A model of the electrical behaviour of myelinated sensory nerve fibres based on human data

Calculation of the response of human myelinated sensory nerve fibres to spinal cord stimulation initiated the development of a fibre model based on electro-physiological and morphometric data for human sensory nerve fibres. The model encompasses a mathematical description of the kinetics of the nodal membrane, and a non-linear fibre geometry. Fine tuning of only a few, not well-established parameters was performed by fitting the shape of a propagating action potential and its diameter-dependent propagation velocity. The quantitative behaviour of this model corresponds better to experimentally determined human fibre properties than other mammalian, non-human models do. Typical characteristics, such as the shape of the action potential, the propagation velocity and the strength-duration behaviour show a good fit with experimental data. The introduced diameter-dependent parameters did not result in a noticeable diameter dependency of action potential duration and refractory period. The presented model provides an improved tool to analyse the electrical behaviour of human myelinated sensory nerve fibres

Real-time gait assessment utilizing a new way of accelerometry

Real-time registration of body segment angles is essential in artificial body position control. A new method is presented for the real-time calculation of the lower extremity angles using data obtained from pairs of two one-dimensional accelerometers. It is shown that, assuming rigid-body dynamics and simple hinge joints, relative angles (i.e. angles between segments) can be calculated without integration, thereby solving the problem of integration drift normally associated with accelerometry. During the stance phase of walking, the relative angles can be transformed to absolute angles (i.e. relative to the gravitational field direction) for the different leg segments. The feasibility of relative angle calculation is demonstrated by calculation of the knee angle of a healthy subject. Stability and resolution were demonstrated with measurements during standing. Measurements during standing up, sitting down and walking showed that shock (heel-strike) and skin movements, due to movements of the underlying muscle tissue, are the main error sources. Additional signal processing, e.g. low-pass filtering, can be used to diminish this error. The accuracy of the knee angle found is shown to be high enough to be used in a feedback controller for functional electrostimulation of the lower extremities

The median frequency of the surface EMG power spectrum in relation to motor unit firing and action potential properties

Three components determine the power spectrum of the surface EMG signal: the auto- and cross-power spectra of the firing processes and the power spectra of the motor unit action potential (MUAP). To clarify the relative contribution of these components to the median frequency (MF) of the power spectrum, a stochastic simulation model was used in which most input parameters [e.g., MUAP peak-peak time (PPT), mean interpulse interval time, and synchronization parameters] were described in terms of distribution functions. Simulation clearly predicts that MF is especially sensitive to variations in MUAP shape, the MUAP PPT, and synchronization. The influence of the firing process parameters was predicted to be marginal. To obtain values for the MUAP parameters, a needle-triggered averaging technique was used to gather surface MUAPs from the m. biceps brachii. With use of these MUAPs as input for the model, it was found that intrasubject variability of MF is caused by variations in both MUAP PPT and MUAP shape, whereas intersubject variability in MF is caused primarily by variations in PPT

Cycle-to-cycle control of swing phase of paraplegic gait induced by surface electrical stimulation

Parameterised swing phase of gait in paraplegics was obtained using surface electrical stimulation of the hip flexors, hamstrings and quadriceps; the hip flexors were stimulated to obtain a desired hip angle range, the hamstrings to provide foot clearance in the forward swing, and the quadriceps to acquire knee extension at the end of the swing phase. We report on two main aspects; optimisation of the initial stimulation parameters, and parameter adaption (control). The initial stimulation patterns were experimentally optimised in two paraplegic subjects using a controlled stand device, resulting in an initial satisfactory swinging motion in both subjects. Intersubject differences appeared in the mechanical output (torque joint) per muscle group. During a prolonged open-loop controlled trial with the optimised but unregulated stimulation onsets and burst duration for the three muscle groups, the hip angle range per cycle initially increased above the desired value and subsequently decreased below it. The mechanical performance of the hamstrings and quadriceps remained relatively unaffected. A cycle-to-cycle controller was then designed, operating on the basis of the hip angle ranges obtained in previous swings. This controller successfully adapted the burst duration of the hip flexors to maintain the desired hip angle range

Fatigue of intermittently stimulated quadriceps during imposed cyclical lower leg movements

During prolonged experiments the influence of knee angular velocity, and stimulation parameters (interpulse interval (IPI), duty cycle (DC), number of pulses per cycle (NP)) on fatigue-induced torque\ud decline of paralyzed human quadriceps was studied. Identification of torque-angle and -angular velocity was also performed. The overall loss of maximum torque (MT) and torque-time integral ('lTI) per cycle during sustained intermittent stimulation during isokinetic movement had a typical exponential decay reaching asymptotic values. Larger knee velocities resulted in a significantly faster and relative larger decay of MT and TTI. The rate and relative magnitude of fatigue during concentric contractions are in direct relation\ud to NP. The results may be valuable in the design of optimal control systems for FES which pursue minimization of muscle fatigue

Transverse tripolar stimulation of peripheral nerve:A modelling study of spatial selectivity

Various anode-cathode configurations in a nerve cuff are modelled to predict their spatial selectivity characteristics for functional nerve stimulation. A 3D volume conductor model of a monofascicular nerve is used for the computation of stimulation-induced field potentials, whereas a cable model of myelinated nerve fibre is used for the calculation of the excitation thresholds of fibres. As well as the usual configurations (monopole, bipole, longitudinal tripole, ‘steering’ anode), a transverse tripolar configuration (central cathode) is examined. It is found that the transverse tripole is the only configuration giving convex recruitment contours and therefore maximises activation selectivity for a small (cylindrical) bundle of fibres in the periphery of a monofascicular nerve trunk. As the electrode configuration is changed to achieve greater selectivity, the threshold current increases. Therefore threshold currents for fibre excitation with a transverse tripole are relatively high. Inverse recruitment is less extreme than for the other configurations. The influences of several geometrical parameters and model conductivities of the transverse tripole on selectivity and threshold current are analysed. In chronic implantation, when electrodes are encapsulated by a layer of fibrous tissue, threshold currents are low, whereas the shape of the recruitment contours in transverse tripolar stimulation does not change

Low-level finite state control of knee joint in paraplegic standing

Low-level finite state (locked-unlocked) control is compared with open-loop stimulation of the knee extensor muscles in functional electrical stimulation (FES) induced paraplegic standing. The parameters were: duration of standing, relative torque loss in knee extensor muscles, knee angle stability, average stimulus output and average arm effort during standing. To investigate the impact of external mechanical conditions on controller performance, experiments were performed both under the condition of a freely moving ankle joint and of a mechanically stabilized ankle joint. Finite state control resulted in a 2.5 to 12 times increase of standing duration or in a 1.5 to 5 times decrease of relative torque loss in comparison with open-loop stimulation. Finite state control induced a limit cycle oscillation in the knee joint. Average maximum knee flexion was 6.2° without ankle bracing, and half that value with ankle bracing. Average arm support was 13.9 and 7.5% of the body weight without and with ankle bracing respectively

A simulation model of the electrical characteristics of human myelinated sensory nerve fibers

A new nerve fiber model has been developed, incorporating electrical characteristics of human myelinated sensory nerve fibers. It will be used to determine the response of myelinated somatosensory nerve fibers in the spinal cord to electrical stimulation with an epidurally placed electrod

The influence of voluntary upper body exercise on the performance of stimulated paralysed human quadriceps

In this study the influence of voluntary upper body exercise on the performance of stimulated paralysed human quadriceps was investigated in five subjects with spinal cord lesions in the thoracic spine. The experimental setup consisted of computer-controlled stimulation of the quadriceps using electrodes on the surface of the skin, a dynamometer for isometric or isokinetic loading of the lower leg, and a rowing ergometer for upper body exercise. In all subjects, quadriceps fatigue tests were conducted to study the influence of upper body exercise on knee torque during sustained continuous or intermittent stimulation of quadriceps. The relative asymptotic torque appeared to be significantly higher with the presence of upper body exercise than without. This was consistently found both between trials (starting with or without upper body exercise) as well as within trials, when upper body exercise was started or stopped during the trial. No significant influence of upper body exercise on the time constant of initial torque decline was found