the robot named UEC Mackerel. In swimming experiments using the improved robot, a maximum swimming speed of 25.8 mm/s (0.11 BL/s) was recorded, which is comparable to that of other soft-swimming robots. In addition, the cost of transport (COT), representing the energy consumption required for robot movement, was calculated, and a minimum COT of 0.08 was recorded, which is comparable to that of an actual fish.