Robotic task-specific training of the upper extremity in children with Cerebral Palsy

poster abstractBackground: Cerebral Palsy (CP) affects at least 2 in 1,000 children in the United States. The disorder is non-progressive, yet secondary impairments can worsen over time leading to contracture, decreased strength, increased tone and ultimately, impaired mobility and function. Robotic therapy has been found to have positive outcomes for similar impairments in stroke neuro-recovery, suggesting the need for the application of this technology to CP. Purpose: The purpose of this study was to investigate whether specific upper extremity (UE) robotic training improves UE function in children with CP. Methods: This is an ongoing study currently with 5 children (ages 4-12) with CP that have completed the treatment intervention. Inclusion criteria included a hemiplegic presentation of the UE, a modified Ashworth scale (MAS) score of 2 or less and wrist extension equal to or greater than 0o in the affected arm, and sufficient cognition to attain to a task for 40-60 minutes. Each child participated in 16 total robotic training sessions occurring twice weekly, with each session consisting of 1,040 task-specific reaching movements of the affected arm with real-time impedance control. Pre- and post-testing and a 1-month follow-up were performed for each subject. Clinical outcome measures included active range of motion (AROM), passive range of motion (PROM), manual muscle tests (MMT), and grip strength, in addition to functional tests including the MAS, adaptive Fugl-Meyer scale, and the Pediatric Evaluation of Disability Inventory (PEDI) assessed by parents. Lastly, spatial-temporal control patterns were collected during each session, allowing for a visual assessment of a child’s progress in refining UE movement patterns to 16 positions across all quadrants. Results: For AROM and PROM, 4 of 5 subjects demonstrated an increase in at least 2 joints by 1-month follow-up. The remaining measurements produced no change or change within the standard error for goniometry (+/- 5o), while no decline was noted in any subjects. Pre-test MMT revealed strength measures ranging from 3/5 to 5/5. By 1-month follow-up, 85% of all measurements were 5/5, with the remaining 15% at 4+/5. For grip strength, 3 of 4 subjects (fifth subject unavailable) doubled their strength by 1-month follow-up, with the last demonstrating symmetry with the unaffected limb. Tone, as measured by MAS, did not appear to be a limiting factor as only 1 child displayed any noticeable tone (MAS of 2) across the measured motions. For the Fugl-Meyer, 4 of 5 subjects improved coordination by more than 2 points by 1- month follow-up, while the fifth maintained throughout the study. Parents reported via the PEDI an overall improvement in performing functional tasks for all children during the study, with 4 of 5 subjects improving by 10 or more points. Lastly, spatial-temporal control patterns showed marked improvement for all subjects by 1-month follow-up. Conclusion: Early results indicate that the application of robotic training to children with CP improved several clinical measures of the affected limb. This likely resulted in increased use of the affected limb, leading to improved functional performance

Reversal of TMS-induced motor twitch by training is associated with a reduction in excitability of the antagonist muscle

Background: A single session of isolated repetitive movements of the thumb can alter the response to transcranial magnetic stimulation (TMS), such that the related muscle twitch measured post-training occurs in the trained direction. This response is attributed to transient excitability changes in primary motor cortex (M1) that form the early part of learning. We investigated; (1) whether this phenomenon might occur for movements at the wrist, and (2) how specific TMS activation patterns of opposing muscles underlie the practice-induced change in direction. Methods: We used single-pulse suprathreshold TMS over the M1 forearm area, to evoke wrist movements in 20 healthy subjects. We measured the preferential direction of the TMS-induced twitch in both the sagittal and coronal plane using an optical goniometer fixed to the dorsum of the wrist, and recorded electromyographic (EMG) activity from the flexor carpi radialis (FCR) and extensor carpi radialis (ECR) muscles. Subjects performed gentle voluntary movements, in the direction opposite to the initial twitch for 5 minutes at 0.2 Hz. We collected motor evoked potentials (MEPs) elicited by TMS at baseline and for 10 minutes after training. Results: Repetitive motor training was sufficient for TMS to evoke movements in the practiced direction opposite to the original twitch. For most subjects the effect of the newly-acquired direction was retained for at least 10 minutes before reverting to the original. Importantly, the direction change of the movement was associated with a significant decrease in MEP amplitude of the antagonist to the trained muscle, rather than an increase in MEP amplitude of the trained muscle. Conclusions: These results demonstrate for the first time that a TMS-twitch direction change following a simple practice paradigm may result from reduced corticospinal drive to muscles antagonizing the trained direction. Such findings may have implications for training paradigms in neurorehabilitation

Rehabilitation robotics: pilot trial of a spatial extension for MIT-Manus

BACKGROUND: Previous results with the planar robot MIT-MANUS demonstrated positive benefits in trials with over 250 stroke patients. Consistent with motor learning, the positive effects did not generalize to other muscle groups or limb segments. Therefore we are designing a new class of robots to exercise other muscle groups or limb segments. This paper presents basic engineering aspects of a novel robotic module that extends our approach to anti-gravity movements out of the horizontal plane and a pilot study with 10 outpatients. Patients were trained during the initial six-weeks with the planar module (i.e., performance-based training limited to horizontal movements with gravity compensation). This training was followed by six-weeks of robotic therapy that focused on performing vertical arm movements against gravity. The 12-week protocol includes three one-hour robot therapy sessions per week (total 36 robot treatment sessions). RESULTS: Pilot study demonstrated that the protocol was safe and well tolerated with no patient presenting any adverse effect. Consistent with our past experience with persons with chronic strokes, there was a statistically significant reduction in tone measurement from admission to discharge of performance-based planar robot therapy and we have not observed increases in muscle tone or spasticity during the anti-gravity training protocol. Pilot results showed also a reduction in shoulder-elbow impairment following planar horizontal training. Furthermore, it suggested an additional reduction in shoulder-elbow impairment following the anti-gravity training. CONCLUSION: Our clinical experiments have focused on a fundamental question of whether task specific robotic training influences brain recovery. To date several studies demonstrate that in mature and damaged nervous systems, nurture indeed has an effect on nature. The improved recovery is most pronounced in the trained limb segments. We have now embarked on experiments that test whether we can continue to influence recovery, long after the acute insult, with a novel class of spatial robotic devices. This pilot results support the pursuit of further clinical trials to test efficacy and the pursuit of optimal therapy following brain injury

A working model of stroke recovery from rehabilitation robotics practitioners

We reviewed some of our initial insights about the process of upper-limb behavioral recovery following stroke. Evidence to date indicates that intensity, task specificity, active engagement, and focusing training on motor coordination are key factors enabling efficacious recovery. On modeling, experience with over 400 stroke patients has suggested a working model of recovery similar to implicit motor learning. Ultimately, we plan to apply these insights in the development of customized training paradigms to enhance recovery

Accurate prediction of clinical stroke scales and improved biomarkers of motor impairment from robotic measurements

Objective: One of the greatest challenges in clinical trial design is dealing with the subjectivity and variability introduced by human raters when measuring clinical end-points. We hypothesized that robotic measures that capture the kinematics of human movements collected longitudinally in patients after stroke would bear a significant relationship to the ordinal clinical scales and potentially lead to the development of more sensitive motor biomarkers that could improve the efficiency and cost of clinical trials. Materials and methods: We used clinical scales and a robotic assay to measure arm movement in 208 patients 7, 14, 21, 30 and 90 days after acute ischemic stroke at two separate clinical sites. The robots are low impedance and low friction interactive devices that precisely measure speed, position and force, so that even a hemiparetic patient can generate a complete measurement profile. These profiles were used to develop predictive models of the clinical assessments employing a combination of artificial ant colonies and neural network ensembles. Results: The resulting models replicated commonly used clinical scales to a cross-validated R2 of 0.73, 0.75, 0.63 and 0.60 for the Fugl-Meyer, Motor Power, NIH stroke and modified Rankin scales, respectively. Moreover, when suitably scaled and combined, the robotic measures demonstrated a significant increase in effect size from day 7 to 90 over historical data (1.47 versus 0.67). Discussion and conclusion: These results suggest that it is possible to derive surrogate biomarkers that can significantly reduce the sample size required to power future stroke clinical trials

Robot Assisted Training for the Upper Limb after Stroke (RATULS): study protocol for a randomised controlled trial.

BACKGROUND: Loss of arm function is a common and distressing consequence of stroke. We describe the protocol for a pragmatic, multicentre randomised controlled trial to determine whether robot-assisted training improves upper limb function following stroke. METHODS/DESIGN: Study design: a pragmatic, three-arm, multicentre randomised controlled trial, economic analysis and process evaluation. SETTING: NHS stroke services. PARTICIPANTS: adults with acute or chronic first-ever stroke (1 week to 5 years post stroke) causing moderate to severe upper limb functional limitation. Randomisation groups: 1. Robot-assisted training using the InMotion robotic gym system for 45 min, three times/week for 12 weeks 2. Enhanced upper limb therapy for 45 min, three times/week for 12 weeks 3. Usual NHS care in accordance with local clinical practice Randomisation: individual participant randomisation stratified by centre, time since stroke, and severity of upper limb impairment. PRIMARY OUTCOME: upper limb function measured by the Action Research Arm Test (ARAT) at 3 months post randomisation. SECONDARY OUTCOMES: upper limb impairment (Fugl-Meyer Test), activities of daily living (Barthel ADL Index), quality of life (Stroke Impact Scale, EQ-5D-5L), resource use, cost per quality-adjusted life year and adverse events, at 3 and 6 months. Blinding: outcomes are undertaken by blinded assessors. Economic analysis: micro-costing and economic evaluation of interventions compared to usual NHS care. A within-trial analysis, with an economic model will be used to extrapolate longer-term costs and outcomes. Process evaluation: semi-structured interviews with participants and professionals to seek their views and experiences of the rehabilitation that they have received or provided, and factors affecting the implementation of the trial. SAMPLE SIZE: allowing for 10% attrition, 720 participants provide 80% power to detect a 15% difference in successful outcome between each of the treatment pairs. Successful outcome definition: baseline ARAT 0-7 must improve by 3 or more points; baseline ARAT 8-13 improve by 4 or more points; baseline ARAT 14-19 improve by 5 or more points; baseline ARAT 20-39 improve by 6 or more points. DISCUSSION: The results from this trial will determine whether robot-assisted training improves upper limb function post stroke. TRIAL REGISTRATION: ISRCTN, identifier: ISRCTN69371850 . Registered 4 October 2013

Reaction time in ankle movements: a diffusion model analysis

Reaction time (RT) is one of the most commonly used measures of neurological function and dysfunction. Despite the extensive studies on it, no study has ever examined the RT in the ankle. Twenty-two subjects were recruited to perform simple, 2- and 4-choice RT tasks by visually guiding a cursor inside a rectangular target with their ankle. RT did not change with spatial accuracy constraints imposed by different target widths in the direction of the movement. RT increased as a linear function of potential target stimuli, as would be predicted by Hick–Hyman law. Although the slopes of the regressions were similar, the intercept in dorsal–plantar (DP) direction was significantly smaller than the intercept in inversion–eversion (IE) direction. To explain this difference, we used a hierarchical Bayesian estimation of the Ratcliff’s (Psychol Rev 85:59, 1978) diffusion model parameters and divided processing time into cognitive components. The model gave a good account of RTs, their distribution and accuracy values, and hence provided a testimony that the non-decision processing time (overlap of posterior distributions between DP and IE < 0.045), the boundary separation (overlap of the posterior distributions < 0.1) and the evidence accumulation rate (overlap of the posterior distributions < 0.01) components of the RT accounted for the intercept difference between DP and IE. The model also proposed that there was no systematic change in non-decision processing time or drift rate when spatial accuracy constraints were altered. The results were in agreement with the memory drum hypothesis and could be further justified neurophysiologically by the larger innervation of the muscles controlling DP movements. This study might contribute to assessing deficits in sensorimotor control of the ankle and enlighten a possible target for correction in the framework of our on-going effort to develop robotic therapeutic interventions to the ankle of children with cerebral palsy.Cerebral Palsy International Research Foundation (CPIRF)Stavros Niarchos FoundationBaltimore VA Medical Center (contract 512-D05015)National Institutes of Health (U.S.) (NIH Grant R01HD069776-02)Education and European Culture Foundatio

Robotics: A Rehabilitation Modality

A novel rehabilitation technique must demonstrate certain attributes, namely demonstrate GAINS at the end of intervention, PERSIST beyond treatment, show evidence of GENERALIZATION, reduce COST, or demonstrate cost/benefit advantages. Upper extremity robotics is a novel post-stroke rehabilitative modality as it has already demonstrated these attributes. Lower extremity robotics has yet to demonstrate the same attributes. We are highly optimistic that with careful research basic on solid neuroscience principles, we can improve outcomes for lower extremity robotics as a rehabilitative modality

Linear Time-Varying Identification of Ankle Mechanical Impedance During Human Walking

This paper presents a new method to investigate the multivariable time-varying behavior of the ankle during human walking, and provides the first experimental results from treadmill walking. A wearable ankle robot with an ensemblebased linear time-varying system identification method enabled identification of transient ankle mechanical impedance in 2 degrees of freedom, both in the sagittal and frontal planes. Several important issues of the ensemble-based identification method in practical measurements are discussed, especially a strategy to solve the limitation of the method which assumes that the system undergoes the same time-varying behavior on every stride. The suggested method was successfully applied to 15 minutes of human walking on a treadmill. Experiments with 10 young healthy subjects showed clear time-varying behavior of ankle impedance across the gait cycle, except the mid-stance phase. Interestingly, most subjects increased ankle impedance just before heel strike in both degrees of freedom. Interpretation of impedance changes was consistent with analysis of electromyographic signals from major muscles related to ankle movements.Toyota Motor Corporation. Partner Robot DivisionGloria Blake Endowment FundSamsung Fellowshi

Quantitative Characterization of Steady-State Ankle Impedance With Muscle Activation

Characterization of multi-variable ankle mechanical impedance is crucial to understanding how the ankle supports lower-extremity function during interaction with the environment. This paper reports quantification of steady-state ankle impedance when muscles were active. Vector field approximation of repetitive measurements of the torque-angle relation in two degrees of freedom (inversion/eversion and dorsiflexion/plantarflexion) enabled assessment of spring-like and non-spring-like components. Experimental results of eight human subjects showed direction-dependent ankle impedance with greater magnitude than when muscles were relaxed. In addition, vector field analysis demonstrated a non-spring-like behavior when muscles were active, although this phenomenon was subtle in the unimpaired young subjects we studied. Copyright © 2010 by ASME