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Nutrition in CrossFit® - scientific evidence and practical perspectives: a systematic scoping review

Journal of the International Society of Sports Nutrition 2025年第1期22卷 2509674页

作者： Diogo V Martinho André Rebelo Filipe Manuel Clemente Renato Costa Élvio R Gouveia Adam Field Juliano Casonatto Daniel van den Hoek Krzysztof Durkalec-Michalsk Michael J Ormsbee Hugo Sarmento University of Coimbra Faculty of Sport Sciences and Physical Education Coimbra Portugal. Laboratory of Robotics and Engineering Systems Interactive Technologies Institute Funchal Portugal. Universidade Lusófona CIDEFES Centro de Investigação em Desporto Educação Física e Exercício e Saúde Lisboa Portugal. COD Center of Sports Optimization Sporting Clube de Portugal Lisboa Portugal. Instituto Politécnico de Viana do Castelo Rua Escola Industrial e Comercial de Nun'Álvares Escola Superior Desporto e Lazer Viana do Castelo Portugal. Sport Physical Activity and Health Research & Innovation Center Viana do Castelo Portugal. Gdansk University of Physical Education and Sport Gdańsk Poland. University of Madeira Department of Physical Education and Sport Funchal Portugal. Manchester Metropolitan University Department of Sport and Exercise Science Institute of Sport Manchester UK. University of North Paraná Research Group in Physiology and Physical Activity Londrina Brazil. University of the Sunshine Coast School of Health Petrie Queensland Australia. Poznan University of Physical Education Department of Sports Dietetics Poznan Poland. Charles University Sport Sciences-Biomedical Department Prague Czechia. Florida State University Department of Health Nutrition and Food Sciences Tallahassee FL USA. Florida State University Institute of Sports Sciences and Medicine Tallahassee FL USA. University of KwaZulu-Natal Discipline of Biokinetics Exercise and Leisure Sciences Durban South Africa. University of Arkansas for Medical Sciences Center for Aging and Longevity Geriatrics Little Rock AR USA. University of Coimbra CIPER FCDEFUC Coimbra Portugal.

BACKGROUND:CrossFit sessions and competitions are characterized by high-intensity challenges that combine aerobic and anaerobic activities with short recovery periods. As a result, effective nutritional practices play a crucial role in optimizing performance and enhancing recovery. Therefore, nutritional practices are central to optimizing performance and accelerating recovery. This review aims to summarize current evidence on nutritional and ergogenic aid responses to CrossFit practice. METHODS:The search was conducted in four electronic databases (PubMed, Web of Science, Scopus and SportDiscus). Gray literature was also extracted for studies exploring the nutritional habits of CrossFit participants as well as the ingestion of ergogenic aids. In addition, a meta-analysis was conducted to examine the impacts of dietary habits and ergogenic aids on performance. RESULTS:Forty-nine studies met the eligibility criteria and were included in the current review. Carbohydrate intake was below the recommendations for athletes, although protein ingestion remains adequate. High-carbohydrate diets had a positive effect on CrossFit performance. The evidence concerning the effects of a ketogenic diet on performance is limited. When used prior to or during the workout, the impact of carbohydrates on CrossFit performance was negligible, whereas the effect of caffeine was significant. Ergogenic aids, particularly creatine and protein, are commonly used by CrossFit participants. CONCLUSION:The standard diets recommended to CrossFit participants need to be revised because they are characterized by lower values of carbohydrates. Caffeine should be used prior to or during the CrossFit sessions. Regarding the impact of ergogenic aids on recovery, future studies are needed.

关键词： Carbohydrates caffeine conditioning energy performance strength

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Efficient design parameter optimization for musculoskeletal bipedal robots combining simulated and hardware-in-the-loop experiments

Efficient design parameter optimization for musculoskeletal ...

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IEEE-RAS International Conference on Humanoid Robots

作者： Dorian Scholz Oskar von Stryk Simulation Systems Optimization and Robotics Group Technische Universität Darmstadt Darmstadt Germany

The design and tuning of bio-inspired musculoskeletal bipedal robots with tendon driven series elastic actuation (TD-SEA) including biarticular structures is more complex than for conventional rigid bipedal robots. To achieve a desired dynamic motion goal additional hardware parameters (spring coefficients, rest lengths, lever arms) of both, the TD-SEAs and the biarticular structures, need to be adjusted. Furthermore, the biarticular structures add correlations over multiple joints which increase the complexity of tuning of these parameters. Parameter adaption and tuning is needed to fit active and passive dynamics of the actuators and the control system. For the considered class of musculoskeletal bipedal robots no fully satisfying systematic approach to efficiently tune all of these parameters has been demonstrated yet. Conventional approaches for tuning of hardware parameters in rigid robots are either simulation based or use a hardware-in-the-loop optimization. This paper presents a new approach to efficiently optimize these parameters, by combining the advantages of simulation-in-the-loop and hardware-in-the-loop optimizations. Grahical interpretation of suitable metrics, like resulting quality values, are used to interpret the simulation results in order to efficiently guide the hardware experiments. By carefully considering the simulation results and adjusting the sequence of robot experiments based on biomechanical insights, the required number of hardware experiments can be significantly reduced. This approach is applied to the musculoskeletal BioBiped2 robot where the hardware parameters of the elastic actuation of the Gastrocnemius and Soleus structures are optimized. A comparison with a state-of-the-art hardware-in-the-loop optimization method demonstrates the efficiency of the presented approach.

关键词： Robots Hardware optimization Biological system modeling Springs Musculoskeletal system Actuators

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Measurement of Biomechanical Interactions at the Stump-Socket Interface in Lower Limb Prostheses

Measurement of Biomechanical Interactions at the Stump-Socke...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society

作者： V. Noll J. Wojtusch J. Schuy M. Grimmer P. Beckerle S. Rinderknecht the Institute for Mechatronic Systems in Mechanical Engineering Department of Mechnical Engineering TU Darmstadt Germany the Simulation Systems Optimization and Robotics Group Department of Computer Science TU Darmstadt Germany the Locomotion Laboratory Institute of Sport Science TU Darmstadt Germany

ISBN: (纸本)9781424492695

This paper introduces a novel measuring approach for detecting relative movement between stump and socket in lower limb prostheses. The application of the motion capturing based measuring approach is shown at a single male trans-tibial amputee using a Patella Tendon Bearing (PTB) socket. It further investigates and assesses the feasibility of measuring the relative movement between stump and socket during level walking at different velocities and allocating it to the coinciding loads. Representative results for the two translational degrees of freedom in the sagittal plane are presented and discussed. For the proximodistal (pd) direction, a linear correlation between applied load and relative movement is found, while for the anteroposterior (ap) direction the stump movement is largely influenced by the motion sequence during the respective gait event. Additionally, the effect of walking speed is discussed.

关键词： Biomechanical Interactions Stump-Socket Interface Lower Limb Prostheses

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Modeling, Identification and Joint Impedance Control of the Atlas Arms

Modeling, Identification and Joint Impedance Control of the ...

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IEEE-RAS International Conference on Humanoid Robots

作者： Moritz Schappler Jonathan Vorndamme Alexander Todtheide David C. Conner Oskar von Stryk Sami Haddadin Institute of Automatic Control at Leibniz Universitat Hanover TORC Robotics Simulation Systems Optimization and Robotics Group at TU Darmstadt

ISBN: (纸本)9781479968862

Compliant manipulation has become central to robots that are sought to safely act in and interact with unstructured as well as only partially known environments. In this paper we equip the hydraulically actuated, usually position controlled arms of the Atlas robot with model-based joint impedance control, including suitable damping design, and experimentally verify the proposed algorithm. Our approach, which originates from the advances in soft-robotics control, relies on high-performance low-level joint torque control. This makes it independent from the actual technology being hydraulic or electromechanical. This paper describes the approach to accurately model the dynamics, and design the optimal excitation trajectory for system identification to enable the specification of model-based feed-forward controls. In conclusion, the implemented controller enables the robot arm to execute significantly smoother motions, be compliant against external forces, and have similar tracking performance as compared to the existing position control scheme. Finally, unknown modeling inaccuracies and contact forces are accurately estimated by a suitable disturbance observer, which could be used in the future to further enhance our controller's performance.

关键词： Robot Arm spiral arm Atlas atlas Atlas Saturn satellites robotic arm disturbance observer Arms CONTACT FORCE Joints Joints Position control Standing Orders

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Hopping control for the musculoskeletal bipedal robot: BioBiped

Hopping control for the musculoskeletal bipedal robot: BioBi...

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Maziar A. Sharbafi Katayon Radkhah Oskar von Stryk Andre Seyfarth Lauflabor Laboratory Technische Universitat Darmstadt Darmstadt Germany Simulation Systems Optimization and Robotics Group Technsche Universitat Darmstadt Darmstadt Germany

ISBN: (纸本)9781479969357

Bipedal locomotion can be divided into primitive tasks, namely repulsive leg behavior (bouncing against gravity), leg swing (protraction and retraction) and body alignment (balancing against gravity). In the bipedal spring-mass model for walking and running, the repulsive leg function is described by a linear prismatic spring. This paper adopts two strategies for swinging and bouncing control from conceptual models for the human-inspired musculoskeletal BioBiped robot. The control approach consists of two layers, velocity based leg adjustment (VBLA) and virtual model control to represent a virtual springy leg between toe and hip. Additionally, the rest length and stiffness of the virtual springy leg are tuned based on events to compensate energy losses due to damping. In order to mimic human locomotion, the trunk is held upright by physical constraints. The controller is implemented on the validated detailed simulation model of BioBiped. In-place as well as forward hopping and switching between these two gaits are easily achieved by tuning the parameters for the leg adjustment, virtual leg stiffness and injected energy. Furthermore, it is shown that the achieved motion performance of in-place hopping agrees well with that of human subjects.

关键词： Leg Piecewise Function Human locomotion wobbling Virtual Conceptual Modelling energy losses Toes upright Bouncing Robot Simulation models absorption of shock

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Implementation, control and user-feedback of the Int2Bot for the investigation of lower limb body schema integration

Implementation, control and user-feedback of the Int2Bot for...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： P. Beckerle F. Schültje J. Wojtusch O. Christ Institute for Mechatronic Systems in Mechanical Engineering Technische Universität Darmstadt Darmstadt Germany Institute for Anthropomatics and Robotics Karlsruhe Institute of Technology Karlsruhe Germany Simulation Systems Optimization and Robotics Group Technische Universität Darmstadt Darmstadt Germany Institute Humans in Complex Systems University of Applied Sciences and Arts Northwestern Switzerland Olten Switzerland

ISBN: (纸本)9781479967667

The integration of prostheses or wearable robotics into the body schema of their users is a fundamental requirement for the acceptance and control of such artificial devices. Duration and progress of integration are primarily influenced by visual, tactile, and proprioceptive perception. This paper describes the Int 2 Bot, a robot for the assessment of lower limb body schema integration during postural motion. The robot is designed to imitate human squatting movements to investigate the integration of artificial limbs into the body schema. The psychological and technical concepts as well as the mechatronic implementation and control are presented along with interface extensions comprising human knee position sensing and tactile user-feedback. The performance of the robot is examined by experiments excluding and including the human-robot interface and a human user. Those without interface show that the robot itself can perform considerably fast squats with 0.8 Hz, which comes up to maximum human capabilities. The computed torque control achieves good tracking results and fuzzy-based friction compensation further reduces position errors by up to 50%. Yet, results considering the vision-based part of the human-robot interface show that the setup is mainly limited due to delays in motion acquisition with the RGB-D sensor.

关键词： Robot sensing systems Friction Joints Delays Thigh Trajectory

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Power-optimized stiffness and nonlinear position control of an actuator with Variable Torsion Stiffness

Power-optimized stiffness and nonlinear position control of ...

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2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013

作者： Beckerle, P. Wojtusch, J. Schuy, J. Strah, B. Rinderknecht, S. Stryk, O.V. Institute for Mechatronic Systems Department of Mechanical Engineering Technische Universität Darmstadt Darmstadt Germany Simulation Systems Optimization and Robotics Group Department of Computer Science Technische Universität Darmstadt Darmstadt Germany

ISBN: (纸本)9781467353199

Introducing compliant actuation to robotic joints is an approach to ensure safety in closer human-machine interaction. Further, the possibility to adjust stiffness can be benificial considering energy storage and the power consumption required to track certain trajectories. The subject of this paper is the stiffness and position control of the Variable Torsion Stiffness (VTS) actuator for application in compliant robotic joints. For the realization of a variable rotational stiffness, the active length of a torsional elastic element in serial configuration between drive and link is adjusted in VTS. After the deduction of an extended drive train model, this paper gives an advanced power analysis clarifying power-optimal settings from previous basic models and identifying additional settings that allow for a more versatile operation. Based on these results that can be generalized to other variable elastic actuator concepts, an optimized strategy for setting stiffness is determined considering the whole system dynamics including natural frequencies as well as antiresonance effects. For position control of VTS in a prototypical implementation, a nonlinear position controller is designed by means of feedback linearization. Although the system is modified significantly by changing drive train stiffness, the stiffness adaptation of the controller ensures the required tracking performance. © 2013 IEEE.

关键词： Stiffness

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Energy-based state-feedback control of systems with mechanical or virtual springs

Energy-based state-feedback control of systems with mechanic...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Inna Mikhailova Simulation Systems Optimization and Robotics Group Technische Universität Darmstadt Germany

ISBN: (纸本)9781467356404

In the last years the classical optimal control of rigid structures gives way to alternatives both in hardware (elastic structures) as in software (non-linear control). In this work we consider both alternatives together. We test the possibility to apply speed-gradient (SG) control [1] to elastic structures. The SG method has many advantages, e.g. exploitation of natural dynamics of the system and mathematically provable criteria of goal achievement. However the cost function that satisfies the requirements of the SG method may be difficult to find. In this work we propose two approaches to this problem: usage of virtual springs and usage of learning methods based on Slow Feature Analysis (SFA). A classical example of a cart-pole system and an example of a system which uses two serial springs for hopping show in simulation the viability of our approach. Proposed here combination of SG control with learning is a novel approach which opens interesting perspectives for further research on passive control.

关键词： Cost function Springs Damping Hardware Trajectory Friction

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Overview of team ViGIR's approach to the Virtual robotics Challenge

Overview of team ViGIR's approach to the Virtual Robotics Ch...

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IEEE International Workshop on Safety, Security, and Rescue robotics (SSRR)

作者： Stefan Kohlbrecher David C. Conner Alberto Romay Felipe Bacim Doug A. Bowman Oskar von Stryk Simulation Systems Optimization and Robotics Group Technische Universität Darmstadt Germany TORC Robotics United States Center for Human-Computer Interaction Virginia Tech United States

With the DARPA robotics Challenge (DRC), a call to an ambitious multi-part competition was sent out to the robotics community. In this paper, we briefly summarize the approach for addressing the Virtual robotics Challenge (VRC) where software for control and supervision of a capable humanoid robot must be developed. Team ViGIR, comprising members from the US and Germany, leveraged previous robotics competition experience and a variety of open source tools, to achieve sixth place in the VRC out of 126 registrants, thereby advancing to the next round of the DRC and obtaining an Atlas robot.

关键词： Software Three-dimensional displays Legged locomotion Hoses Planning Joints

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A library to run evolutionary algorithms in the cloud using MapReduce

A library to run evolutionary algorithms in the cloud using ...

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EvoCOMNET, EvoCOMPLEX, EvoFIN, EvoGAMES, EvoHOT, EvoIASP, EvoNUM, EvoPAR, EvoRISK, EvoSTIM, and EvoSTOC, EvoApplications 2012

作者： Fazenda, Pedro McDermott, James O'Reilly, Una-May Institute for Systems and Robotics IST Lisbon Portugal Evolutionary Design and Optimization Group CSAIL MIT United States

ISBN: (纸本)9783642291777

We discuss ongoing development of an evolutionary algorithm library to run on the cloud. We relate how we have used the Hadoop open-source MapReduce distributed data processing framework to implement a single "island" with a potentially very large population. The design generalizes beyond the current, one-off kind of MapReduce implementations. It is in preparation for the library becoming a modeling or optimization service in a service oriented architecture or a development tool for designing new evolutionary algorithms. © 2012 Springer-Verlag.

关键词： MapReduce

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