Estimation of sagittal-plane whole-body angular momentum during perturbed and unperturbed gait using simplified body models.

Human whole-body angular momentum (WBAM) during walking typically follows a consistent pattern, making it a valuable indicator of the state of balance. However, calculating WBAM is labor-intensive, where the kinematic data for all body segments is needed, that is, based on a full-body model. In this study, we focused on selecting appropriate segments for estimating sagittal-plane WBAM during both unperturbed and perturbed gaits, which were segments with significant angular momentum contributions. Those major segments were constructed as a simplified model, and the sagittal-plane WBAM based on a simplified model was calculated by combining the angular momenta of the selected segments. We found that the WBAM estimated by seven-segment models, incorporating the head & torso (HT) and all lower limb segments, provided an average correlation coefficient of 0.99 and relative angular momentum percentage of 96.8% and exhibited the most similar sensitivity to external perturbations compared to the full-body model-based WBAM. Additionally, our findings revealed that the rotational angular momenta (RAM) of lower limb segments were much smaller than their translational angular momenta (TAM). The pair-wise comparisons between simplified models with and without RAMs of lower body segments were observed with no significant difference, indicating that RAMs of lower body segments are neglectable. This may further simplify the WBAM estimation based on the seven-segment model, eliminating the need to estimate the angular velocities of lower limb segments. These findings have practical implications for future studies of using inertial measurement units (IMUs) for estimating WBAM, as our results can help reduce the number of required sensors and simplify kinematics measurement.

Effect of perturbation timing on recovering whole-body angular momentum during very slow walking.

Humans prioritize regulation of the whole-body angular momentum (WBAM) during walking. When perturbed, modulations of the moment arm of the ground reaction force (GRF) with respect to the centre of mass (CoM) assist in recovering WBAM. For sagittal-plane perturbations of the WBAM given at toe off right (TOR), horizontal GRF modulations and not centre of pressure (COP) modulations were mainly responsible for these moment arm modulations. In this study, we aimed to find whether the instant of perturbations affects the contributions of the GRF and/or CoP modulations to the moment arm changes, in balance recovery during very slow walking. Perturbations of the WBAM were applied at three different instants of the gait cycle, namely at TOR, mid-swing (MS), and heel strike right (HSR). Forces equal to 16% of the participant's body weight were applied simultaneously to the pelvis and upper body in opposite directions for a duration of 150 ms. The results showed that the perturbation onset did not significantly affect the GRF moment arm modulation. However, the contribution of both the CoP and GRF modulation to the moment arm changes did change depending on the perturbation instant. After perturbations resulting in a forward pitch of the trunk a larger contribution was present from the CoP modulation when perturbations were given at MS or HSR, compared to perturbations at TOR. After backward pitch perturbations given at MS and HSR the CoP modulation counteracted the moment arm required for WBAM recovery. Therefore a larger contribution from the horizontal GRF was needed to direct the GRF posterior to the CoM and recover WBAM. In conclusion, the onset of WBAM perturbations does not affect the moment arm modulation needed for WBAM recovery, while it does affect the way CoP and GRF modulation contribute to that recovery.

Assisting walking balance using a bio-inspired exoskeleton controller.

BACKGROUND: Balance control is important for mobility, yet exoskeleton research has mainly focused on improving metabolic energy efficiency. Here we present a biomimetic exoskeleton controller that supports walking balance and reduces muscle activity. METHODS: Humans restore balance after a perturbation by adjusting activity of the muscles actuating the ankle in proportion to deviations from steady-state center of mass kinematics. We designed a controller that mimics the neural control of steady-state walking and the balance recovery responses to perturbations. This controller uses both feedback from ankle kinematics in accordance with an existing model and feedback from the center of mass velocity. Control parameters were estimated by fitting the experimental relation between kinematics and ankle moments observed in humans that were walking while being perturbed by push and pull perturbations. This identified model was implemented on a bilateral ankle exoskeleton. RESULTS: Across twelve subjects, exoskeleton support reduced calf muscle activity in steady-state walking by 19% with respect to a minimal impedance controller (p < 0.001). Proportional feedback of the center of mass velocity improved balance support after perturbation. Muscle activity is reduced in response to push and pull perturbations by 10% (p = 0.006) and 16% (p < 0.001) and center of mass deviations by 9% (p = 0.026) and 18% (p = 0.002) with respect to the same controller without center of mass feedback. CONCLUSION: Our control approach implemented on bilateral ankle exoskeletons can thus effectively support steady-state walking and balance control and therefore has the potential to improve mobility in balance-impaired individuals.

Sagittal-plane balance perturbations during very slow walking: Strategies for recovering linear and angular momentum.

Spatiotemporal gait characteristics change during very slow walking, a relevant speed considering individuals with movement disorders or using assistive devices. However, we lack insights in how very slow walking affects human balance control. Therefore, we aimed to identify how healthy individuals use balance strategies while walking very slow. Ten healthy participants walked on a treadmill at an average speed of 0.43ms-1, while being perturbed at toe off right by either perturbations of the whole-body linear momentum (WBLM) or angular momentum (WBAM). WBLM perturbations were given by a perturbation on the pelvis in forward or backward direction. The WBAM was perturbed by two simultaneous perturbations in opposite directions on the pelvis and upper body. The given perturbations had magnitudes of 4, 8, 12 and 16% of the participant's body weight, and lasted for 150ms. After perturbations of the WBLM the centre of pressure placement was modulated using the ankle joint, while keeping the moment arm of the ground reaction force (GRF) with respect to the centre of mass (CoM) small. After the perturbations of the WBAM a quick recovery was initiated, using the hip joint and adjusting the horizontal GRF to create a moment arm with respect to the CoM. These findings suggest no fundamental differences in the use of balance strategies at very slow walking compared to normal speeds. Still as the gait phases last longer, this time was exploited to counteract perturbations in the ongoing gait phase.

Recovery from sagittal-plane whole body angular momentum perturbations during walking.

Healthy individuals highly regulate their whole body angular momentum (WBAM) during walking. Since WBAM regulation is essential in maintaining balance, a better understanding is required on how healthy individuals recover from WBAM perturbations. We therefore studied how healthy individuals recover WBAM in the sagittal plane. WBAM can be regulated by adjusting the moment arm of the ground reaction force (GRF) vector with respect to the whole-body centre of mass (CoM). In principle this can be done by centre of pressure (CoP) modulation and/or adjustments of the GRF direction. Two simultaneous perturbations of the same magnitude were applied in opposite direction to the pelvis and upper body (0.34m apart) to perturb WBAM but not the whole body linear momentum (WBLM), while participants walked on a treadmill. The perturbations were given at toe off right, had a magnitude of 4, 8, 12 and 16% of the participant's body weight, and lasted for 150ms. A recovery of the WBAM was seen directly after the perturbations, induced by adapting the moment arm of the GRF with respect to the CoM. The hip joint of the stance leg played an important role in achieving the WBAM recovery. A change in the direction of the GRF vector and not a contributing CoP modulation, caused the change in moment arm. However, the change in GRF direction came from a change in the horizontal GRF, which also affects the WBLM. This suggest that regulating WBAM may take precedence over the WBLM in early recovery.

Whole Body Center of Mass Feedback in a Reflex-Based Neuromuscular Model Predicts Ankle Strategy During Perturbed Walking.

Active prosthetic and orthotic devices have the potential to increase quality of life for individuals with impaired mobility. However, more research into human-like control methods is needed to create seamless interaction between device and user. In forward simulations the reflex-based neuromuscular model (RNM) by Song and Geyer shows promising similarities with real human gait in unperturbed conditions. The goal of this work was to validate and, if needed, extend the RNM to reproduce human kinematics and kinetics during walking in unperturbed and perturbed conditions. The RNM was optimized to reproduce joint torque, calculated with inverse dynamics, from kinematic and force data of unperturbed and perturbed treadmill walking of able-bodied human subjects. Torques generated by the RNM matched closely with torques found from inverse dynamics analysis on human data for unperturbed walking. However, for perturbed walking the modulation of the ankle torque in the RNM was opposite to the modulation observed in humans. Therefore, the RNM was extended with a control module that activates and inhibits muscles around the ankle of the stance leg, based on changes in whole body center of mass velocity. The added module improves the ability of the RNM to replicate human ankle torque response in response to perturbations. This reflex-based neuromuscular model with whole body center of mass velocity feedback can reproduce gait kinetics of unperturbed and perturbed gait, and as such holds promise as a basis for advanced controllers of prosthetic and orthotic devices.

Centre of pressure modulations in double support effectively counteract anteroposterior perturbations during gait.

Centre of mass (CoM) motion during human balance recovery is largely influenced by the ground reaction force (GRF) and the centre of pressure (CoP). During gait, foot placement creates a region of possible CoP locations in the following double support (DS). This study aims to increase insight into how humans modulate the CoP during DS, and which CoP modulations are theoretically possible to maintain balance in the sagittal plane. Three variables sufficient to describe the shape, length and duration of the DS CoP trajectory of the total GRF, were assessed in perturbed human walking. To counteract the forward perturbations, braking was required and all CoP variables showed modulations correlated to the observed change in CoM velocity over the DS phase. These correlations were absent after backward perturbations, when only little propulsion was needed to counteract the perturbation. Using a linearized inverted pendulum model we could explore how the observed parameter modulations are effective in controlling the CoM. The distance the CoP travels forward and the instant the leading leg was loaded largely affected the CoM velocity, while the duration mainly affected the CoM position. The simulations also showed that various combinations of CoP parameters can reach a desired CoM position and velocity at the end of DS, and that even a full recovery in the sagittal plane within DS would theoretically have been possible. However, the human subjects did not exploit the therefore required CoP modulations. Overall, modulating the CoP trajectory in DS does effectively contributes to balance recovery.

Effect of assist-as-needed robotic gait training on the gait pattern post stroke: a randomized controlled trial.

BACKGROUND: Regaining gait capacity is an important rehabilitation goal post stroke. Compared to clinically available robotic gait trainers, robots with an assist-as-needed approach and multiple degrees of freedom (AANmDOF) are expected to support motor learning, and might improve the post-stroke gait pattern. However, their benefits compared to conventional gait training have not yet been shown in a randomized controlled trial (RCT). The aim of this two-center, assessor-blinded, RCT was to compare the effect of AANmDOF robotic to conventional training on the gait pattern and functional gait tasks during post-stroke inpatient rehabilitation. METHODS: Thirty-four participants with unilateral, supratentorial stroke were enrolled (< 10 weeks post onset, Functional Ambulation Categories 3-5) and randomly assigned to six weeks of AANmDOF robotic (combination of training in LOPES-II and conventional gait training) or conventional gait training (30 min, 3-5 times a week), focused on pre-defined training goals. Randomization and allocation to training group were carried out by an independent researcher. External mechanical work (WEXT), spatiotemporal gait parameters, gait kinematics related to pre-defined training goals, and functional gait tasks were assessed before training (T0), after training (T1), and at 4-months follow-up (T2). RESULTS: Two participants, one in each group, were excluded from analysis because of discontinued participation after T0, leaving 32 participants (AANmDOF robotic n = 17; conventional n = 15) for intention-to-treat analysis. In both groups, WEXT had decreased at T1 and had become similar to baseline at T2, while gait speed had increased at both assessments. In both groups, most spatiotemporal gait parameters and functional gait tasks had improved at T1 and T2. Except for step width (T0-T1) and paretic step length (T0-T2), there were no significant group differences at T1 or T2 compared to T0. In participants with a pre-defined goal aimed at foot clearance, paretic knee flexion improved more in the AANmDOF robotic group compared to the conventional group (T0-T2). CONCLUSIONS: Generally, AANmDOF robotic training was not superior to conventional training for improving gait pattern in subacute stroke survivors. Both groups improved their mechanical gait efficiency. Yet, AANmDOF robotic training might be more effective to improve specific post-stroke gait abnormalities such as reduced knee flexion during swing. Trial registration Registry number Netherlands Trial Register ( www.trialregister.nl ): NTR5060. Registered 13 February 2015.

Symbitron Exoskeleton: Design, Control, and Evaluation of a Modular Exoskeleton for Incomplete and Complete Spinal Cord Injured Individuals.

In this paper, we present the design, control, and preliminary evaluation of the Symbitron exoskeleton, a lower limb modular exoskeleton developed for people with a spinal cord injury. The mechanical and electrical configuration and the controller can be personalized to accommodate differences in impairments among individuals with spinal cord injuries (SCI). In hardware, this personalization is accomplished by a modular approach that allows the reconfiguration of a lower-limb exoskeleton with ultimately eight powered series actuated (SEA) joints and high fidelity torque control. For SCI individuals with an incomplete lesion and sufficient hip control, we applied a trajectory-free neuromuscular control (NMC) strategy and used the exoskeleton in the ankle-knee configuration. For complete SCI individuals, we used a combination of a NMC and an impedance based trajectory tracking strategy with the exoskeleton in the ankle-knee-hip configuration. Results of a preliminary evaluation of the developed hardware and software showed that SCI individuals with an incomplete lesion could naturally vary their walking speed and step length and walked faster compared to walking without the device. SCI individuals with a complete lesion, who could not walk without support, were able to walk with the device and with the support of crutches that included a push-button for step initiation Our results demonstrate that an exoskeleton with modular hardware and control allows SCI individuals with limited or no lower limb function to receive tailored support and regain mobility.

Can Momentum-Based Control Predict Human Balance Recovery Strategies?

Human-like balance controllers are desired for wearable exoskeletons in order to enhance human-robot interaction. Momentum-based controllers (MBC) have been successfully applied in bipeds, however, it is unknown to what degree they are able to mimic human balance responses. In this paper, we investigated the ability of an MBC to generate human-like balance recovery strategies during stance, and compared the results to those obtained with a linear full-state feedback (FSF) law. We used experimental data consisting of balance recovery responses of nine healthy subjects to anteroposterior platform translations of three different amplitudes. The MBC was not able to mimic the combination of trunk, thigh and shank angle trajectories that humans generated to recover from a perturbation. Compared to the FSF, the MBC was better at tracking thigh angles and worse at tracking trunk angles, whereas both controllers performed similarly in tracking shank angles. Although the MBC predicted stable balance responses, the human-likeness of the simulated responses generally decreased with an increased perturbation magnitude. Specifically, the shifts from ankle to hip strategy generated by the MBC were not similar to the ones observed in the human data. Although the MBC was not superior to the FSF in predicting human-like balance, we consider the MBC to be more suitable for implementation in exoskeletons, because of its ability to handle constraints (e.g. ankle torque limits). Additionally, more research into the control of angular momentum and the implementation of constraints could eventually result in the generation of more human-like balance recovery strategies by the MBC.

Neuromuscular Controller Embedded in a Powered Ankle Exoskeleton: Effects on Gait, Clinical Features and Subjective Perspective of Incomplete Spinal Cord Injured Subjects.

Powered exoskeletons are among the emerging technologies claiming to assist functional ambulation. The potential to adapt robotic assistance based on specific motor abilities of incomplete spinal cord injury (iSCI) subjects, is crucial to optimize Human-Robot Interaction (HRI). Achilles, an autonomous wearable robot able to assist ankle during walking, was developed for iSCI subjects and utilizes a NeuroMuscular Controller (NMC). NMC can be used to adapt robotic assistance based on specific residual functional abilities of subjects. The main aim of this pilot study was to analyze the effects of the NMC-controlled Achilles, used as an assistive device, on chronic iSCI participants' performance, by assessing gait speed during 10-session training of robot-aided walking. Secondary aims were to assess training impact on participants' motion, clinical and functional features and to evaluate subjective perspective in terms of attitude towards technology, workload, usability and satisfaction. Results showed that 5 training sessions were necessary to significantly improve robot-aided gait speed on short paths and consequently to optimize HRI. Moreover, the training allowed participants who initially were not able to walk for 6 minutes, to improve gait endurance during Achilles-aided walking and to reduce perceived fatigue. Improvements were obtained also in gait speed during free walking, thus suggesting a potential rehabilitative impact, even if Achilles-aided walking was not faster than free walking. Participants' subjective evaluations indicated a positive experience.

Gait training with Achilles ankle exoskeleton in chronic incomplete spinal cord injury subjects.

Powered exoskeletons (EXOs) have emerged as potential devices for Spinal Cord Injury (SCI) to support the intervention of physical therapists during therapy (rehabilitation EXOs) as well as to assist lower limb motion during the daily life (assistive EXOs). Although the ankle is considered a key joint for gait restoration after SCI, very few ankle exoskeletons were developed and tested in incomplete SCI (iSCI) population. Among those, the Achilles ankle exoskeleton is the only one embedding a Controller inspired by the neuromuscular system (NeuroMuscular Controller, NMC). In a previous study we demonstrated that a period dedicated to train iSCI subjects in using the Achilles EXO as an assistive aid, improved robot-aided walking speed and surprisingly also generated a positive trend in free walking speed on long and short distances thus suggesting a possible unexpected rehabilitation effect. To further investigate this result, a case-control longitudinal study was conducted in the present work. The aim of this study was to test the hypothesis that Achilles-aided training could improve performance of free walking of chronic iSCI people more than conventional intensity-matched gait rehabilitation. Before and after conventional and robot-aided rehabilitation a number of variables were analyzed, including spatiotemporal parameters, joint kinematics, ground reaction forces, muscle force, spasticity and its related symptoms, balance and personal experience about the training. Results showed that only the NMC-controlled Achilles training allowed participants to significantly walk faster, with a longer step length and a reduced gait cycle time. A slight force and spasticity improvements were also experienced. In terms of subjects' personal experience, Achilles training was perceived more interesting and less physically demanding than conventional rehabilitation.

Effectiveness of rehabilitation interventions to improve paretic propulsion in individuals with stroke - A systematic review.

BACKGROUND: Stroke survivors often show reduced walking velocity and gait asymmetry. These gait abnormalities are associated with reduced propulsion of the paretic leg. This review aimed to provide an overview of the potential effectiveness of post-stroke rehabilitation interventions to improve paretic propulsion, ankle kinetics and walking velocity. METHODS: A systematic search was performed in Pubmed, Web of Science, Embase, and Pedro. Studies were eligible if they reported changes in propulsion measures (impulse, peak value and symmetry ratios) or ankle kinetics (moment and power) following intervention in stroke survivors (group size ≥10). Study selection, data extraction and quality assessment were performed independently by two authors. FINDINGS: A total of 28 studies were included, of which 25 studies applied exercise interventions, two studies focused on surgical interventions, and one on non-invasive brain stimulation. The number of high-quality trials was limited (N = 6; score Downs and Black scale ≥19). Propulsion measures were the primary outcome in eight studies. In general, mixed results were reported with 14 interventions yielding improvements in propulsion and ankle kinetics. In contrast, gains in walking velocity were observed in the vast majority of studies (N = 20 out of 23). INTERPRETATION: Interventions that yielded gains in propulsion appeared to have in common that they challenged and/or enabled the utilization of latent propulsive capacity of the paretic leg during walking. Walking speed generally increased, regardless of the observed change in propulsion, suggesting the use of compensatory mechanisms. Findings should, however, be interpreted with some caution, as the evidence base for this emerging focus of rehabilitation is limited.

Immediate after-effects of robot-assisted gait with pelvic support or pelvic constraint on overground walking in healthy subjects.

BACKGROUND: Recovery of walking is a primary rehabilitation goal of most stroke survivors. Control of pelvic movements is one of the essential determinants of gait, yet surprisingly, conventional robot-assisted gait trainers constrain pelvic movements. Novel robot-assisted gait trainers, such as LOPES II, are able to support pelvic movements during gait. The aim of this cross-over study was to investigate the immediate after-effects of pelvic support (PS) or pelvic constraint (PC) gait training with LOPES II on overground walking in healthy subjects. METHODS: Thirteen able-bodied subjects (22.8 ± 2.1 years) participated in two 20-min gait training sessions with LOPES II; one with PS and one with PC. During the PS-training, the LOPES II actively guided the lateral displacement of the pelvis, while pelvic rotations were free. During the PC-condition, both lateral displacement and pelvic rotations were constrained and reduced to a minimum. The training sessions were separated by a 30-min resting period. Lateral displacement of the pelvis, hip and knee kinematics, and spatiotemporal parameters during overground walking were determined at baseline and immediately following the training using 3D gait analysis. RESULTS: During the PS-condition in LOPES II the lateral pelvic displacement was significantly greater (105.6 ± 0 .5 mm) than during the PC-condition (10.8 ± 0 .7 mm; p < 0.001). Analysis of the first five steps of overground walking immediately following PC-condition showed significantly smaller lateral displacements of the pelvis (32.3 ± 12.0 mm) compared to PS-condition (40.1 ± 9 .8 mm; p < 0.01). During the first five steps, step width was significantly smaller after PC-condition (0.17 ± 0. 04 m) compared to PS-condition (0.20 ± 0.04 m; p = 0.01) and baseline (0.19 ± 0. 03 m; p = 0.01). Lateral displacement of the pelvis and step width post training returned to baseline levels within 10 steps. PC- nor PS-condition affected kinematics, gait velocity, cadence, stride length or stance time. CONCLUSIONS: In healthy subjects, robot-assisted gait training with pelvic constraint had immediate negative after-effects on the overground walking pattern, as compared to robot-assisted gait training with pelvic support. Gait training including support of the lateral displacement of the pelvis better resembles the natural gait pattern. It remains to be identified whether pelvic support during robot-assisted gait training is superior to pelvic constraint to promote gait recovery in individuals with neurological disorders.

Modeling Trans-Spinal Direct Current Stimulation in the Presence of Spinal Implants.

Trans-spinal direct current stimulation (tsDCS) is a technique considered for the treatment of corticospinal damage or dysfunction. TsDCS aims to induce functional modulation in the corticospinal circuitry via a direct current (DC) generated an electric field (EF). To ensure subject safety, subjects with metallic implants are generally excluded from receiving neural dc stimulation. However, spinal injuries often require spinal implants for stabilization. Our goal was to investigate implant imposed changes to EF and current density (CD) magnitude during tsDCS. We simulated the EF and CD, generated by tsDCS in the presence of spinal rods for two electrode configurations and four implant locations along the spinal cord. For each scenario, a no-implant condition was computed for comparison. We assessed changes in EF and CD at the implant location and the EF inside the spinal cord. Our results show that implant presence was able to influence peak CD, compared to the no-implant condition. Nonetheless, the highest calculated CD levels were a factor six lower than those thought to lead to hazardous tissue-damaging effects. Additionally, implant presence did not considerably affect the average EF inside the spinal cord. Our findings do therefore not indicate potentially unsafe CD levels, or significant alterations to stimulation intensity inside the spinal cord, caused by a spinal implant during tsDCS. Our results are relevant to the safety of transcutaneous spinal stimulation applied in the presence of metallic spinal implants.

Differences in chunking behavior between young and older adults diminish with extended practice.

Previous research found reduced motor chunking behavior in older adults compared to young adults. However, it remains unclear whether older adults are unable to use a chunking strategy or whether they are just slower in developing them. Our goal was to investigate the effect of extended practice on the development of chunking behavior in healthy older adults. A group of young and a group of healthy older adults between 74 and 85 years of age visited the lab on 2 days. A sequence of 3 and a sequence of 6 elements were both practiced 432 times in a discrete sequence production task. We found that age differences in chunking behavior, as measured by the difference between initiation and execution of the sequence, diminish with extended practice. Furthermore, in older, but not in young adults, slow responses that are often interpreted as the first response of a next motor chunk were associated with a finger that was also slow during performance of the random sequences. This finding calls for more attention to biomechanical factors in future theory about aging and sequence learning.

Reduced center of pressure modulation elicits foot placement adjustments, but no additional trunk motion during anteroposterior-perturbed walking.

Understanding balance during human gait is complicated by the abundance of recovery options. Among all possible recovery options, three main strategies are often considered for human balance control, being the ankle, hip, and foot placement strategies. All can be addressed when balance is threatened during walking, but their relative importance remains uncertain. We have previously shown that healthy human subjects did not significantly adjust their foot placement relative to the body's center of mass (COM) in the first recovery step following anteroposterior pelvis perturbations, as compared to unperturbed walking. An ankle strategy could have contributed to the recovery instead. Here the goal is to further elucidate balance strategy preferences by investigating the stepping and hip strategies following these anteroposterior perturbations, but with an ankle strategy made ineffective. This was achieved by physically blocking each ankle and minimizing the support area of each foot through a pair of modified ankle-foot orthoses. These "pin-shoes" enabled stilt-like walking and ensured that foot placement adjustment was the only way to modulate the center of pressure location, comparable to "footless" inverted pendulum models of walking. Despite the pin-shoes, subjects did not additionally address a hip strategy compared to normal walking, but relied on foot placement adjustments instead. The observed foot placement adjustments were furthermore in line with concepts derived from a linear inverted pendulum model of walking. These results suggest low hip strategy priority when a foot placement strategy is available, while the latter can be predicted with concepts derived from a simple walking model.

Modeling trans-spinal direct current stimulation for the modulation of the lumbar spinal motor pathways.

OBJECTIVE: Trans-spinal direct current stimulation (tsDCS) is a potential new technique for the treatment of spinal cord injury (SCI). TsDCS aims to facilitate plastic changes in the neural pathways of the spinal cord with a positive effect on SCI recovery. To establish tsDCS as a possible treatment option for SCI, it is essential to gain a better understanding of its cause and effects. We seek to understand the acute effect of tsDCS, including the generated electric field (EF) and its polarization effect on the spinal circuits, to determine a cellular target. We further ask how these findings can be interpreted to explain published experimental results. APPROACH: We use a realistic full body finite element volume conductor model to calculate the EF of a 2.5 mA direct current for three different electrode configurations. We apply the calculated electric field to realistic motoneuron models to investigate static changes in membrane resting potential. The results are combined with existing knowledge about the theoretical effect on a neuronal level and implemented into an existing lumbar spinal network model to simulate the resulting changes on a network level. MAIN RESULTS: Across electrode configurations, the maximum EF inside the spinal cord ranged from 0.47 V m-1 to 0.82 V m-1. Axon terminal polarization was identified to be the dominant cellular target. Also, differences in electrode placement have a large influence on axon terminal polarization. Comparison between the simulated acute effects and the electrophysiological long-term changes observed in human tsDCS studies suggest an inverse relationship between the two. SIGNIFICANCE: We provide methods and knowledge for better understanding the effects of tsDCS and serve as a basis for a more targeted and optimized application of tsDCS.

Center of mass velocity-based predictions in balance recovery following pelvis perturbations during human walking.

In many simple walking models, foot placement dictates the center of pressure location and ground reaction force components, whereas humans can modulate these aspects after foot contact. Because of the differences, it is unclear to what extent predictions made by models are valid for human walking. Yet, both model simulations and human experimental data have previously indicated that the center of mass (COM) velocity plays an important role in regulating stable walking. Here, perturbed human walking was studied to determine the relationship of the horizontal COM velocity at heel strike and toe-off with the foot placement location relative to the COM, the forthcoming center of pressure location relative to the COM, and the ground reaction forces. Ten healthy subjects received mediolateral and anteroposterior pelvis perturbations of various magnitudes at toe-off, during 0.63 and 1.25 m s(-1) treadmill walking. At heel strike after the perturbation, recovery from mediolateral perturbations involved mediolateral foot placement adjustments proportional to the mediolateral COM velocity. In contrast, for anteroposterior perturbations, no significant anteroposterior foot placement adjustment occurred at this heel strike. However, in both directions the COM velocity at heel strike related linearly to the center of pressure location at the subsequent toe-off. This relationship was affected by the walking speed and was, for the slow speed, in line with a COM velocity-based control strategy previously applied by others in a linear inverted pendulum model. Finally, changes in gait phase durations suggest that the timing of actions could play an important role during the perturbation recovery.

The interleukin-1 receptor antagonist anakinra improves first-phase insulin secretion and insulinogenic index in subjects with impaired glucose tolerance.

Inflammation at the level of the ß cell appears to be involved in progressive ß-cell dysfunction in type 2 diabetes. We assessed the effect of blocking interleukin-1 (IL-1) by anakinra [recombinant human interleukin-1 receptor antagonist (IL-1Ra)] on ß-cell function. Sixteen participants with impaired glucose tolerance were treated with 150 mg anakinra daily for 4 weeks in a double blind, randomized, placebo-controlled cross-over study with a wash-out period of 4 weeks. At the end of each treatment period, oral glucose tolerance tests (OGTTs) and hyperglycaemic clamps were performed. First-phase insulin secretion improved after anakinra treatment compared with placebo, 148 ± 20 versus 123 ± 14 mU/l, respectively (p = 0.03), and the insulinogenic index was higher after anakinra treatment. These results support the concept of involvement of IL-1ß in the (progressive) decrease of insulin secretion capacity associated with type 2 diabetes.