Closed-loop Functional Electrical Stimulation (FES) – cycling rehabilitation with phase control Fuzzy Logic for fatigue reduction control strategies for stroke patients

Functional Electrical Stimulation (FES) cycling, or FES-Cycling, holds great therapeutic potential for individuals with paralysis, such as those with Spinal Cord Injury (SCI), traumatic brain injury, or stroke, aiming to restore mobility. However, the nonlinear nature of the musculoskeletal system poses a significant challenge in controlling FES-Cycling. To address this, an integrated closed-loop phase angle fuzzy-based system was developed. This system offers real-time control by adjusting stimulation intensity (pulse width) within the range of 50 to 200μs while maintaining a constant frequency of 35Hz, thereby ensuring precise pedaling trajectory and cadence patterns. An experimental study involved three healthy individuals (Cases A, B, and C) and one individual with hemiplegia stroke (Case D). Results showed that the proposed system consistently reduced average angle trajectory errors for Cases A, B, and C, with values of 2.6945, 3.2958, and 2.9922 degrees, respectively. Case D, affected by hemiplegia stroke, faced greater challenges and exhibited a higher error of 3.4562 degrees. Fatigue resistance, evaluated through fatigue indices, showed promising results for Cases A, B, and C with values of 0.10778, 0.06866, and 0.04603, respectively. However, Case D experienced higher fatigue (0.2304) due to the unique challenges of hemiplegia stroke. These findings highlight the effectiveness of the proposed control system in optimizing FES-Cycling, particularly for healthy individuals. For individuals with paralysis, like Case D, further research is needed to adapt the system to their specific conditions and cycling patterns. This system holds the potential for enhancing FES-Cycling as a therapeutic strategy and warrants additional investigation and customization for different patient populations

Cadence and range of motion modulate pedal force in a rat model of motorized cycling after spinal cord injury.

Motorized cycling (MC) can be utilized post-spinal cord injury (SCI) in patients who lack the strength and/or stability to participate in traditional physical exercise interventions. MC has been applied with the goal of improving locomotor function or cardiovascular health in both human and animal models of SCI. However, a discrepancy exists between the results of human and animal studies of MC, particularly regarding cardiovascular outcomes. Despite the abundance of studies in both humans and animals, the mechanism behind the improvements in cardiovascular function following MC are poorly understood. We posited that increased venous return during MC is likely due to the skeletal muscle pump, where muscle activity during MC would be triggered by stretch reflexes. As stretch reflexes are dependent on both rate and length of muscle stretch, we hypothesized that cycling cadence and crank length could modulate muscle activity and therefore hindlimb loading during cycling. Initial studies testing the development of the instrumented pedals noted spasticity that was represented in the force traces, and a filtering technique was developed to separate spastic from non-spastic forces. Results using this technique combined with EMG of a knee flexor and extensor suggest that higher cadences (≥30 RPM) increased RMS EMG and non-spastic forces, while lower cadences (≤15 RPM) increased spastic forces. Furthermore, large spastic events were associated with a decrease in BP, while high cadence cycling with limited spasticity appeared to elevate BP and HR above baseline levels. These results suggest that MC in rats may constitute a mild eccentric training regimen; clinical translation may therefore be dependent on the ability to reflexively generate muscle contraction in patients during cycling

Kinematics and Robot Design IV, KaRD2021

This volume collects the papers published on the special issue “Kinematics and Robot Design IV, KaRD2021” (https://www.mdpi.com/journal/robotics/special_issues/KaRD2021), which is the forth edition of the KaRD special-issue series, hosted by the open-access journal “MDPI Robotics”. KaRD series is an open environment where researchers can present their works and discuss all the topics focused on the many aspects that involve kinematics in the design of robotic/automatic systems. Kinematics is so intimately related to the design of robotic/automatic systems that the admitted topics of the KaRD series practically cover all the subjects normally present in well-established international conferences on “mechanisms and robotics”. KaRD2021, after the peer-review process, accepted 12 papers. The accepted papers cover some theoretical and many design/applicative aspects