Measurement and Analysis of Gait Pattern during Stair Walk for Improvement of Robotic Locomotion Rehabilitation System.

BACKGROUND: Robotic locomotion rehabilitation systems have been used for gait training in patients who have had a stroke. Most commercialized systems allow patients to perform simple exercises such as balancing or level walking, but an additional function such as stair-walk training is required to provide a wide range of recovery cycle rehabilitation. In this study, we analyzed stair-gait patterns and applied the result to a robotic rehabilitation system that can provide a vertical motion of footplates. METHODS: To obtain applicable data for the robotic system with vertically movable footplates, stair-walk action was measured using an optical marker-based motion capture system. The spatial position data of joints during stair walking was obtained from six healthy adults who participated in the experiment. The measured marker data were converted into joint kinematic data by using an algorithm that included resampling and normalization. The spatial position data are represented as angular trajectories and the relative displacement of each joint on the anatomical sagittal plane and movements of hip joints on the anatomical transverse plane. RESULTS: The average range of motion (ROM) of each joint was estimated as (-6.75°, 48.69°) at the hip, (8.20°, 93.78°) at the knee, and (-17.78°, 11.75°) at the ankle during ascent and as (6.41°, 31.67°) at the hip, (7.38°, 91.93°) at the knee, and (-24.89°, 24.18°) at the ankle during descent. Additionally, we attempted to create a more natural stair-gait pattern by analyzing the movement of the hip on the anatomical transverse plane. The hip movements were estimated to within ±1.57 cm and ±2.00 cm for hip translation and to within ±2.52° and ±2.70° for hip rotation during stair ascent and stair descent, respectively. CONCLUSIONS: Based on the results, standard patterns of stair ascent and stair descent were derived and applied to a lower-limb rehabilitation robot with vertically movable footplates. The relative trajectory from the experiment ascertained that the function of stair walking in the robotic system properly worked within a normal ROM.

A practical method for the detection of freezing of gait in patients with Parkinson's disease.

PURPOSE: Freezing of gait (FOG), increasing the fall risk and limiting the quality of life, is common at the advanced stage of Parkinson's disease, typically in old ages. A simple and unobtrusive FOG detection system with a small calculation load would make a fast presentation of on-demand cueing possible. The purpose of this study was to find a practical FOG detection system. PATIENTS AND METHODS: A sole-mounted sensor system was developed for an unobtrusive measurement of acceleration during gait. Twenty patients with Parkinson's disease participated in this study. A simple and fast time-domain method for the FOG detection was suggested and compared with the conventional frequency-domain method. The parameters used in the FOG detection were optimized for each patient. RESULTS: The calculation load was 1,154 times less in the time-domain method than the conventional method, and the FOG detection performance was comparable between the two domains (P=0.79) and depended on the window length (P<0.01) and dimension of sensor information (P=0.03). CONCLUSION: A minimally constraining sole-mounted sensor system was developed, and the suggested time-domain method showed comparable FOG detection performance to that of the conventional frequency-domain method. Three-dimensional sensor information and 3-4-second window length were desirable. The suggested system is expected to have more practical clinical applications.

Quantitative evaluation of parkinsonian rigidity during intra-operative deep brain stimulation.

This study aims at the quantification of fine change in parkinsonian rigidity at the wrist during deep brain stimulation (DBS) using a portable measurement system and objective mechanical measures. The rigidity of fourteen limbs was evaluated during DBS surgery. The resistive torque to imposed movement was measured for every setting where a reduction in rigidity was perceived by a neurologist. Quantitative mechanical measures derived from experimental data included viscoelastic properties, work, impulse and mechanical impedance. Most mechanical measures could discriminate the optimal setting from baseline (electrode at stereotactic initial position without electrical stimulation) and the highest significance was achieved by viscous damping constant (p<0.001). Spearman correlation coefficients between mechanical measures and clinical score for multiple settings (averaged for 14 limbs) were 0.51-0.77 and the best correlation was shown for viscosity (ρ=0.77 ± 0.22). The results suggest that intraoperative quantification of rigidity during DBS surgery is possible with the suggested system and measures, which would be helpful for the adjustment of electrode position and stimulation parameters.

Analysis of antagonistic co-contractions with motorized passive movement device in patients with Parkinson's disease.

Patients with Parkinson's disease (PD) suffer from an increased resistance to passive movement of a joint, called as rigidity. Stretch reflex and shortening reaction were suggested to be associated to the rigidity, however, the mechanism is still poorly understood. We hypothesized that the co-contraction of antagonistic muscle pairs is enhanced in patients with PD and this induces resistance persisting throughout its range of motion. To test the hypothesis, we developed a motorized device for application of passive movement of the wrist joint and investigated the co-contraction of muscles during passive movement. It consisted of a servo motor connected to a rotating axis with a timing belt, load cell for the measurement of resistance, and other elements for the fixation of arm and hand. Repetitive passive movement was applied to the wrist joint of patients. Co-contraction of antagonistic muscle pairs was significantly greater in patients than in normal subjects (p<0.001), suggesting that the enhanced co-contraction is associated with the mechanical resistance during passive movement, i.e. rigidity. Co-contraction during extended state was greater than the other states (p<0.001), which implies that the length-feedback mechanism may play the important role in co-contraction.

Age-gender differences in the postural sway during squat and stand-up movement.

Incidence of falling among elderly female has been reported to be much higher than that of elderly male. Although the gender differences in the elderly were reported for the static postural sway, there has been no investigation of the gender difference for the dynamic postural sway. This study investigates how age and gender affect the postural sway during dynamic squat and stand-up movement. 124 subjects (62 subjects for each of young and elderly) performed consecutive squat and stand-up movement, 2 times in one session, and 2 sessions per subject. Center of pressure (COP) was measured using force platform during the test. Outcome measures included peak-to-peak sways of the COP (COP sway) in the sagittal plane (anteroposterior) and frontal plane (mediolateral) and also those normalized by body height. Two-way ANOVA and post-hoc comparisons were performed for the outcome measures with the independent factors of age and gender. All outcome measures, excluding mediolateral COP sway, showed significant interaction of age and gender (p<0.05). Post-hoc test revealed that only female showed increase in COP sway with age. When normalized by height, increase in COP sways (both directions) with age significant only in women resulted in greater sways in elderly female than elderly male. This may be related to the greater fall rate of elderly female than that of elderly men while performing dynamic activities.

Age-gender differences in the reaction times of ankle muscles.

AIM: Reaction times of the hip abductor were reported to be longer in elderly women than in elderly men, and this was suggested to be related to mediolateral balance performance. The aim of the present study was to investigate the effects of age and gender on the reaction performance of ankle muscles, which have predominant roles in anterioposterior balance control. METHODS: A total of 40 elderly subjects and 40 young subjects (even number of men and women) carried out a series of isometric plantarflexions and dorsiflexions, as forcefully and quickly as possible, in response to auditory stimulus. Surface electromyogram at the dorsiflexor and plantarflexor were recorded, together with foot plantar force. Premotor time, motor time and total reaction time derived from the experimental data were compared between age groups and genders by two-way anova. RESULTS: Both dorsiflexor and plantarflexor showed similar reaction performance. Premotor time increased with age with no gender difference. Motor time increased with age in women and not in men, resulting in longer motor time in elderly women than in elderly men. Total reaction time was dominated by premotor time, so that it was longer in the elderly with no gender difference. CONCLUSION: Although age-related elongation of motor time was greater in women, total reaction time was not different between the genders. This may be related to no gender difference in anterioposterior balance performance.