Distributed Bio-inspired Humanoid Posture Control

This paper presents an innovative distributed bio-inspired posture control strategy for a humanoid, employing a balance control system DEC (Disturbance Estimation and Compensation). Its inherently modular structure could potentially lead to conflicts among modules, as already shown in literature. A distributed control strategy is presented here, whose underlying idea is to let only one module at a time perform balancing, whilst the other joints are controlled to be at a fixed position. Modules agree, in a distributed fashion, on which module to enable, by iterating a max-consensus protocol. Simulations performed with a triple inverted pendulum model show that this approach limits the conflicts among modules while achieving the desired posture and allows for saving energy while performing the task. This comes at the cost of a higher rise time.Comment: 2019 41st Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC

Enhanced pre-frontal functional-structural networks to support postural control deficits after traumatic brain injury in a pediatric population

Traumatic brain injury (TBI) affects the structural connectivity, triggering the re-organization of structural-functional circuits in a manner that remains poorly understood. We focus here on brain networks re-organization in relation to postural control deficits after TBI. We enrolled young participants who had suffered moderate to severeTBI, comparing them to young typically developing control participants. In comparison to control participants, TBI patients (but not controls) recruited prefrontal regions to interact with two separated networks: 1) a subcortical network including part of the motor network, basal ganglia, cerebellum, hippocampus, amygdala, posterior cingulum and precuneus; and 2) a task-positive network, involving regions of the dorsal attention system together with the dorsolateral and ventrolateral prefrontal regions

I-BaR: Integrated Balance Rehabilitation Framework

Neurological diseases are observed in approximately one billion people worldwide. A further increase is foreseen at the global level as a result of population growth and aging. Individuals with neurological disorders often experience cognitive, motor, sensory, and lower extremity dysfunctions. Thus, the possibility of falling and balance problems arise due to the postural control deficiencies that occur as a result of the deterioration in the integration of multi-sensory information. We propose a novel rehabilitation framework, Integrated Balance Rehabilitation (I-BaR), to improve the effectiveness of the rehabilitation with objective assessment, individualized therapy, convenience with different disability levels and adoption of an assist-as-needed paradigm and, with an integrated rehabilitation process as a whole, i.e., ankle-foot preparation, balance, and stepping phases, respectively. Integrated Balance Rehabilitation allows patients to improve their balance ability by providing multi-modal feedback: visual via utilization of Virtual Reality; vestibular via anteroposterior and mediolateral perturbations with the robotic platform; proprioceptive via haptic feedback.Comment: 37 pages, 2 figures, journal pape

Artificial Human Balance Control by Calf Muscle Activation Modelling

The natural neuromuscular model has greatly inspired the development of control mechanisms in addressing the uncertainty challenges in robotic systems. Although the underpinning neural reaction of posture control remains unknown, recent studies suggest that muscle activation driven by the nervous system plays a key role in human postural responses to environmental disturbance. Given that the human calf is mainly formed by two muscles, this paper presents an integrated calf control model with the two comprising components representing the activations of the two calf muscles. The contributions of each component towards the artificial control of the calf are determined by their weights, which are carefully designed to simulate the natural biological calf. The proposed calf modelling has also been applied to robotic ankle exoskeleton control. The proposed work was validated and evaluated by both biological and engineering simulation approaches, and the experimental results revealed that the proposed model successfully performed over 92% of the muscle activation naturally made by human participants, and the actions led by the simulated ankle exoskeleton wearers were overall consistent with that by the natural biological response

Effects of dance therapy on balance, gait and neuro-psychological performances in patients with Parkinson's disease and postural instability

Postural Instability (PI) is a core feature of Parkinson’s Disease (PD) and a major cause of falls and disabilities. Impairment of executive functions has been called as an aggravating factor on motor performances. Dance therapy has been shown effective for improving gait and has been suggested as an alternative rehabilitative method. To evaluate gait performance, spatial-temporal (S-T) gait parameters and cognitive performances in a cohort of patients with PD and PI modifications in balance after a cycle of dance therapy

Cognition in action: Imaging brain/body dynamics in mobile humans

We have recently developed a mobile brain imaging method (MoBI), that allows for simultaneous recording of brain and body dynamics of humans actively behaving in and interacting with their environment. A mobile imaging approach was needed to study cognitive processes that are inherently based on the use of human physical structure to obtain behavioral goals. This review gives examples of the tight coupling between human physical structure with cognitive processing and the role of supraspinal activity during control of human stance and locomotion. Existing brain imaging methods for actively behaving participants are described and new sensor technology allowing for mobile recordings of different behavioral states in humans is introduced. Finally, we review recent work demonstrating the feasibility of a MoBI system that was developed at the Swartz Center for Computational Neuroscience at the University of California, San Diego, demonstrating the range of behavior that can be investigated with this method. Copyright © 2011 by Walter de Gruyter, Berlin, Boston

Wearable Platform for Automatic Recognition of Parkinson Disease by Muscular Implication Monitoring

The need for diagnostic tools for the characterization of progressive movement disorders - as the Parkinson Disease (PD) - aiming to early detect and monitor the pathology is getting more and more impelling. The parallel request of wearable and wireless solutions, for the real-time monitoring in a non-controlled environment, has led to the implementation of a Quantitative Gait Analysis platform for the extraction of muscular implications features in ordinary motor action, such as gait. The here proposed platform is used for the quantification of PD symptoms. Addressing the wearable trend, the proposed architecture is able to define the real-time modulation of the muscular indexes by using 8 EMG wireless nodes positioned on lower limbs. The implemented system “translates” the acquisition in a 1-bit signal, exploiting a dynamic thresholding algorithm. The resulting 1-bit signals are used both to define muscular indexes both to drastically reduce the amount of data to be analyzed, preserving at the same time the muscular information. The overall architecture has been fully implemented on Altera Cyclone V FPGA. The system has been tested on 4 subjects: 2 affected by PD and 2 healthy subjects (control group). The experimental results highlight the validity of the proposed solution in Disease recognition and the outcomes match the clinical literature results

The Role of Movement Analysis in Diagnosing and Monitoring Neurodegenerative Conditions: Insights from Gait and Postural Control

Quantifying gait and postural control adds valuable information that aids in understanding neurological conditions where motor symptoms predominate and cause considerable functional impairment. Disease-specific clinical scales exist; however, they are often susceptible to subjectivity, and can lack sensitivity when identifying subtle gait and postural impairments in prodromal cohorts and longitudinally to document disease progression. Numerous devices are available to objectively quantify a range of measurement outcomes pertaining to gait and postural control; however, efforts are required to standardise and harmonise approaches that are specific to the neurological condition and clinical assessment. Tools are urgently needed that address a number of unmet needs in neurological practice. Namely, these include timely and accurate diagnosis; disease stratification; risk prediction; tracking disease progression; and decision making for intervention optimisation and maximising therapeutic response (such as medication selection, disease staging, and targeted support). Using some recent examples of research across a range of relevant neurological conditions—including Parkinson’s disease, ataxia, and dementia— we will illustrate evidence that supports progress against these unmet clinical needs. We summarise the novel ‘big data’ approaches that utilise data mining and machine learning techniques to improve disease classification and risk prediction, and conclude with recommendations for future direction

Spectrum of topics for world congresses and other activities of the International Society for Physical and Rehabilitation Medicine (ISPRM) : a first proposal

Background: One of the objectives of the International Society for Physical and Rehabilitation Medicine is to improve the continuity of World Congresses. This requires the development of an abstract topic list for use in congress announcements and abstract submissions. Methods: An abstract topic list was developed on the basis of the definitions of human functioning and rehabilitation research, which define 5 main areas of research (biosciences in rehabilitation, biomedical rehabilitation sciences and engineering, clinical Physical and Rehabilitation Medicine (PRM) sciences, integrative rehabilitation sciences, and human functioning sciences). For the abstract topic list, these research areas were grouped according to the proposals of congress streams. In a second step, the first version of the list was systematically compared with the topics of the 2003 ISPRM World Congress. Results: The resulting comprehensive abstract topic list contains 5 chapters according to the definition of human functioning and rehabilitation research. Due to the high significance of clinical research, clinical PRM sciences were placed at the top of the list, comprising all relevant health conditions treated in PRM services. For congress announcements a short topic list was derived. Discussion: The ISPRM topic list is sustainable and covers a full range of topics. It may be useful for congresses and elsewhere in structuring research in PRM