Adaptive Functional Electrical Stimulation Delivers Stimulation Amplitudes Based on Real-Time Gait Biomechanics.

Functional electrical stimulation (FES) is often used in poststroke gait rehabilitation to decrease foot drop and increase forward propulsion. However, not all stroke survivors experience clinically meaningful improvements in gait function following training with FES. The purpose of this work was to develop and validate a novel adaptive FES (AFES) system to improve dorsiflexor (DF) and plantarflexor (PF) stimulation timing and iteratively adjust the stimulation amplitude at each stride based on measured gait biomechanics. Stimulation timing was determined by a series of bilateral footswitches. Stimulation amplitude was calculated based on measured dorsiflexion angle and peak propulsive force, where increased foot drop and decreased paretic propulsion resulted in increased stimulation amplitudes. Ten individuals with chronic poststroke hemiparesis walked on an adaptive treadmill with adaptive FES for three 2-min trials. Stimulation was delivered at the correct time to the dorsiflexor muscles during 95% of strides while stimulation was delivered to the plantarflexor muscles at the correct time during 84% of strides. Stimulation amplitudes were correctly calculated and delivered for all except two strides out of nearly 3000. The adaptive FES system responds to real-time gait biomechanics as intended, and further individualization to subject-specific impairments and rehabilitation goals may lead to improved rehabilitation outcomes.

How Important is Position in Adaptive Treadmill Control?

To more closely mimic overground walking, researchers are developing adaptive treadmills (ATMs) that update belt speed in real-time based on user gait mechanics. Many existing ATM control schemes are solely based on position on the belt and do not respond to changes in gait mechanics, like propulsive forces, that result in increased overground walking speed. To target natural causal mechanisms to alter speed, we developed an ATM controller that adjusts speed via changes in position, step length, and propulsion. Gains on each input dictate the impact of the corresponding parameter on belt speed. The study objective was to determine the effect of modifying the position gain on self-selected walking speed, measures of propulsion, and step length. Twenty-two participants walked at their self-selected speed with four ATM controllers, each with a unique position gain. Walking speed, anterior and posterior ground reaction force peaks and impulses, net impulse, and step length were compared between conditions. Smaller position gains promoted more equivalent anterior and posterior impulses, resulting in a net impulse closer to zero (p = 0.0043), a characteristic of healthy gait. Walking speed, anterior and posterior ground reaction force peaks and impulses, and step length did not change between conditions (all p > 0.05). These results suggest that reducing the importance of position in the ATM controller may promote more balanced anterior and posterior impulses, possibly improving the efficacy of the ATM for gait rehabilitation by emphasizing changes in gait mechanics instead of position to naturally adjust speed.

Cognitive Training Improves Joint Stiffness Regulation and Function in ACLR Patients Compared to Healthy Controls.

As cognitive function is critical for muscle coordination, cognitive training may also improve neuromuscular control strategy and knee function following an anterior cruciate ligament reconstruction (ACLR). The purpose of this case-control study was to examine the effects of cognitive training on joint stiffness regulation in response to negative visual stimuli and knee function following ACLR. A total of 20 ACLR patients and 20 healthy controls received four weeks of online cognitive training. Executive function, joint stiffness in response to emotionally evocative visual stimuli (neutral, fearful, knee injury related), and knee function outcomes before and after the intervention were compared. Both groups improved executive function following the intervention (p = 0.005). The ACLR group had greater mid-range stiffness in response to fearful (p = 0.024) and injury-related pictures (p = 0.017) than neutral contents before the intervention, while no post-intervention stiffness differences were observed among picture types. The ACLR group showed better single-legged hop for distance after cognitive training (p = 0.047), while the healthy group demonstrated no improvement. Cognitive training enhanced executive function, which may reduce joint stiffness dysregulation in response to emotionally arousing images and improve knee function in ACLR patients, presumably by facilitating neural processing necessary for neuromuscular control.

Development and Validation of a Framework for Predictive Simulation of Treadmill Gait.

Treadmill training is a common intervention to promote healthy walking function for individuals with pathological gait. However, because of the heterogeneity of many patient populations, determining how an individual will respond to new treadmill protocols may require extensive trial and error, causing increased patient fatigue. The purpose of this study was to develop and validate a framework for predictive simulation of treadmill gait, which may be used in the design of treadmill training protocols. This was accomplished through three steps: predict motion of a simple model of a block relative to a treadmill, create a predictive framework to estimate gait with a two-dimensional (2D) lower limb musculoskeletal model on a treadmill, and validate the framework by comparing predicted kinematics, kinetics, and spatiotemporal parameters across three belts speeds and between speed-matched overground and treadmill predictive simulations. Predicted states and ground reaction forces for the block-treadmill model were consistent with rigid body dynamics, and lessons learned regarding ground contact model and treadmill motion definition were applied to the gait model. Treadmill simulations at 0.7, 1.2, and 1.8 m/s belt speeds resulted in predicted sagittal plane joint angles, ground reaction forces, step length, and step time that closely matched experimental data at similar speeds. Predicted speed-matched overground and treadmill simulations resulted in small root-mean-square error (RMSE) values within standard deviations for healthy gait. These results suggest that this predictive simulation framework is valid and can be used to estimate gait adaptations to various treadmill training protocols.

Adaptive treadmill control can be manipulated to increase propulsive impulse while maintaining walking speed.

Adaptive treadmills (ATM) designed to promote increased propulsion may be an effective tool for gait training since propulsion is often impaired post-stroke. Our lab developed a novel ATM controller that adjusts belt speed via real-time changes in step length, propulsive impulse, and position. This study modified the relative importance of propulsion to step length in the controller to determine the effect of increased propulsive feedback gain on measures of propulsion and walking speed. Twenty-two participants completed five trials at their self-selected speed, each with a unique ATM controller. Walking speed, peak AGRF and PGRF, and AGRF, PGRF, and net impulse were compared between the modifications using one-way repeated measures ANOVAs at a significance level of 0.05. Participants chose similar walking speeds across all conditions (all p > 0.2730). There were no significant differences in peak AGRF (p = 0.1956) or PGRF (p = 0.5159) between conditions. AGRF impulse significantly increased as the gain on the propulsive impulse term was increased relative to the gain on step length (p < 0.0001) while PGRF and net impulse were similar across all conditions (p = 0.5487). Increasing the propulsive impulse gain essentially alters the treadmill environment by providing a controlled amount of resistance to increases in propulsive forces. Our findings demonstrate that the ATM can be modified to promote increased propulsive impulse while maintaining a consistent walking speed. Since increasing propulsion is a common goal of post-stroke gait training, these ATM modifications may improve the efficacy of the ATM for gait rehabilitation.

Adaptive treadmill walking encourages persistent propulsion.

BACKGROUND: Adaptive treadmills allow real-time changes in walking speed by responding to changes in step length, propulsion, or position on the treadmill. The stride-to-stride variability, or persistence, of stride time during overground, fixed-speed, and adaptive treadmill walking has been studied, but persistence of propulsion during adaptive treadmill walking remains unknown. Because increased propulsion is often a goal of post-stroke rehabilitation, knowledge of the stride-to-stride variability may aid rehabilitation protocol design. RESEARCH QUESTION: How do spatiotemporal and propulsive gait variables vary from stride to stride during adaptive treadmill walking, and how do they compare to fixed-speed treadmill walking? METHODS: Eighteen young healthy subjects walked on an instrumented split-belt treadmill in the adaptive and fixed-speed modes for 10 minutes at their comfortable speed. Kinetic data was collected from the treadmill. Detrended fluctuation analysis was applied to the time series data. Shapiro-Wilk tests assessed normality and one-way repeated measures ANOVAs compared between adaptive, fixed-speed, and randomly shuffled conditions at a Bonferroni-corrected significance level of 0.0055. RESULTS: Stride time, stride length, step length, and braking impulse were persistent (α > 0.5) in the adaptive and fixed-speed conditions. Adaptive and fixed-speed were different from each other. Stride speed was persistent in the adaptive condition and anti-persistent (α < 0.5) in the fixed-speed condition. Peak propulsive force, peak braking force, and propulsive impulse were persistent in the adaptive condition but not the fixed-speed condition (α ≈ 0.5). Net impulse was non-persistent in the adaptive and fixed-speed conditions. All variables were non-persistent in the shuffled condition. SIGNIFICANCE: During adaptive treadmill walking, increases in propulsive force and impulse persist for multiple strides. Persistence was stronger on the adaptive treadmill, where increased propulsion translates into increased walking speed. For post-stroke gait rehabilitation where increasing propulsion and speed are goals, the stronger persistence of adaptive treadmill walking may be beneficial.

Neuroticism and Extraversion Are Related to Changes in Postural Stability During Anatomically-Related Cognitive Tasks.

The relationship between personality and postural stability has received little attention. This study addressed whether neuroticism and extraversion correlate with changes in postural stability while performing cognitive tasks related to brain regions selectively associated with neuroticism and extraversion. Thirty-two adults stood on a foam mat in tandem stance and completed a 2-back task and a weather prediction task (WPT). As predicted, higher neuroticism was related to increased dual task sway during the 2-back task, r = 0.40, p = 0.023, and lower extraversion was related to increased dual task sway during the WPT, r = -0.43, p = 0.013, suggesting that personality is related to postural stability in healthy young adults and that personality could be considered in the prediction and treatment of individuals with balance difficulties.

Combined user-driven treadmill control and functional electrical stimulation increases walking speeds poststroke.

The variety of poststroke impairments and compensatory mechanisms necessitate adaptive and subject-specific approaches to locomotor rehabilitation. To implement subject-specific, adaptive training to treadmill-based gait training, we developed a user-driven treadmill (UDTM) control algorithm that adjusts the user's speed in real-time. This study examines the response of individuals poststroke to the combination of UDTM control and electrical stimulation of the paretic ankle musculature to augment forward propulsion during walking. Sixteen individuals poststroke performed a randomized series of walking tasks on an instrumented split-belt treadmill at their self-selected speeds 1) with fixed speed treadmill (FSTM) control only, 2) FSTM control and paretic limb functional electrical stimulation (FES), 3) UDTM control only, and 4) UDTM control and FES. With UDTM control and FES, participants selected speeds that were 0.13 m/s faster than their speeds with fixed speed control only. This instantaneous increase is comparable to the gains in SS speed seen after 12 weeks of training with FES and fast walking with fixed speed treadmill control by Kesar and colleagues (Δ = 0.18 m/s). However, we saw no significant differences in the corresponding push-off forces or trailing limb position. Since individuals can use a variety of strategies to change their walking speeds, it is likely that the differences among individual responses obscured trends in the group average changes in mechanics. Ultimately, the combination of UDTM control and functional electrical stimulation (FES) allows individuals to increase speeds after a short exposure and may be a beneficial addition to poststroke gait training programs.

User-driven treadmill walking promotes healthy step width after stroke.

BACKGROUND: Walking with user-driven treadmill control is believed to be more like overground walking than fixed-speed treadmill walking. Walking speed and ground reaction forces differ between overground and fixed-speed treadmill walking, but not between overground and user-driven treadmill walking in healthy and post-stroke subjects. However, studies assessing spatiotemporal gait parameters during user-driven treadmill walking are limited. This information may help confirm that user-driven treadmill walking is more like overground walking than fixed-speed treadmill walking, as well as inform the development of post-stroke gait rehabilitation programs. RESEARCH QUESTION: How do spatiotemporal gait parameters for individuals post-stroke differ between fixed-speed and user-driven treadmill walking? METHODS: Eighteen subjects (10 M, 8 F; 62 ± 12 years; 1.73 ± 0.12 m; 84.9 ± 12.9 kg; 40 ± 30 months post-stroke) with chronic post-stroke hemiparesis participated in this study. Participants walked on an instrumented treadmill in its fixed-speed and user-driven modes at their self-selected and fastest comfortable walking speeds. Subjects wore retroreflective markers for motion capture. Shapiro-Wilk tests were used to assess for normality and one-way repeated measures ANOVAs were used to compare between conditions with α = 0.05. Bonferroni corrections were used for multiple comparisons. RESULTS: Step width was significantly smaller with user-driven control (13.7 cm, 95 % CI: [0.131, 0.145]) than fixed-speed control (16.8 cm, 95 % CI:[0.160, 0.174]), while step length and step time did not differ across treadmill conditions. Step length and step time differed between self-selected and fast walking speeds, but not treadmill control conditions. SIGNIFICANCE: The results of this study show that user-driven treadmill control encourages healthy gait biomechanics and a greater sense of stability in post-stroke subjects. Individuals post-stroke walked with smaller step width with user-driven treadmill control, which has been associated with increased balance. Post-stroke gait rehabilitation may benefit from programs with user-driven treadmill training paradigms to improve mobility following stroke.

Nonlinear net ankle quasi-stiffness reduces error and changes with speed but not load carried.

BACKGROUND: Natural ankle quasi-stiffness (NAS) is a key metric used to personalize orthotic and prosthetic ankle-foot devices. NAS has traditionally been defined as the average slope (i.e. linear regression) of the net ankle moment vs. ankle angle curve during stance. However, NAS appears to have nonlinear characteristics. Characterizing nonlinear NAS across a wide range of tasks will enable us to incorporate these attributes into future orthotic and prosthetic ankle-foot device designs. RESEARCH QUESTION: Does nonlinear NAS change across multiple intensities of walking, running, and load carriage tasks? METHODS: This observational study examined 22 young, healthy individuals as they walked, ran, and walked while carrying a load at three intensities (speed or load). Linear, quadratic, and cubic regressions were done on the net ankle moment vs. ankle angle curve over three phases of stance: impact, loading, and push-off. RMSE between regressions and measured data were computed to determine regression accuracy, and multilevel linear models (MLMs) were used to determine significant differences between coefficients across intensities. RESULTS: Quadratic and cubic regressions of NAS had significantly lower RMSE than linear NAS for all phases of stance. Because of diminishing reductions in RMSE between quadratic and cubic regressions, only quadratic regression coefficients were further analyzed. Most first (linear) and second (nonlinear) order coefficients of quadratic regressions exhibited clear trends with respect to changes in walking or running speed, but not to increases in load. SIGNIFICANCE: This was the first study to our knowledge to thoroughly characterize nonlinear NAS across multiple gait tasks and intensities. This study provides an advanced understanding of the characteristics of nonlinear NAS for the design of future prosthetic and orthotic ankle-foot devices.

Walking speed changes in response to user-driven treadmill control after stroke.

The objective of this study was to determine how individuals poststroke respond to user-driven treadmill (UDTM) controlin terms ofwalking speeds, peak anterior ground reaction forces (AGRF), peak posterior ground reaction forces (PGRF), and trailing limb angles (TLA). Twenty individuals with chronic stroke walked overground during a 10-meter walk test to determine their self-selected (SS) speeds before walking on a treadmill in its fixed-speed (FSTM) and UDTM control modes at their SS and fastest comfortable (Fast) speeds. Paired t-tests were used to compare the walking speeds, peak AGRF, peak PGRF, and TLA among test conditions (α = 0.05). Participants selected similar SS (p > 0.05) and faster Fast walking speeds (p < 0.05) with the UDTM control compared to the FSTM control. There were no changes in their peak AGRF or PGRF for either limb or speed between UDTM and FSTM conditions (p > 0.05). Individuals used greater paretic TLA at SS speeds with UDTM control (p < 0.05). There was no difference in the AGRF required at Fast speeds with FSTM and UDTM control even though participants selected faster speeds with UDTM control. In work with young, healthy adults, we found that the treadmill control condition did not affect the amount of forward propulsion needed. Therefore, it is likely that when walking with UDTM control, individuals poststroke adjust their posture to make better use of their forward propulsion. This means they can reach faster walking speeds without increasing their push-off forces. Future work should assess how to most effectively prescribe UDTM control for gait training programs.

Negative Emotion and Joint-Stiffness Regulation Strategies After Anterior Cruciate Ligament Injury.

CONTEXT: Fear of reinjury after an anterior cruciate ligament (ACL) reconstruction (ACLR) may be associated with persistent deficits in knee function and subsequent injury. However, the effects of negative emotion on neuromuscular-control strategies after an ACL injury have remained unclear. OBJECTIVE: To identify how negative emotional stimuli affect neural processing in the brain and muscle coordination in patients after anterior cruciate ligament reconstruction compared with healthy control participants. DESIGN: Case-control study. SETTING: Neuromechanics laboratory. PATIENTS OR OTHER PARTICIPANTS: Twenty patients after unilateral anterior cruciate ligament reconstruction and 20 healthy recruits. MAIN OUTCOME MEASURE(S): Electrocortical θ (4-8 Hz) activity (event-related synchronization, % increased power relative to a nonactive baseline) at selected electrodes placed at the frontal (F3, Fz, F4) and parietal (P3, Pz, P4) cortices using electroencephalography, neurophysiological cardiac changes (beats/min), and subjective fear perceptions were measured, along with joint stiffness (Nm/°/kg) with and without an acoustic stimulus in response to 3 types of emotionally evocative images (neutral, fearful, and knee-injury pictures). RESULTS: Both groups had greater frontoparietal θ power with fearful pictures (Fz: 35.9% ± 29.4%; Pz: 81.4% ± 66.8%) than neutral pictures (Fz: 24.8% ± 29.7%, P = .002; Pz: 64.2 ± 54.7%, P = .024). The control group had greater heart-rate deceleration with fearful (-4.6 ± 1.4 beats/min) than neutral (-3.6 ± 1.3 beats/min, P < .001) pictures, whereas the ACLR group exhibited decreased heart rates with both the fearful (-4.6 ± 1.3 beats/min) and injury-related (-4.4 ± 1.5 beats/min) pictures compared with neutral pictures (-3.4 ± 1.4 beats/min, P < .001). Furthermore, during the acoustic startle condition, fearful pictures increased joint stiffness (Nm/°/kg) in the ACLR group at the midrange (0°-20°: 0.027 ± 0.02) and long range (0°-40°: 0.050 ± 0.02) compared with the neutral pictures (0°-20°: 0.017 ± 0.01, P = .024; 0°-40°: 0.043 ± 0.02, P = .014). CONCLUSIONS: Negative visual stimuli simultaneously altered neural processing in the frontoparietal cortices and joint-stiffness regulation strategies in response to a sudden perturbation. The adverse effects of fear on neuromuscular control may indicate that psychological interventions should be incorporated in neuromuscular-control exercise programs after ACL injury.

Dynamic structure of variability in joint angles and center of mass position during user-driven treadmill walking.

BACKGROUND: Overground locomotion exhibits greater movement variability and less dynamic stability compared to typical fixed-speed treadmill walking. To minimize the differences between treadmill and overground locomotion, researchers are developing user-driven treadmill systems that adjust the speed of the treadmill belts in real-time based on how fast the subject is trying to walk. RESEARCH QUESTION: Does dynamic structure of variability, quantified by the Lyapunov exponent (LyE), of joint angles and center of mass (COM) position differ between a fixed-speed treadmill (FTM) and user-driven treadmill (UTM) for healthy subjects? METHODS: Eleven healthy, adult subjects walked on a user-driven treadmill that updated its speed in real-time based on the subjects' propulsive forces, location, step length, and step time, and at a matched speed on a typical, fixed-speed treadmill for 1-minute. The LyE for flexion/extension joint angles and center of mass position were calculated. RESULTS: Subjects exhibited higher LyE values of joint angles on the UTM compared to the FTM indicating that walking on the UTM may be more similar to overground locomotion. No change in COM LyE was observed between treadmill conditions indicating that subjects' balance was not significantly altered by this new training paradigm. SIGNIFICANCE: The user-driven treadmill may be a more valuable rehabilitation tool for improving gait than fixed-speed treadmill training, as it may increase the effectiveness of transitioning learned behaviors to overground compared to fixed-speed treadmills.

Changes in gait mechanics and muscle activity with wedge height in an orthopaedic boot.

BACKGROUND: Orthopaedic boots with wedging are commonly used in the treatment of individuals with Achilles tendon rupture to immobilize the foot in plantar flexion and approximate tendon ends. RESEARCH QUESTION: To describe changes in muscle activity of the triceps surae and gait mechanics with the use of wedges in an orthopaedic boot immediately and after an accommodation period. METHODS: Muscle activity of the triceps surae and gait parameters (vertical ground reaction force, knee extension power, gait speed) were collected using surface electromyography and motion capture in 12 healthy individuals. Participants walked in an instrumented orthopaedic boot with 0, 3, and 5 wedges tested in random order. Participants were provided a one hour accommodation period where time spent walking was collected. This was followed by a repeat assessment of triceps surae activity and gait. RESULTS: Peak and integrated EMG in the medial gastrocnemius (p = 0.001, p < 0.001) and soleus (p = 0.010, p < 0.001) significantly decreased with increasing number of wedges. Peak and integrated EMG had a slight but non-significant decrease with increasing number of wedges in the lateral gastrocnemius (p = 0.151, p = 0.077). Vertical ground reaction force decreased (p = 0.019) and peak knee extension power increased (p = 0.003) with increasing number of wedges. There were no statistically significant differences in gait speed with wedges (p = 0.450). There were no significant changes in EMG or gait parameters from pre- to post-accommodation period. SIGNIFICANCE: A combination of factors yield decreased triceps surae activity in individuals wearing an orthopaedic boot with wedges - decreasing loading on the immobilized limb and shifting power generation proximally.

The effect of stride length on lower extremity joint kinetics at various gait speeds.

Robot-assisted training is a promising tool under development for improving walking function based on repetitive goal-oriented task practice. The challenges in developing the controllers for gait training devices that promote desired changes in gait is complicated by the limited understanding of the human response to robotic input. A possible method of controller formulation can be based on the principle of bio-inspiration, where a robot is controlled to apply the change in joint moment applied by human subjects when they achieve a gait feature of interest. However, it is currently unclear how lower extremity joint moments are modulated by even basic gait spatio-temporal parameters. In this study, we investigated how sagittal plane joint moments are affected by a factorial modulation of two important gait parameters: gait speed and stride length. We present the findings obtained from 20 healthy control subjects walking at various treadmill-imposed speeds and instructed to modulate stride length utilizing real-time visual feedback. Implementing a continuum analysis of inverse-dynamics derived joint moment profiles, we extracted the effects of gait speed and stride length on joint moment throughout the gait cycle. Moreover, we utilized a torque pulse approximation analysis to determine the timing and amplitude of torque pulses that approximate the difference in joint moment profiles between stride length conditions, at all gait speed conditions. Our results show that gait speed has a significant effect on the moment profiles in all joints considered, while stride length has more localized effects, with the main effect observed on the knee moment during stance, and smaller effects observed for the hip joint moment during swing and ankle moment during the loading response. Moreover, our study demonstrated that trailing limb angle, a parameter of interest in programs targeting propulsion at push-off, was significantly correlated with stride length. As such, our study has generated assistance strategies based on pulses of torque suitable for implementation via a wearable exoskeleton with the objective of modulating stride length, and other correlated variables such as trailing limb angle.

Neuroplastic changes in anterior cruciate ligament reconstruction patients from neuromechanical decoupling.

The purpose of this study was to identify how the brain simultaneously perceives proprioceptive input during joint loading in anterior cruciate ligament reconstruction (ACLR) patients, when compared to healthy controls. Seventeen ACLR patients (ACLR) and seventeen controls (CONT) were tested for the somatosensory cortical activation using electroencephalography (EEG) while measuring knee laxity using a knee arthrometer. The relationship between cortical activation and joint laxity within group was also examined. The ACLR patients had increased cortical activation (36.4% ± 11.5%) in the somatosensory cortex during early loading (ERD1) to the injured limb compared to the CONT's matched limb (25.3% ± 13.2%, P = 0.013) as well as compared to the noninjured limb (25.1% ± 14.2%, P = 0.001). Higher somatosensory cortical activity during midloading (ERD2) to the ACLR knee positively correlated with knee laxity (mm) during early loading (LAX1, r = 0.530), midloading (LAX2, r = 0.506), total anterior loading (LAXA, r = 0.543), and total antero-posterior loading (LAXT, r = 0.501), while the noninjured limb revealed negative correlations between ERD1 and LAXA (r = -0.534) as well as between ERD2 and LAX2 (r = -0.565). ACLR patients demonstrate greater brain activation during joint loading in the injured knees when compared to healthy controls' matched knees as well as contralateral healthy knees, while the CONT group shows similar brain activation patterns during joint loading between limbs. These different neural activation strategies may indicate neuromechanical decoupling following an ACL reconstruction and evidence of altered sensorimotor perception and control of the knee (neuroplasticity), which may be critical to address after surgery for optimal neuromuscular control and patients' outcomes.

Walking speed changes in response to novel user-driven treadmill control.

Implementing user-driven treadmill control in gait training programs for rehabilitation may be an effective means of enhancing motor learning and improving functional performance. This study aimed to determine the effect of a user-driven treadmill control scheme on walking speeds, anterior ground reaction forces (AGRF), and trailing limb angles (TLA) of healthy adults. Twenty-three participants completed a 10-m overground walking task to measure their overground self-selected (SS) walking speeds. Then, they walked at their SS and fastest comfortable walking speeds on an instrumented split-belt treadmill in its fixed speed and user-driven control modes. The user-driven treadmill controller combined inertial-force, gait parameter, and position based control to adjust the treadmill belt speed in real time. Walking speeds, peak AGRF, and TLA were compared among test conditions using paired t-tests (α = 0.05). Participants chose significantly faster SS and fast walking speeds in the user-driven mode than the fixed speed mode (p > 0.05). There was no significant difference between the overground SS walking speed and the SS speed from the user-driven trials (p < 0.05). Changes in AGRF and TLA were caused primarily by changes in walking speed, not the treadmill controller. Our findings show the user-driven treadmill controller allowed participants to select walking speeds faster than their chosen speeds on the fixed speed treadmill and similar to their overground speeds. Since user-driven treadmill walking increases cognitive activity and natural mobility, these results suggest user-driven treadmill control would be a beneficial addition to current gait training programs for rehabilitation.

Correction to: Coordination of muscles to control the footpath during over-ground walking in neurologically intact individuals and stroke survivors.

In the original publication of the article, the corrections for the typographical errors in the equations for variance that affects the footpath (VORT) and the total variance (VTOT) should be as following.

Dynamic structure of lower limb joint angles during walking post-stroke.

BACKGROUND: Variability in joint kinematics is necessary for adaptability and response to everyday perturbations; however, intrinsic neuromotor changes secondary to stroke often cause abnormal movement patterns. How these abnormal movement patterns relate to joint kinematic variability and its influence on post-stroke walking impairments is not well understood. OBJECTIVE: The purpose of this study was to evaluate the movement variability at the individual joint level in the paretic and non-paretic limbs of individuals post-stroke. METHODS: Seven individuals with hemiparesis post-stroke walked on a treadmill for two minutes at their self-selected speed and the average speed of the six-minute walk test while kinematics were recorded using motion-capture. Variability in hip, knee, and ankle flexion/extension angles during walking were quantified with the Lyapunov exponent (LyE). Interlimb differences were evaluated. RESULTS: The paretic side LyE was higher than the non-paretic side at both self-selected speed (Hip: 50%; Knee: 74%), and the average speed of the 6-min walk test (Hip: 15%; Knee: 93%). CONCLUSION: Differences in joint kinematic variability between limbs of persons post-stroke supports further study of the source of non-paretic limb deviations as well as the clinical implications of joint kinematic variability in persons post-stroke. The development of bilaterally-targeted post-stroke gait interventions to address variability in both limbs may promote improved outcomes.

The relationship between the sensory responses to ankle-joint loading and corticomotor excitability.

PURPOSE: Maintaining joint stability is dependent on the ability of the nervous system to sense and react to potentially injurious loads. In attempts to understand the neurophysiologic mechanisms underlying joint stability, this afferent and efferent activity has been quantified separately at the cortical, segmental and peripheral levels using various electrophysiologic techniques in vivo. However, no studies have attempted to quantify sensory and motor activation at multiple levels of the nervous system in a single subset, to understand potential adaptations for optimizing joint stability. MATERIALS AND METHODS: Muscle spindle afferent activity and sensory cortex event-related desynchronization were quantified during ankle-joint loading; and motor excitability was assessed through transcranial magnetic stimulation and the Hoffmann reflex in a subset of 42 able-bodied individuals. Microneurography and electroencephalography were used to collect the muscle spindle afferent and sensory cortex activation, respectively, as joint load was applied using an ankle arthrometer. Separately, motor-evoked potentials were obtained from the tibialis anterior (TA) and soleus (SOL) using transcranial magnetic stimulation over the motor cortex, and compared to the reflexive responses evoked via sciatic nerve electrical stimulation. RESULTS: Correlation coefficients revealed significant correlations between the motor threshold of the soleus and early muscle spindle afferent activity (r = -0.494) and early cortical event-related desynchronization (r = 0.470), as well as tibialis anterior motor-evoked potential size and late muscle spindle afferent activity (r = 0.499). CONCLUSIONS: The results of this study highlight the nervous system's capability to offset motor output based on the volume of sensory input at the segmental and cortical levels.