328 research outputs found

    Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable Hands-free Dynamic Walking

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    This manuscript presents control of a high-DOF fully actuated lower-limb exoskeleton for paraplegic individuals. The key novelty is the ability for the user to walk without the use of crutches or other external means of stabilization. We harness the power of modern optimization techniques and supervised machine learning to develop a smooth feedback control policy that provides robust velocity regulation and perturbation rejection. Preliminary evaluation of the stability and robustness of the proposed approach is demonstrated through the Gazebo simulation environment. In addition, preliminary experimental results with (complete) paraplegic individuals are included for the previous version of the controller.Comment: Submitted to IEEE Control System Magazine. This version addresses reviewers' concerns about the robustness of the algorithm and the motivation for using such exoskeleton

    Thertact-System: A Virtual Reality Exoskeleton Gait Training Simulator Controlled by Brain-Computer Interface

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    This paper presents a developer’s overview of the Thertact system that combines virtual reality, brain-computer-interface and thermal-tactile stimulation in a gait training simulator for a reha- bilitation protocol focused in promoting neurological recovery in spinal cord injured patients. We describe each part of the system, with special focus on aspects that have impact on the resulting overall sense of embodiment. The system comprises innovative aspects, such as the simulation of exoskeleton gait movement and thermal-tactile haptic feedback, and have shown promising results on a first case study with one patient in real hospital setting

    Future developments in brain-machine interface research

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    Neuroprosthetic devices based on brain-machine interface technology hold promise for the restoration of body mobility in patients suffering from devastating motor deficits caused by brain injury, neurologic diseases and limb loss. During the last decade, considerable progress has been achieved in this multidisciplinary research, mainly in the brain-machine interface that enacts upper-limb functionality. However, a considerable number of problems need to be resolved before fully functional limb neuroprostheses can be built. To move towards developing neuroprosthetic devices for humans, brain-machine interface research has to address a number of issues related to improving the quality of neuronal recordings, achieving stable, long-term performance, and extending the brain-machine interface approach to a broad range of motor and sensory functions. Here, we review the future steps that are part of the strategic plan of the Duke University Center for Neuroengineering, and its partners, the Brazilian National Institute of Brain-Machine Interfaces and the École Polytechnique Fédérale de Lausanne (EPFL) Center for Neuroprosthetics, to bring this new technology to clinical fruition

    Control systems for function restoration, exercise, fitness and health in spinal cord injury

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    We describe original research contributions to the engineering development of systems which aim to restore function and enable effective exercise for people with spinal cord injury (SCI). Our work utilises functional electrical stimulation (FES) of paralysed muscle. Improving function and general health through participation in exercise is vital to the enhancement of quality of life, well-being and promotion of longevity. Crucial to the development of this research has been judicious use of advanced methods of feedback control engineering; this has been a key enabling factor in many of our original contributions. The consequences of a spinal cord injury can be severe. The primary effects may include; paralysis and loss of sensation in the legs, arms and trunk; disruption of bladder and bowel function; and disruption of the autonomic regulation of blood pressure, heart rate and lung function. If the abdominal and chest muscles are paralysed, breathing will be compromised, and patients with a high-level cervical injury may require mechanical ventilation. These primary effects of a spinal cord injury may, over time, lead to a range of debilitating secondary medical complications. These include reduced cardiovascular fitness, urinary tract infection and an associated risk of kidney disease, reduced bone mineral density, the possible development of pressure sores, and muscle spasticity. People with paralysed chest and abdominal muscles are at increased risk of respiratory infection. Consideration of these factors has led us to focus our research programme in this field on novel engineering solutions which have relevance to the secondary consequences of spinal cord injury, and which may help to alleviate some of their effects. In this thesis we describe our contributions in the following areas: 1. Control of Paraplegic Standing; This work concerns upright stance, and aims to provide; (i) automatic feedback control of balance during stance, with the arms free for functional tasks; (ii) methods and apparatus for dynamic standing therapy, which may help to enhance the individual's retained balance skills. This area of work has successfully demonstrated the automatic control of balance during quiet standing in paraplegic subjects. Further, we have established the feasibility of ankle stiffness control in paraplegic subjects using FES, and we have shown that this can be combined with volitional upper-body inputs to achieve stable, arm-free balance. 2. Lower-limb Cycling: Lower-limb cycling, achieved through electrical stimulation of paralysed leg-actuating muscles, is an effective exercise intervention. We have described refinements to the engineering design of an FES-cycling system, based upon the adaptation of commercially-available recumbent tricycles (of various designs), some of which are equipped with an auxiliary electric motor. We have contributed new methods of feedback control of key variables including cycle cadence and exercise workrate. These contributions have facilitated further detailed study of the effect of the exercise on cardiopulmonary fitness, bone integrity, spasticity, muscle condition, and factors relating to the likelihood of skin breakdown (i.e. the development of pressure sores). 3. Upper-limb Exercise in Tetraplegia; We have developed a new exercise modality for patients with a cervical-level injury and significant loss of arm function. The system allows effective arm ergometry by combining volitional motion with electrical stimulation of the paralysed upper-arm muscles. This work has developed new apparatus and exercise testing protocols, and has examined the effect of the exercise on cardiopulmonary fitness and muscle strength in experiments with tetraplegic subjects. 4. Modelling and Control of Stimulated Muscle; This fundamental area of research has investigated dynamic modelling and feedback control design approaches for electrically-stimulated muscle. This work has been applied in the three areas mentioned above. We identify promising areas for future research. These include extension of work on lower- limb cycling to patients with incomplete injuries, to those with cervical-level injuries, and to children with SCI. We wish to participate in a multi-centre clinical study of implanted nerve- root stimulation technology for restoration of bladder and bowel control, and for lower-limb exercise (including cycling). We have initiated a study of treadmill-based gait therapy for incomplete-lesion patients. The goals of this study are to develop test protocols for accurate characterisation of cardiopulmonary status, and to determine whether this form of cyclical lower-limb exercise has a positive impact on retained voluntary leg function. It is often the case that it is those people most severely affected by neurological impairment who stand to gain the most from these approaches (e.g. high-level tetraplegia, paediatric spinal cord injury, etc.). We must therefore continue to seek ways in which the work can be developed for the maximum benefit of these patients. In conclusion, this thesis has described original research contributions to the engineering development of systems which aim to restore important function and to enable effective exercise for people with spinal cord injury. An important facet of our work has been the application of feedback control methods; this has been an enabling factor in several areas of study. We have focused on areas which promise improved fitness and general health, and which may alleviate some of the secondary consequences of spinal cord injury. This work encompasses fundamental research, clinical studies, and the pursuit of technology transfer into clinical practice. Finally, we recognise the growing awareness of and interest in central nervous system plasticity, and in the broad field of central neural regeneration and repair. It is therefore timely to ask whether cyclical exercise interventions can lead to improvement of volitional function in patients with incomplete or discomplete lesions. Such improvements may, we speculate, result from the strengthening of muscles which retain at least partial volitional control, or from neural plasticity and re-organisation, or from regeneration effects (neurogenesis and functional connectivity). A key requirement in this line of investigation, and a major challenge, will be to develop or to utilise methods which can detect changes in a patient's volitional function and neurological status, and which can isolate the source of such changes. Should reliable methods become available, the way to the study of recovery of function through cyclical exercise would be opened. These considerations will remain, we propose, an indispensable complement to cell-based surgical interventions which may become available in the future

    Control of an ambulatory exoskeleton with a brain-machine interface for spinal cord injury gait rehabilitation

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    The closed-loop control of rehabilitative technologies by neural commands has shown a great potential to improve motor recovery in patients suffering from paralysis. Brain-machine interfaces (BMI) can be used as a natural control method for such technologies. BMI provides a continuous association between the brain activity and peripheral stimulation, with the potential to induce plastic changes in the nervous system. Paraplegic patients, and especially the ones with incomplete injuries, constitute a potential target population to be rehabilitated with brain-controlled robotic systems, as they may improve their gait function after the reinforcement of their spared intact neural pathways. This paper proposes a closed-loop BMI system to control an ambulatory exoskeleton-without any weight or balance support-for gait rehabilitation of incomplete spinal cord injury (SCI) patients. The integrated system was validated with three healthy subjects, and its viability in a clinical scenario was tested with four SCI patients. Using a cue-guided paradigm, the electroencephalographic signals of the subjects were used to decode their gait intention and to trigger the movements of the exoskeleton. We designed a protocol with a special emphasis on safety, as patients with poor balance were required to stand and walk. We continuously monitored their fatigue and exertion level, and conducted usability and user-satisfaction tests after the experiments. The results show that, for the three healthy subjects, 84.44 ± 14.56% of the trials were correctly decoded. Three out of four patients performed at least one successful BMI session, with an average performance of 77.6 1 ± 14.72%. The shared control strategy implemented (i.e., the exoskeleton could only move during specific periods of time) was effective in preventing unexpected movements during periods in which patients were asked to relax. On average, 55.22 ± 16.69% and 40.45 ± 16.98% of the trials (for healthy subjects and patients, respectively) would have suffered from unexpected activations (i.e., false positives) without the proposed control strategy. All the patients showed low exertion and fatigue levels during the performance of the experiments. This paper constitutes a proof-of-concept study to validate the feasibility of a BMI to control an ambulatory exoskeleton by patients with incomplete paraplegia (i.e., patients with good prognosis for gait rehabilitation)

    Cardiovascular regulation during passive cycle exercise in trained and untrained males

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    Cardiovascular responses of trained male Cyclists (20.30 ±1.11 years; n=10), trained Runners (26.20 ±1.10 years; n=10), and fit but untrained Controls (22.00 ±0.75 years; n=10) were examined at supine and upright rest, and during passive cycle exercise. Mean maximal aerobic power of Cyclists (76.25 ±1.44 ml.kg-1.min-1) and Runners (65.50 ±2.16 ml.kg-1.min-1 was significantly higher (p\u3c0.05) than that of Controls (46.31 ±2.36 ml.kg -1.min-1. Resting heart rate of Cyclists (58.43 ±2.69 b.min-1), Runners (57.21 ±3.47 b.min-1, and Controls (65.38 ±2.93 b.min-1) was not significantly different (p\u3e0.05). Impedance cardiography was used to examine the response of heart rate, stroke volume, cardiac output, contractility of the heart, and arteriolar resistance, during passive cycle exercise at three different intensities (30 rpm, 60 rpm, and 80 rpm). Blood pressure and rate pressure product were measured throughout exercise. The vagal influence on the heart was assessed through time series analysis of heart rate variability at low (0.07-0.11 Hz) and high frequencies (0.12-0.40 Hz). Electromyography was used to ensure that passively moved muscles did not contract. Cardiovascular response was compared for all subjects combined and between the three groups (Cyclists, Runners, and Controls)

    Assessment of trunk flexion in arm reaching tasks with electromyography and smartphone accelerometry in healthy human subjects

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    Reproducció del document publicat a: https://doi.org/10.1038/s41598-021-84789-3Trunk stability is essential to maintain upright posture and support functional movements. In this study, we aimed to characterize the muscle activity and movement patterns of trunk flexion during an arm reaching task in sitting healthy subjects and investigate whether trunk stability is affected by a startling acoustic stimulus (SAS). For these purposes, we calculated the electromyographic (EMG) onset latencies and amplitude parameters in 8 trunk, neck, and shoulder muscles, and the tilt angle and movement features from smartphone accelerometer signals recorded during trunk bending in 33 healthy volunteers. Two-way repeated measures ANOVAs were applied to examine the effects of SAS and target distance (15 cm vs 30 cm). We found that SAS markedly reduced the response time and EMG onset latencies of all muscles, without changing neither movement duration nor muscle recruitment pattern. Longer durations, higher tilt angles, and higher EMG amplitudes were observed at 30 cm compared to 15 cm. The accelerometer signals had a higher frequency content in SAS trials, suggesting reduced movement control. The proposed measures have helped to establish the trunk flexion pattern in arm reaching in healthy subjects, which could be useful for future objective assessment of trunk stability in patients with neurological affections.This work was supported in part by a fellowship from “La Caixa” Foundation (ID 100010434) with fellowship code LCF/BQ/DE18/11670019, in part by the Secretaria d’Universitats i Recerca de la Generalitat de Catalunya under Grant GRC 2017 SGR 01770, in part by the Agencia Estatal de Investigación, the Spanish Ministry of Science, Innovation and Universities, and the European Regional Development Fund under Grant RTI2018 098472-B-I00, in part by the CERCA Program/Generalitat de Catalunya, in part by H2020-ERA-NET Neuron under Grant AC16/00034, in part by La Marató de TV3 2017 under Grant 201713.31, and in part by Premi Beca “Mike Lane” 2019—Castellers de la Vila de Gràcia

    Extracting Kinematic Parameters for Monkey Bipedal Walking from Cortical Neuronal Ensemble Activity

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    The ability to walk may be critically impacted as the result of neurological injury or disease. While recent advances in brain–machine interfaces (BMIs) have demonstrated the feasibility of upper-limb neuroprostheses, BMIs have not been evaluated as a means to restore walking. Here, we demonstrate that chronic recordings from ensembles of cortical neurons can be used to predict the kinematics of bipedal walking in rhesus macaques – both offline and in real time. Linear decoders extracted 3D coordinates of leg joints and leg muscle electromyograms from the activity of hundreds of cortical neurons. As more complex patterns of walking were produced by varying the gait speed and direction, larger neuronal populations were needed to accurately extract walking patterns. Extraction was further improved using a switching decoder which designated a submodel for each walking paradigm. We propose that BMIs may one day allow severely paralyzed patients to walk again
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