{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,31]],"date-time":"2026-10-31T03:13:11Z","timestamp":1793416391585,"version":"4.5.0"},"reference-count":68,"publisher":"National Academy of Sciences","issue":"43","license":[{"start":{"date-parts":[[2016,4,12]],"date-time":"2016-04-12T00:00:00Z","timestamp":1460419200000},"content-version":"vor","delay-in-days":183,"URL":"http:\/\/www.pnas.org\/site\/misc\/userlicense.xhtml"}],"funder":[{"DOI":"10.13039\/501100001742","name":"United States-Israel Binational Science Foundation","doi-asserted-by":"publisher","award":["2011152"],"award-info":[{"award-number":["2011152"]}],"id":[{"id":"10.13039\/501100001742","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["www.pnas.org"],"crossmark-restriction":true},"short-container-title":["Proc. Natl. Acad. Sci. U.S.A."],"published-print":{"date-parts":[[2015,10,27]]},"abstract":"<jats:title>Significance<\/jats:title>\n                  <jats:p>The fields of terrestrial biomechanics and bio-inspired robotics have identified spring-like limb mechanics as critical to stable and efficient gait. In biological systems, distal muscle groups cycling large amounts of energy in series tendons are a primary source of compliance. To investigate the origins of this behavior, we coupled a biological muscle-tendon to a feedback controlled servomotor simulating the inertial\/gravitational environment of terrestrial gait. We drove this bio-robotic system via direct nerve stimulation across a range of frequencies to explore the influence of neural control on muscle-tendon interactions. This study concluded that by matching stimulation frequency to that of the passive biomechanical system, muscle-tendon interactions resulting in spring-like behavior occur naturally and do not require closed-loop neural control.<\/jats:p>","DOI":"10.1073\/pnas.1500702112","type":"journal-article","created":{"date-parts":[[2015,10,13]],"date-time":"2015-10-13T17:25:16Z","timestamp":1444757116000},"update-policy":"https:\/\/doi.org\/10.1073\/pnas.cm10313","source":"Crossref","is-referenced-by-count":36,"title":["Unconstrained muscle-tendon workloops indicate resonance tuning as a mechanism for elastic limb behavior during terrestrial locomotion"],"prefix":"10.1073","volume":"112","author":[{"given":"Benjamin D.","family":"Robertson","sequence":"first","affiliation":[{"name":"Joint Department of Biomedical Engineering, University of North Carolina-Chapel Hill and North Carolina State University, Raleigh, NC 27695"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Gregory S.","family":"Sawicki","sequence":"additional","affiliation":[{"name":"Joint Department of Biomedical Engineering, University of North Carolina-Chapel Hill and North Carolina State University, Raleigh, NC 27695"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"341","published-online":{"date-parts":[[2015,10,12]]},"reference":[{"key":"e_1_3_3_1_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.185.1.71"},{"key":"e_1_3_3_2_2","doi-asserted-by":"publisher","DOI":"10.1016\/0021-9290(95)00029-1"},{"key":"e_1_3_3_3_2","doi-asserted-by":"publisher","DOI":"10.1016\/0021-9290(89)90224-8"},{"key":"e_1_3_3_4_2","first-page":"2861","article-title":"Compliant leg behaviour explains basic dynamics of walking and running","volume":"273","author":"Geyer H","year":"2006","unstructured":"H Geyer, A Seyfarth, R Blickhan, Compliant leg behaviour explains basic dynamics of walking and running. Proc Biol Sci 273, 2861\u20132867 (2006).","journal-title":"Proc Biol Sci"},{"key":"e_1_3_3_5_2","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.0601473103"},{"key":"e_1_3_3_6_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.00463"},{"key":"e_1_3_3_7_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.202.23.3325"},{"key":"e_1_3_3_8_2","first-page":"42","article-title":"Hybrid zero dynamics of planar bipedal walkers","volume":"48","author":"Westervelt ER","year":"2003","unstructured":"ER Westervelt, JW Grizzle, DE Koditschek, Hybrid zero dynamics of planar bipedal walkers. IEEE-TAC 48, 42\u201356 (2003).","journal-title":"IEEE-TAC"},{"key":"e_1_3_3_9_2","first-page":"2566","volume-title":"From Template to Anchor: A Novel Control Strategy for Spring-Mass Running of Bipedal Robots","author":"Dadashzadeh B","year":"2014","unstructured":"B Dadashzadeh, HR Vejdani, J Hurst From Template to Anchor: A Novel Control Strategy for Spring-Mass Running of Bipedal Robots (IEEE-IROS, Chicago), pp. 2566\u20132571 (2014)."},{"key":"e_1_3_3_10_2","first-page":"359","article-title":"Muscle and tendon: Properties, models, scaling, and application to biomechanics and motor control","volume":"17","author":"Zajac FE","year":"1989","unstructured":"FE Zajac, Muscle and tendon: Properties, models, scaling, and application to biomechanics and motor control. Crit Rev Biomed Eng 17, 359\u2013411 (1989).","journal-title":"Crit Rev Biomed Eng"},{"key":"e_1_3_3_11_2","doi-asserted-by":"publisher","DOI":"10.1113\/jphysiol.1966.sp007909"},{"key":"e_1_3_3_12_2","doi-asserted-by":"publisher","DOI":"10.1098\/rspb.1938.0050"},{"key":"e_1_3_3_13_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.jtbi.2008.01.018"},{"key":"e_1_3_3_14_2","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.0709212105"},{"key":"e_1_3_3_15_2","doi-asserted-by":"publisher","DOI":"10.1113\/jphysiol.2009.173690"},{"key":"e_1_3_3_16_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.202.23.3369"},{"key":"e_1_3_3_17_2","doi-asserted-by":"publisher","DOI":"10.1016\/S0021-9290(00)00130-5"},{"key":"e_1_3_3_18_2","doi-asserted-by":"publisher","DOI":"10.1016\/0021-9290(88)90249-7"},{"key":"e_1_3_3_19_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.jbiomech.2006.07.025"},{"key":"e_1_3_3_20_2","doi-asserted-by":"publisher","DOI":"10.1152\/jappl.1997.82.1.15"},{"key":"e_1_3_3_21_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.jbiomech.2008.04.006"},{"key":"e_1_3_3_22_2","doi-asserted-by":"publisher","DOI":"10.1016\/S0021-9290(98)00170-5"},{"key":"e_1_3_3_23_2","doi-asserted-by":"publisher","DOI":"10.1152\/japplphysiol.91189.2008"},{"key":"e_1_3_3_24_2","doi-asserted-by":"publisher","DOI":"10.1126\/science.288.5463.100"},{"key":"e_1_3_3_25_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.038588"},{"key":"e_1_3_3_26_2","doi-asserted-by":"publisher","DOI":"10.1152\/japplphysiol.01084.2005"},{"key":"e_1_3_3_27_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.01950"},{"key":"e_1_3_3_28_2","doi-asserted-by":"publisher","DOI":"10.1152\/japplphysiol.00253.2013"},{"key":"e_1_3_3_29_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.038026"},{"key":"e_1_3_3_30_2","doi-asserted-by":"publisher","DOI":"10.1126\/science.275.5303.1113"},{"key":"e_1_3_3_31_2","doi-asserted-by":"publisher","DOI":"10.1111\/j.1748-1716.2011.02361.x"},{"key":"e_1_3_3_32_2","doi-asserted-by":"publisher","DOI":"10.1152\/japplphysiol.00505.2010"},{"key":"e_1_3_3_33_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.201.11.1681"},{"key":"e_1_3_3_34_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.00764"},{"key":"e_1_3_3_35_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.005801"},{"key":"e_1_3_3_36_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.062752"},{"key":"e_1_3_3_37_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.jbiomech.2007.03.024"},{"key":"e_1_3_3_38_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.199.9.1983"},{"key":"e_1_3_3_39_2","doi-asserted-by":"publisher","DOI":"10.1007\/s004210100464"},{"key":"e_1_3_3_40_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.121673"},{"key":"e_1_3_3_41_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.202.23.3377"},{"key":"e_1_3_3_42_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.41.2.273"},{"key":"e_1_3_3_43_2","doi-asserted-by":"publisher","DOI":"10.1016\/S1050-6411(97)00024-2"},{"key":"e_1_3_3_44_2","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3182\/7\/1\/016010"},{"key":"e_1_3_3_45_2","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2005.857686"},{"key":"e_1_3_3_46_2","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3182\/7\/3\/036018"},{"key":"e_1_3_3_47_2","doi-asserted-by":"publisher","DOI":"10.1098\/rsif.2013.0236"},{"key":"e_1_3_3_48_2","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pcbi.1000795"},{"key":"e_1_3_3_49_2","volume-title":"System Dynamics","author":"Ogata K","year":"2003","unstructured":"K Ogata System Dynamics (Prentice Hall, 4th Ed, Upper Saddle River, NJ, 2003).","edition":"4"},{"key":"e_1_3_3_50_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.202.18.2551"},{"key":"e_1_3_3_51_2","doi-asserted-by":"publisher","DOI":"10.1152\/ajpcell.1997.273.3.C1049"},{"key":"e_1_3_3_52_2","doi-asserted-by":"publisher","DOI":"10.1152\/jn.1997.77.3.1538"},{"key":"e_1_3_3_53_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.201.1.103"},{"key":"e_1_3_3_54_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.jtbi.2014.03.010"},{"key":"e_1_3_3_55_2","doi-asserted-by":"publisher","DOI":"10.1098\/rsif.2011.0182"},{"key":"e_1_3_3_56_2","first-page":"20132914","article-title":"Locomotor function shapes the passive mechanical properties and operating lengths of muscle","volume":"281","author":"Azizi E","year":"2014","unstructured":"E Azizi, Locomotor function shapes the passive mechanical properties and operating lengths of muscle. Proc Biol Sci 281, 20132914 (2014).","journal-title":"Proc Biol Sci"},{"key":"e_1_3_3_57_2","doi-asserted-by":"publisher","DOI":"10.1098\/rspb.2009.2051"},{"key":"e_1_3_3_58_2","doi-asserted-by":"publisher","DOI":"10.1152\/jn.00984.2011"},{"key":"e_1_3_3_59_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.058743"},{"key":"e_1_3_3_60_2","doi-asserted-by":"publisher","DOI":"10.1152\/japplphysiol.00802.2012"},{"key":"e_1_3_3_61_2","doi-asserted-by":"publisher","DOI":"10.1113\/jphysiol.1988.sp017069"},{"key":"e_1_3_3_62_2","doi-asserted-by":"publisher","DOI":"10.1016\/S0021-9290(99)00133-5"},{"key":"e_1_3_3_63_2","first-page":"783","article-title":"Stiffness regulation revisited","volume":"15","author":"NicholsT","year":"1992","unstructured":"; NicholsT, Stiffness regulation revisited. Behav Brain Sci 15, 783\u2013784 (1992).","journal-title":"Behav Brain Sci"},{"key":"e_1_3_3_64_2","doi-asserted-by":"publisher","DOI":"10.1098\/rspb.2011.1304"},{"key":"e_1_3_3_65_2","doi-asserted-by":"publisher","DOI":"10.1152\/ajpcell.2000.278.3.C473"},{"key":"e_1_3_3_66_2","doi-asserted-by":"publisher","DOI":"10.1006\/jtbi.1996.0271"},{"key":"e_1_3_3_67_2","doi-asserted-by":"crossref","unstructured":"GS Sawicki P Sheppard TJ Roberts Power amplification in an isolated muscle-tendon is load dependent. J Exp Biol in press. (2015).","DOI":"10.1242\/jeb.126235"},{"key":"e_1_3_3_68_2","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pcbi.1001107"}],"container-title":["Proceedings of the National Academy of Sciences"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/www.pnas.org\/syndication\/doi\/10.1073\/pnas.1500702112","content-type":"unspecified","content-version":"vor","intended-application":"syndication"},{"URL":"https:\/\/pnas.org\/doi\/pdf\/10.1073\/pnas.1500702112","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,4,12]],"date-time":"2022-04-12T23:44:31Z","timestamp":1649807071000},"score":1,"resource":{"primary":{"URL":"https:\/\/pnas.org\/doi\/full\/10.1073\/pnas.1500702112"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2015,10,12]]},"references-count":68,"journal-issue":{"issue":"43","published-print":{"date-parts":[[2015,10,27]]}},"alternative-id":["10.1073\/pnas.1500702112"],"URL":"https:\/\/doi.org\/10.1073\/pnas.1500702112","relation":{},"ISSN":["0027-8424","1091-6490"],"issn-type":[{"value":"0027-8424","type":"print"},{"value":"1091-6490","type":"electronic"}],"subject":[],"published":{"date-parts":[[2015,10,12]]},"assertion":[{"value":"2015-10-12","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}