Alterations in muscle activation patterns during robotic-assisted walking

Hidler, Joseph; Wall, Anji

doi:10.1016/j.clinbiomech.2004.09.016

Cited by 267 publications

(230 citation statements)

References 24 publications

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“…In the case of the MGT, the ellipsoid-like trajectory of the foot plates is essentially fixed once the gears are set, although the velocity along the trajectory could potentially be changed according to, for example, the forces on the foot plates. As a result of such kinematic constraints, the dynamics experienced by the patient can be substantially different from that of an actual gait [11]. This may lead to an unnatural pattern of somatosensory input to the patient's nervous system, impairing the effectiveness of the therapy.…”

mentioning

confidence: 98%

A Robot and Control Algorithm That Can Synchronously Assist in Naturalistic Motion During Body-Weight-Supported Gait Training Following Neurologic Injury

Aoyagi

Ichinose

Harkema

et al. 2007

IEEE Trans. Neural Syst. Rehabil. Eng.

227

143

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Abstract-Locomotor training using body weight support on a treadmill and manual assistance is a promising rehabilitation technique following neurological injuries, such as spinal cord injury (SCI) and stroke. Previous robots that automate this technique impose constraints on naturalistic walking due to their kinematic structure, and are typically operated in a stiff mode, limiting the ability of the patient or human trainer to influence the stepping pattern. We developed a pneumatic gait training robot that allows for a full range of natural motion of the legs and pelvis during treadmill walking, and provides compliant assistance. However, we observed an unexpected consequence of the device's compliance: unimpaired and SCI individuals invariably began walking out-ofphase with the device. Thus, the robot perturbed rather than assisted stepping. To address this problem, we developed a novel algorithm that synchronizes the device in real-time to the actual motion of the individual by sensing the state error and adjusting the replay timing to reduce this error. This paper describes data from experiments with individuals with SCI that demonstrate the effectiveness of the synchronization algorithm, and the potential of the device for relieving the trainers of strenuous work while maintaining naturalistic stepping.

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mentioning

confidence: 98%

A Robot and Control Algorithm That Can Synchronously Assist in Naturalistic Motion During Body-Weight-Supported Gait Training Following Neurologic Injury

Aoyagi

Ichinose

Harkema

et al. 2007

IEEE Trans. Neural Syst. Rehabil. Eng.

227

143

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“…Appropriately recreating this feature of neural control may be critical to the development of effective robotic control algorithms for assisting the post-spinal cord injury (post-SCI) neuromuscular system to learn a motor task. A robotic orthosis driven in a fixed pattern effectively limits the degrees of freedom of the motion of the leg as compared with naturally occurring muscle activation patterns (Hidler and Wall, 2005). Thus fixed trajectory training may produce habituation to sensory input, resulting in markedly reduced sensory responses associated with weight-bearing locomotion.…”

Section: Introductionmentioning

confidence: 99%

Implications of Assist-As-Needed Robotic Step Training after a Complete Spinal Cord Injury on Intrinsic Strategies of Motor Learning

Cai¹,

Fong²,

Otoshi³

et al. 2006

J. Neurosci.

313

209

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Robotic training paradigms that enforce a fixed kinematic control might be suboptimal for rehabilitative training because they abolish variability, an intrinsic property of neuromuscular control (Jezernik et al., 2003). In the present study we introduce "assist-as-needed" (AAN) robotic training paradigms for rehabilitation of spinal cord injury subjects. To test the efficacy of these robotic control strategies to teach spinal mice to step, we divided 27 adult female Swiss-Webster mice randomly into three groups. Each group was trained robotically by using one of three control strategies: a fixed training trajectory (Fixed group), an AAN training paradigm without interlimb coordination (Band group), and an AAN training paradigm with bilateral hindlimb coordination (Window group). Beginning at 14 d after a complete midthoracic spinal cord transection, the mice were trained daily (10 min/d, 5 d/week) to step on a treadmill 10 min after the administration of quipazine (0.5 mg/kg), a serotonin agonist, for a period of 6 weeks. During weekly performance evaluations, the mice trained with the AAN window paradigm generally showed the highest level of recovery as measured by the number, consistency, and periodicity of steps during the testing sessions. In all three measurements there were no significant differences between the Band and the Fixed training groups. These results indicate that the window training approach, which includes loose alternating interlimb coordination, is more effective than a fixed trajectory paradigm with rigid alternating interlimb coordination or an AAN paradigm without any interlimb constraints in promoting robust postinjury stepping behavior.

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“…FES-IM alone also induced practice of swing-phase knee and ankle joint movements and positional control, assisted by or driven by electrically induced muscle contractions. This FES-IM feature might counteract some potentially abnormal muscle activations reported by others for nondisabled controls using the gait robot versus treadmill walking [19]. FES-IM did not restrict any of the coordinated movements of the gait pattern.…”

Section: Discussionmentioning

confidence: 88%

Feasibility of combining gait robot and multichannel functional electrical stimulation with intramuscular electrodes

McCabe¹

2008

JRRD

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Abstract-After stroke rehabilitation, many survivors of stroke exhibit persistent gait deficits. In previous work, we demonstrated significant gains in gait kinematics for survivors of chronic stroke using multichannel functional electrical stimulation with intramuscular electrodes (FES-IM). For this study, we tested the feasibility of combining FES-IM and gait robot technologies for treating persistent gait deficits after stroke. Six subjects, >/= 6 months after stroke, received 30-minute intervention sessions of combined FES-IM and gait robotics 4 days a week for 12 weeks. Feasibility was assessed according to three factors: (1) performance of the interface of the two technologies during intervention sessions, (2) clinicians' success in using two technologies simultaneously, and (3) subject satisfaction. FES-IM system hardware and software design features combined with the gait robot technology proved feasible to use. Each technology alone provided unique advantages and disadvantages of gait practice characteristics. Because of the unique advantages and disadvantages of each technology, gait deficits need to be accurately identified and a judicious treatment plan properly targeted before FES-IM, a gait robot, or both combined are selected. Clinical Trial Registration:Feasibility and Practice Characteristics of FNS and Gait Robot; NCT00508755; Study ID: B4036I, .

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Alterations in muscle activation patterns during robotic-assisted walking

Cited by 267 publications

References 24 publications

A Robot and Control Algorithm That Can Synchronously Assist in Naturalistic Motion During Body-Weight-Supported Gait Training Following Neurologic Injury

A Robot and Control Algorithm That Can Synchronously Assist in Naturalistic Motion During Body-Weight-Supported Gait Training Following Neurologic Injury

Implications of Assist-As-Needed Robotic Step Training after a Complete Spinal Cord Injury on Intrinsic Strategies of Motor Learning

Feasibility of combining gait robot and multichannel functional electrical stimulation with intramuscular electrodes

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