Fused Ultrasound And Electromyography-Driven Neuromuscular Model To Improve Plantarflexion Moment Prediction Across Walking Speeds

Background: Improving the prediction ability of a human-machine interface (HMI) is critical to accomplish a bio-inspired or model-based control strategy for rehabilitation interventions, which are of increased interest to assist limb function post neurological injuries. A fundamental role of the HMI is to accurately predict human intent by mapping signals from a mechanical sensor or surface electromyography (sEMG) sensor. These sensors are limited to measuring the resulting limb force or movement or the neural signal evoking the force. As the intermediate mapping in the HMI also depends on muscle contractility, a motivation exists to include architectural features of the muscle as surrogates of dynamic muscle movement, thus further improving the HMI's prediction accuracy. Objective: The purpose of this study is to investigate a non-invasive sEMG and ultrasound (US) imaging-driven Hill-type neuromuscular model (HNM) for net ankle joint plantarflexion moment prediction. We hypothesize that the fusion of signals from sEMG and US imaging results in a more accurate net plantarflexion moment prediction than sole sEMG or US imaging. Methods: Ten young non-disabled participants walked on a treadmill at speeds of 0.50, 0.75, 1.00, 1.25, and 1.50 m/s. The proposed HNM consists of two muscle-tendon units. The muscle activation for each unit was calculated as a weighted summation of the normalized sEMG signal and normalized muscle thickness signal from US imaging. The HNM calibration was performed under both single-speed mode and inter-speed mode, and then the calibrated HNM was validated across all walking speeds. Results: On average, the normalized moment prediction root mean square error was reduced by 14.58 % (p = 0.012) and 36.79 % (p < 0.001) with the proposed HNM when compared to sEMG-driven and US imaging-driven HNMs, respectively. Also, the calibrated models with data from the inter-speed mode were more robust than those from single-speed modes for the moment prediction.Conclusions: The proposed sEMG-US imaging-driven HNM can significantly improve the net plantarflexion moment prediction accuracy across multiple walking speeds. The findings imply that the proposed HNM can be potentially used in bio-inspired control strategies for rehabilitative devices due to its superior prediction.

A Review of the Plantar Pressure Distribution Effects from Insole Materials and at Different Walking Speeds

Among people with diabetes mellitus (DM), the two common strategies for decreasing peak plantar pressure (PPP) to reduce diabetic foot ulcers (DFUs) risks are to modify walking speeds and to change insole materials. This study reviewed the PPP reduction based on various walking speeds and insole materials. The articles were retrieved from four major scientific databases and manual search. We identified 1585 articles, of which 27 articles were selected for full-text analysis. We found that in faster walking speeds, the forefoot PPP was higher (308 kPa) than midfoot (150 kPa) and rearfoot (251 kPa) PPP. The appropriate walking speed for reducing the forefoot PPP was about 6 km/h for non-DM and 4 km/h for DM people. The forefoot PPP in DM people was 185% higher than that of non-DM people. Ethylene–vinyl acetate (EVA) insole material was the most popular material used by experts (26%) in the forefoot and reduced 37% of PPP. In conclusion, the suitable walking speed for DM was slower than for non-DM people, and EVA was the most common insole material used to decrease the PPP under the forefoot. The clinicians might recommend DM people to walk at 4 km/h and wear EVA insole material to minimize the DFUs.

Increased Attentional Focus on Walking by Older Adults Limits Maximum Speed and Is Related to Dynamic Stability

<b><i>Background and Purpose:</i></b> Older adults with lower balance confidence demonstrate a reduced willingness to experience instability as the task of walking becomes more challenging (i.e., walking with a faster speed). However, the specific reason why is not known. The purpose of this study was to investigate the extent to which capacity of increasing walking speeds relates to the attentional requirements (i.e., automaticity) of walking. <b><i>Methods:</i></b> Sixteen young (31 ± 5.85 years) and 15 older participants (69 ± 3.04 years) began walking on a treadmill at 0.4 m/s, and speed was increased by 0.2 m/s until the participant either chose to stop or reached a speed of 2.0 m/s. Sixty steps were collected at steady-state speed for each walking trial. Kinematic data were collected, and the margin of stability in the anterior direction (MOS_AP) at heelstrike was quantified for each step. The timed up and go (TUG) and TUG dual (TUG_dual) task were performed, from which an automaticity index (TUG/TUG_dual × 100) was calculated. Older individuals were grouped based on whether they did or did not complete all walking speeds (i.e., completers [<i>n</i> = 9] or noncompleters [<i>n</i> = 6]). The fastest walking speed attempted (FSA), automaticity index, and MOS_AP were compared, and correlations were assessed between the FSA/MOS_AP and the automaticity index. <b><i>Results:</i></b> A significant difference was identified in an average MOS_AP at heelstrike between older completer and noncompleter groups (<i>p</i> &#x3c; 0.001). Further, older adults with lower automaticity index choose to stop walking at lower speeds (<i>p</i> = 0.001). The FSA was positively correlated with the automaticity index (ρ = 0.81, <i>p</i> &#x3c; 0.001). Finally, the average MOS_AP at FSA and the automaticity index were also negatively correlated (<i>r</i> = −0.85, <i>p</i> &#x3c; 0.001). <b><i>Conclusion:</i></b> Older adults with lower automaticity of walking choose to stop walking at speeds before they completed all walking speeds, which may relate with increased attentional demands required to maintain dynamic stability at higher walking speeds. Given that these were otherwise healthy adults, the combination of FSA and an automaticity of walking may help to identify individuals who should be considered for an assessment to identify walking problems.

Design and Initial Validation of a Multiple Degree-of-Freedom Joint for an Ankle-Foot Orthosis

This paper presents the novel design of a Multi-Degree-Of-Freedom joint (M-DOF) for an Ankle-Foot Orthosis (AFO) that aims to improve upon the commercially available Double Action Joint (DAJ). The M-DOF is designed to maintain the functionality of the DAJ, while increasing dorsiflexion stiffness and introducing inversion/eversion. This increase in range of motion is designed to produce greater engagement from lower limb muscles during gait. The M-DOF was experimentally validated with one able-bodied and one stroke subject. Across walking speeds, the M-DOF AFO minimally affected the able-bodied subject's joint kinematics. The stroke subject's ankle dorsiflexion/plantarflexion and knee flexion were not heavily altered when wearing the M-DOF AFO, compared to the DAJ AFO. The new DOF allowed by the M-DOF AFO increased the inversion/eversion of the ankle by ~3°, without introducing any new compensations compared to their gait with the DAJ AFO.

Design of a Novel Wearable System for Foot Clearance Estimation

Trip-related falls are one of the major causes of injury among seniors in Canada and can be attributable to an inadequate Minimum Toe Clearance (MTC). Currently, motion capture systems are the gold standard for measuring MTC; however, they are expensive and have a restricted operating area. In this paper, a novel wearable system is proposed that can estimate different foot clearance parameters accurately using only two Time-of-Flight (ToF) sensors located at the toe and heel of the shoe. A small-scale preliminary study was conducted to investigate the feasibility of foot clearance estimation using the proposed wearable system. We recruited ten young, healthy females to walk at three self-selected speeds (normal, slow, and fast) while wearing the system. Our data analysis showed an average correlation coefficient of 0.94, 0.94, 0.92 for the normal, slow, and fast speed, respectively, when comparing the ToF signals with motion capture. The ANOVA analysis confirmed these results further by revealing no statistically significant differences between the ToF signals and motion capture data for most of the gait parameters after applying the newly proposed foot angle and offset compensation. In addition, the proposed system can measure the MTC with an average Mean Error (ME) of −0.08 ± 3.69 mm, −0.12 ± 4.25 mm, and −0.10 ± 6.57 mm for normal, slow, and fast walking speeds, respectively. The proposed affordable wearable system has the potential to perform real-time MTC estimation and contribute to future work focused on minimizing tripping risks.

Evaluation of the Load Reduction Performance via a Suspended Backpack with Adjustable Stiffness

Backpacks are essential for travel but carrying a load during a long journey can easily cause muscle fatigue and joint injuries. Previous studies have suggested that suspended backpacks can effectively reduce the energy cost while carrying loads. Researchers have found that adjusting the stiffness of a suspended backpack can optimize its performance. Therefore, this paper proposes a stiffness-adjustable suspended backpack; the system stiffness can be adjusted to suitable values at different speeds. The stiffness of the suspended backpack with a 5-kg load was designed to be 690 N/m for a speed of 4.5 km/h, and it was adjusted to 870 and 1050 N/m at speeds of 5.5 and 6.5 km/h, respectively. The goal of this study was to determine how carrying a stiffness-adjustable suspended backpack affected performance while carrying a load. Six healthy participants participated in experiments where they wore two backpacks under three conditions: the adjustable-stiffness suspended backpack condition (S_A), the unadjustable-stiffness suspended backpack condition (S_UA), and the ordinary backpack condition (ORB). Our results showed that the peak accelerations, muscle activities, and peak ground reaction forces in the S_A condition were reduced effectively by adjusting the stiffness to adapt to different walking speeds; this adjustment decreased the metabolic cost by 4.21 ± 1.21% and 2.68 ± 0.88% at 5.5 km/h and 4.27 ± 1.35% and 3.38± 1.31% at 6.5 km/h compared to the ORB and S_UA, respectively.

Towards a Mobile Gait Analysis for Patients with a Spinal Cord Injury: A Robust Algorithm Validated for Slow Walking Speeds

Spinal cord injury (SCI) patients suffer from diverse gait deficits depending on the severity of their injury. Gait assessments can objectively track the progress during rehabilitation and support clinical decision making, but a comprehensive gait analysis requires far more complex setups and time-consuming protocols that are not feasible in the daily clinical routine. As using inertial sensors for mobile gait analysis has started to gain ground, this work aimed to develop a sensor-based gait analysis for the specific population of SCI patients that measures the spatio-temporal parameters of typical gait laboratories for day-to-day clinical applications. The proposed algorithm uses shank-mounted inertial sensors and personalized thresholds to detect steps and gait events according to the individual gait profiles. The method was validated in nine SCI patients and 17 healthy controls walking on an instrumented treadmill while wearing reflective markers for motion capture used as a gold standard. The sensor-based algorithm (i) performed similarly well for the two cohorts and (ii) is robust enough to cover the diverse gait deficits of SCI patients, from slow (0.3 m/s) to preferred walking speeds.

EXPLORATION OF VIBROTACTILE BIOFEEDBACK STRATEGIES TO INDUCE STANCE TIME ASYMMETRIES

BACKGROUND: Gait symmetry is the degree of equality of biomechanical parameters between limbs within a gait cycle. Human gait is highly symmetrical; however, in the presence of pathology, gait often lacks symmetry. Biofeedback (BFB) systems have demonstrated the potential to reduce gait asymmetry, improve gait function, and benefit overall long-term musculoskeletal health. OBJECTIVE(S): The aim of this study was to develop a BFB system and evaluate three unique BFB strategies, including bidirectional control – constant vibration (BC), bidirectional control – variable vibration (BV), and unidirectional control – variable vibration (UV) relevant to gait symmetry. The assessed feedback strategies were a combination of vibration frequency/amplitude levels, vibration thresholds, and vibrotactile stimuli from one and two vibrating motors (tactors). Learning effect and short-term retention were also assessed. METHODOLOGY: Testing was performed using a custom BFB system that induces stance time asymmetries to modulate temporal gait symmetry. The BFB system continuously monitors specific gait events (heel-strike and toe-off) and calculates the symmetry ratio, based on the stance time of both limbs to provide real-time biomechanical information via the vibrating motors. Overall walking performance of ten (n=10) able-bodied individuals (age 24.8 ± 4.4 years) was assessed via metrics of symmetry ratio, symmetry ratio error, walking speed, and motor's vibration percentages. FINDINGS: All participants utilized BFB somatosensory information to modulate their symmetry ratio. UV feedback produced a greater change in symmetry ratio, and it came closer to the targeted symmetry ratio. Learning or short-term retention effects were minimal. Walking speeds were reduced with feedback compared to no feedback; however, UV walking speeds were significantly faster compared to BV and BC. CONCLUSION: The outcomes of this study provide new insights into the development and implementation of feedback strategies for gait retraining BFB systems that may ultimately benefit individuals with pathological gait. Future work should assess longer-term use and long-term learning and retention effects of BFB systems in the populations of interest. Layman's Abstract Healthy walking is usually highly symmetrical with the same movements occurring on both sides of the body. However, certain disorders can cause abnormal and asymmetrical walking movements. Biofeedback can improve the movements during walking. This study used a custom biofeedback system to test three ways of applying biofeedback including having one and two motors that vibrated in unique ways. The biofeedback system was set up to guide participants to change their normal walking pattern to be less symmetrical. Walking movements of ten young able-bodied individuals were measured while walking with the biofeedback system. The results showed a change in walking symmetry for all participants. Using a single vibrating motor resulted in the greatest changes in walking symmetry. The changes in walking symmetry occurred only when using biofeedback, and walking patterns quickly returned to normal when the biofeedback was turned off. Overall, all feedback methods caused the users to walk slower than their typical walking speed. These findings provide important new information about the changes in walking caused by different biofeedback methods. Future work should evaluate long-term effects of biofeedback methods in the populations of interest. Article PDF Link: https://jps.library.utoronto.ca/index.php/cpoj/article/view/36744/28677 How To Cite: Escamilla-Nunez R, Sivasambu H, Andrysek J. Exploration of vibrotactile biofeedback strategies to induce stance time asymmetries. Canadian Prosthetics & Orthotics Journal. 2022; Volume 5, Issue 1, No.2. https://doi.org/10.33137/cpoj.v5i1.36744 Corresponding Author: Rafael Escamilla-Nunez, Institute of Biomedical Engineering, University of Toronto, Toronto, Canada.E-Mail: [email protected] ID: https://orcid.org/0000-0002-2739-878X

Quantifying Cause-Effect Relations Between Walking Speed, Propulsive Force, and Metabolic Cost

Walking speed is a useful surrogate for health status across the population. Walking speed appears to be governed in part by propulsive force (FP) generated during push-off and simultaneously optimized to minimize metabolic cost. However, no study to our knowledge has established empirical cause-effect relations between FP, walking speed, and metabolic cost, even in young adults. To overcome the potential linkage between these factors, we used a self-paced treadmill controller and real-time biofeedback to independently prescribe walking speed or FP across a range of condition intensities. Walking with larger and smaller FP led to instinctively faster and slower walking speeds, respectively, with about 80% of variance explained between those outcomes. We also found that comparable changes in either FP or walking speed elicited predictable and relatively uniform changes in metabolic cost, each explaining about ~53% of the variance in net metabolic power and ~15% of the variance in cost of transport, respectively. These findings build confidence that interventions designed to increase FP will translate to improved walking speed. Repeating this protocol in other populations may identify additional cause-effect relations that could inform the time course of gait decline due to age and disease.

Optimized hip–knee–ankle exoskeleton assistance at a range of walking speeds

Background Autonomous exoskeletons will need to be useful at a variety of walking speeds, but it is unclear how optimal hip–knee–ankle exoskeleton assistance should change with speed. Biological joint moments tend to increase with speed, and in some cases, optimized ankle exoskeleton torques follow a similar trend. Ideal hip–knee–ankle exoskeleton torque may also increase with speed. The purpose of this study was to characterize the relationship between walking speed, optimal hip–knee–ankle exoskeleton assistance, and the benefits to metabolic energy cost. Methods We optimized hip–knee–ankle exoskeleton assistance to reduce metabolic cost for three able-bodied participants walking at 1.0 m/s, 1.25 m/s and 1.5 m/s. We measured metabolic cost, muscle activity, exoskeleton assistance and kinematics. We performed Friedman’s tests to analyze trends across walking speeds and paired t-tests to determine if changes from the unassisted conditions to the assisted conditions were significant. Results Exoskeleton assistance reduced the metabolic cost of walking compared to wearing the exoskeleton with no torque applied by 26%, 47% and 50% at 1.0, 1.25 and 1.5 m/s, respectively. For all three participants, optimized exoskeleton ankle torque was the smallest for slow walking, while hip and knee torque changed slightly with speed in ways that varied across participants. Total applied positive power increased with speed for all three participants, largely due to increased joint velocities, which consistently increased with speed. Conclusions Exoskeleton assistance is effective at a range of speeds and is most effective at medium and fast walking speeds. Exoskeleton assistance was less effective for slow walking, which may explain the limited success in reducing metabolic cost for patient populations through exoskeleton assistance. Exoskeleton designers may have more success when targeting activities and groups with faster walking speeds. Speed-related changes in optimized exoskeleton assistance varied by participant, indicating either the benefit of participant-specific tuning or that a wide variety of torque profiles are similarly effective.