Oscillation of the human ankle joint in response to applied sinusoidal torque on the foot

Low‐frequency (3‐30 Hz) oscillatory rotation of the ankle joint in plantarflexion—dorsiflexion was generated with a torque motor. Torque, rotation about the ankle and electromyograms (e.m.g.s) for the gastrocnemius—soleus and the anterior tibial muscles were recorded. 2. Fourier coefficients at each drive frequency were used to calculate the effective compliance (ratio of rotation and torque). The compliance has a sharp resonance when tonic, voluntary muscle activity is present. 3. The resonant frequency of compliance is between 3 and 8 Hz. The location of the resonant frequency and the magnitude of the compliance at resonance depend upon both the degree of tonic muscle activity and the amplitude of the driving torque. The resonant frequency increases with increasing tonic activity. 4. With tonic muscle activity, the compliance in the frequency range below resonance increases with increasing amplitudes of driving torque. 5. The e.m.g., when evoked by the rhythmic stretch, lags the start of stretching by between 50 and 70 msec. 6. When tonic muscle activity is present, the resonant frequency of the stretch reflex is between 5 and 6·5 Hz. 7. Following the start of driven oscillation at frequencies near resonance, slowly increasing amplitudes of angular rotation (to a limit) are observed. 8. Distortion (from the sinusoidal wave shape) of angular rotation is frequently observed with drive frequencies between 8 and 12 Hz during which there sometimes occur spontaneous recurrences of oscillation at the drive frequency. For the angular rotation, a significant portion of the power may be in subharmonic frequency components of the drive frequency when that frequency is between 8 and 12 Hz. 9. Self‐sustaining oscillation (clonus) near the resonant frequency of the compliance is sometimes observed after the modulation signal to the motor is turned off. This is most often seen when the gastrocnemius—soleus muscles are fatigued. Clonus may be evoked by driven oscillation at any frequency. 10. The hypothesis that physiological tremor, which occurs between 8 and 12 Hz, is a consequence of stretch reflex servo properties seems to be at odds with the observations of resonance in the compliance and of self‐generated clonus both occurring in the 5‐8 Hz region.