Simultaneous control of natural and extra degrees of freedom by isometric force and electromyographic activity in the muscle-to-force null space

Objective. Muscle activation patterns in the muscle-to-force null space, i.e., patterns that do not generate task-relevant forces, may provide an opportunity for motor augmentation by allowing to control additional end-effectors simultaneously to natural limbs. Here we tested the feasibility of muscular null space control for augmentation by assessing simultaneous control of natural and extra degrees of freedom. Approach. We instructed eight participants to control translation and rotation of a virtual 3D end-effector by simultaneous generation of isometric force at the hand and null space activity extracted in real-time from the electromyographic signals recorded from 15 shoulder and arm muscles. First, we identified the null space components that each participant could control more naturally by voluntary co-contraction. Then, participants performed several blocks of a reaching and holding task. They displaced an ellipsoidal cursor to reach one of nine targets by generating force, and simultaneously rotated the cursor to match the target orientation by activating null space components. We developed an information-theoretic metric, an index of difficulty defined as the sum of a spatial and a temporal term, to assess individual null space control ability for both reaching and holding. Main Results. On average, participants could reach the targets in most trials already in the first block (72%) and they improved with practice (maximum 93%) but holding performance remained lower (maximum 43%). As there was a high inter-individual variability in performance, we performed a simulation with different spatial and temporal task conditions to estimate those for which each individual participants would have performed best. Significance. Muscular null space control is feasible and may be used to control additional virtual or robotics end-effectors. However, decoding of motor commands must be optimized according to individual null space control ability.

Non-invasive, Spatiotemporal Characterization of Muscle Activation Patterns from Vagus Nerve Stimulation in Human Subjects

Background and Hypothesis: Vagus nerve stimulation (VNS) is used for treatment of epilepsy in over 100,000 patients worldwide and is a potential treatment for many inflammatory disorders. VNS-evoked compound nerve action potentials (CNAPs) may have applications as a biomarker of VNS treatment efficacy, but transcutaneous measurement of this activity is obscured by muscle artifacts. A more precise understanding of muscle activation patterns could improve recording and analysis protocols for isolating the vagus nerve (VN) CNAP. We hypothesize that analyzing multi-electrode array (MEA) surface recordings overlying the VN will allow us to characterize this muscle artifact. Project Methods: Five patients undergoing VNS therapy for epilepsy were enrolled in a clinical study at Indiana University School of Medicine (IRB #2006075899). A custom-made MEA with a grid of 32 soft foam electrodes was placed on the skin overlying the VN on each side of the neck. Surface potentials were recorded for approximately 20 minutes at the patient’s established device settings. Results: VNS-evoked potentials were visualized in all five patients. Two probable muscle artifacts were identified, defined as non-propagating features in the mean response to n > 600 pulses of VNS. The first had an onset latency of ~1-3 ms, and the second had a latency of ~7-10 ms. Both artifacts appeared primarily in the electrodes overlying the laryngeal muscles. Conclusion and Potential Impact: The short latency of the first muscle artifact suggests stimulus signal leakage activating the superior laryngeal nerve. The second artifact with longer latency is likely caused by the recurrent laryngeal nerve. Previous analyses may have mischaracterized the first muscle artifact as nerve activity. The use of MEA-based recordings clarifies our understanding of the VN’s response to VNS, which may lead to better treatment efficacy and the eventual development of personalized VNS therapies for epilepsy and a range of inflammatory disorders.

Hand function development of children with hemiplegic cerebral palsy: A scoping review

PURPOSE: Hemiplegic cerebral palsy (hCP) typically impacts sensorimotor control of the hand, but comprehensive assessments of the hands of children with hCP are relatively rare. This scoping review summarizes the development of hand function for children with hCP. METHODS: This scoping review focused on the development of hand function in children with hCP. Electronic databases (PubMed, PEDro, Web of Science, CINAHL, and SpringerLink) were searched to identify studies assessing hand function in children with hCP. The search was performed using keywords (e.g., “hemiplegia”). An iterative approach verified by two authors was used to select the studies. Articles which reported quantitative data for children with hCP on any items of a specified set of hand evaluations were included. Measures were sorted into three categories: quantitative neuromechanics, clinical assessments, and clinical functional evaluations. RESULTS: Initial searches returned 1536 articles, 131 of which were included in the final review. Trends between assessment scores and age were examined for both hands. CONCLUSION: While several studies have evaluated hand function in children with hCP, the majority relied on clinical scales, assessments, or qualitative descriptions. Further assessments of kinematics, kinetics, and muscle activation patterns are needed to identify the underlying impairment mechanisms that should be targeted for treatment.

A Semi-recumbent Eccentric Cycle Ergometer Instrumented to Isolate Lower Limb Muscle Contractions to the Appropriate Phase of the Pedal Cycle

Eccentric (ECC) cycling is used in rehabilitation and sports conditioning settings. We present the construction and mode of operation of a custom-built semi-recumbent ECC cycle designed to limit the production of lower limb muscle activity to the phase of the pedal cycle known to produce ECC contractions. A commercially available semi-recumbent frame and seat (Monarch, 837E Semi-recumbent Bike, Sweden) were used to assemble the ergometer. An electrical drive train system was constructed using individual direct drive servo motors. To avoid active muscle activation occurring during the non-ECC pedaling phase of cycling, a “trip” mechanism was integrated into the drivetrain system using a servo-driven regenerative braking mechanism based on the monitoring of the voltage produced over and above a predetermined threshold produced by the motors. The servo drive internal (DC bus) voltage is recorded and internally monitored during opposing (OPP) and non-opposing (N-OPP) phases of the pedal cycle. To demonstrate that the cycle functions as desired and stops or “trips” when it is supposed to, we present average (of 5 trials) muscle activation patterns of the principal lower limb muscles for regular ECC pedal cycles in comparison with one pedal cycle during which the muscles activated outside the desired phase of the cycle for a sample participant. This semi-recumbent ECC cycle ergometer has the capacity to limit the occurrence of muscle contraction only to the ECC phase of cycling. It can be used to target that mode of muscle contraction more precisely in rehabilitation or training studies.

Trunk Muscle Activation Patterns During Standing Turns in Patients With Stroke: An Electromyographic Analysis

Recent evidence indicates that turning difficulty may correlate with trunk control; however, surface electromyography has not been used to explore trunk muscle activity during turning after stroke. This study investigated trunk muscle activation patterns during standing turns in healthy controls (HCs) and patients with stroke with turning difficulty (TD) and no TD (NTD). The participants with stroke were divided into two groups according to the 180° turning duration and number of steps to determine the presence of TD. The activation patterns of the bilateral external oblique and erector spinae muscles of all the participants were recorded during 90° standing turns. A total of 14 HCs, 14 patients with TD, and 14 patients with NTD were recruited. The duration and number of steps in the turning of the TD group were greater than those of the HCs, independent of the turning direction. However, the NTD group had a significantly longer turning duration than did the HC group only toward the paretic side. Their performance was similar when turning toward the non-paretic side; this result is consistent with electromyographic findings. Both TD and NTD groups demonstrated increased amplitudes of trunk muscles compared with the HC groups. Their trunk muscles failed to maintain consistent amplitudes during the entire movement of standing turns in the direction that they required more time or steps to turn toward (i.e., turning in either direction for the TD group and turning toward the paretic side for the NTD group). Patients with stroke had augmented activation of trunk muscles during turning. When patients with TD turned toward either direction and when patients with NTD turned toward the paretic side, the flexible adaptations and selective actions of trunk muscles observed in the HCs were absent. Such distinct activation patterns during turning may contribute to poor turning performance and elevate the risk of falling. Our findings provide insights into the contribution and importance of trunk muscles during turning and the association with TD after stroke. These findings may help guide the development of more effective rehabilitation therapies that target specific muscles for those with TD.

Electromyography, Stiffness and Kinematics of Resisted Sprint Training in the Specialized SKILLRUN® Treadmill Using Different Load Conditions in Rugby Players

This study’s aim was to analyze muscle activation and kinematics of sled-pushing and resisted-parachute sprinting with three load conditions on an instrumentalized SKILLRUN® treadmill. Nine male amateur rugby union players (21.3 ± 4.3 years, 75.8 ± 10.2 kg, 176.6 ± 8.8 cm) performed a sled-push session consisting of three 15-m repetitions at 20%, 55% and 90% body mas and another resisted-parachute session using three different parachute sizes (XS, XL and 3XL). Sprinting kinematics and muscle activity of three lower-limb muscles (biceps femoris (BF), vastus lateralis (VL) and gastrocnemius medialis (GM)) were measured. A repeated-measures analysis of variance (RM-ANOVA) showed that higher loads during the sled-push increased (VL) (p ≤ 0.001) and (GM) (p ≤ 0.001) but not (BF) (p = 0.278) activity. Furthermore, it caused significant changes in sprinting kinematics, stiffness and joint angles. Resisted-parachute sprinting did not change kinematics or muscle activation, despite producing a significant overload (i.e., speed loss). In conclusion, increased sled-push loading caused disruptions in sprinting technique and altered lower-limb muscle activation patterns as opposed to the resisted-parachute. These findings might help practitioners determine the more adequate resisted sprint exercise and load according to the training objective (e.g., power production or speed performance).