Simple muscle-lever systems are not so simple: The need for dynamic analyses to predict lever mechanics that maximize speed

Here we argue that quasi-static analyses are insufficient to predict the speed of an organism from its skeletal mechanics alone (i.e. lever arm mechanics). Using a musculoskeletal numerical model we specifically demonstrate that 1) a single lever morphology can produce a range of output velocities, and 2) a single output velocity can be produced by a drastically different set of lever morphologies. These two sets of simulations quantitatively demonstrate that it is incorrect to assume a one-to-one relationship between lever arm morphology and organism maximum velocity. We then use a statistical analysis to quantify what parameters are determining output velocity, and find that muscle physiology, geometry, and limb mass are all extremely important. Lastly we argue that the functional output of a simple lever is dependent on the dynamic interaction of two opposing factors: those decreasing velocity at low mechanical advantage (low torque and muscle work) and those decreasing velocity at h...