Effectiveness of robotic exoskeletons for improving gait in children with cerebral palsy: A systematic review

BackgroundRobotic exoskeletons have been developed to assist locomotion and address gait abnormalities in children with cerebral palsy (CP). These wearable assistive devices provide powered assistance to the lower-extremity joints, as well as support and stability.Research QuestionDoes exoskeleton-assisted walking improve gait in children with CP?MethodsThe PRISMA guidelines were used to conduct this systematic review. Articles were obtained in a search of the following electronic databases: Embase, CINAHL Complete, PubMed, Web of Science and MEDLINE. Studies investigating spatiotemporal, kinematic, kinetic, muscle activity and/or physiological parameters during exoskeleton-assisted walking in children with CP were included. All articles were assessed for methodological quality using an adapted version of the Quality Assessment Tool for Before-After (Pre-Post) Studies with No Control Group, provided by the National Institutes of Health (NIH).ResultsThirteen studies were included. They involved the use of the following exoskeletons: tethered knee exoskeleton, pediatric knee exoskeleton (P.REX), untethered ankle exoskeleton, WAKE-Up ankle module, WAKE-Up ankle & knee module and unilateral ankle exosuit. Methodological quality varied, with key limitations in sample size and allocated time to adapt to the exoskeleton. There was a consensus that robotic exoskeletons improve gait given careful optimisation of exoskeleton torque and sufficient exoskeleton practice time for each participant. Improvements in gait included reduced metabolic cost of walking, increased walking speed, and increased knee and hip extension during stance. Furthermore, exoskeletons with an actuated ankle module were shown to promote normal ankle rocker function.SignificanceRobotic exoskeletons have the potential to improve the mobility of CP children and may therefore increase community participation and improve quality of life. Future work should involve larger controlled intervention studies utilising robotic exoskeletons to improve gait in children with CP. These studies should ensure sufficient exoskeleton practice time for each participant.     

Relationship Between Juncturae Tendinum and Sagittal Bands

The juncturae tendinum and sagittal bands transmit precise forces through the dorsum of the hand. Both structures are integral in the mechanics of normal digital extension and in stabilization of the metacarpophalangeal (MCP) joints. Extensor tendon injury, or rupture/attenuation of sagittal bands and/or juncturae tendinum, may disrupt the kinematic chain and lead to a number of abnormal hand postures and motions. Early treatment of extensor tendon and/or sagittal band injury is dependent upon proper recognition of primary pathology. Proper evaluation and the use of special clinical tests should be implemented to rule out other pathologies. Once diagnosed, treatment may consist of relative motion splinting and standard pain/edema control measures to increase joint motion, tendon excursion, and functional use of the hand.     

Robotic gait trainer in water: development of an underwater gait-training orthosis

Purpose. To develop a robotic gait trainer that can be used in water (RGTW) and achieve repetitive physiological gait patterns to improve the movement dysfunctions.

Method. The RGTW is a hip-knee-ankle-foot orthosis with pneumatic actuators; the control software was developed on the basis of the angular motions of the hip and knee joint of a healthy subject as he walked in water. Three-dimensional motions and electromyographic (EMG) activities were recorded in nine healthy subjects to evaluate the efficacy of using the RGTW while walking on a treadmill in water.

Results. The device could preserve the angular displacement patterns of the hip and knee and foot trajectories under all experimental conditions. The tibialis anterior EMG activities in the late swing phase and the biceps femoris throughout the stance phase were reduced whose joint torques were assisted by the RGTW while walking on a treadmill in water.

Conclusion. Using the RGTW could expect not only the effect of the hydrotherapy but also the standard treadmill gait training, in particular, and may be particularly effective for treating individuals with hip joint movement dysfunction.     

Exoskeletons for Personal Use After Spinal Cord Injury

Before the development of robotic exoskeletons, mobility options beyond a wheelchair were very limited for most people lacking leg movement due to spinal cord injury (SCI). Over the years, robotic exoskeletons have become more widely available and now have the potential to be successfully used for personal use at home and in the community. However, it is important that users set realistic expectations. The features and capabilities of each robotic exoskeleton differ, and how exoskeletons are used may vary greatly between individuals. Robotic exoskeletons can allow individuals with SCI with varying levels of injury to safely and functionally walk for personal mobility or exercise. The following special communication will discuss important considerations surrounding exoskeleton use including feasibility, safety, cost, speed, and potential health benefits of using an exoskeleton for everyday life for people with SCI.     

矫形支具配合矫正体操对特发性脊柱侧弯的作用

目的:探讨脊柱矫形器配合矫正体操治疗特发性脊柱侧弯患者的疗效。方法:40例特发性脊柱侧弯患儿。均每天穿戴矫形支具时间23h并配合脊柱矫正体操练习,要求达到凸侧肌肉收缩,凹侧肌肉牵伸,每次30min,每天1-2次。穿戴期间定期X线片检查脊柱Cobb角。结果:1年后随访,40例患儿中33例能坚持穿戴矫形支具和进行矫正体操练习;胸椎、腰椎Cobb角与治疗前比较均降低(P<0.05)。单弧侧弯治疗的效果比双弧更明显(P<0.05)。结论:矫形支具配合矫正体操治疗能矫正脊柱侧弯畸形,是治疗特发性脊柱侧弯的一种有价值的方法。     

The effect of footwear adapted with a multi-curved rocker sole in conjunction with knee-ankle-foot orthoses on walking in poliomyelitis subjects: a pilot study

Background: Knee-ankle-foot orthoses (KAFOs) are used by people with poliomyelitis to ambulate. Whist advances in orthotic knee joint designs for use in KAFOs such the provision of stance control capability have proven efficacy, little attention has been paid to shoe adaptations which may also improve gait.

Aim: The aim of this study was to evaluate the alteration to the kinematics and temporal-spatial parameters of gait caused by the use of heel-to-toe rocker-soled footwear when ambulating with KAFOs.

Method: Nine adults with a history of poliomyelitis who routinely wore KAFOs participated in the study. A heel-to-toe rocker sole was added to footwear and worn on the affected side. A three-dimensional motion capture system was used to quantify the resulting alteration to specific gait parameters.

Results: Maximum hip joint extension was significantly increased (p?=?0.011), and hip abduction and adduction were both significantly reduced (p?=?0.011 and p?=?0.007, respectively) when walking with the rocker sole. A significant increase in stride length (p?=?0.035) was demonstrated but there were no significant increases in either walking speed or cadence.

Conclusions: A heel-to-toe rocker sole adaptation may be useful for walking in patients with poliomyelitis who use KAFOs.

• Implications for Rehabilitation

• The poor functionality and difficulty in walking when using an orthotic device such as a KAFO which keeps the knee locked during ambulation, plus the significant energy required to walk, are complications of orthoses using.

• Little evidence exists regarding the biomechanical effect of walking with a KAFO incorporating fixed knee joints, in conjunction with rocker-soled footwear.

• The main aim of walking with a heel-to-toe rocker sole is to facilitate forward progression of the tibia when used with an AFO or KAFO or to provide easier walking for patients who have undergone an ankle arthrodesis.

• In this study, a rocker sole profile adaptation produced no significant alteration to hip joint flexion, but hip joint maximum extension was significantly increased in subjects suffering from poliomyelitis, and maximum hip adduction and abduction were both significantly reduced.

• The most significant alterations were seen in stride length, and although there was a significant increase in this parameter, there was no statistically significant increase in walking velocity or cadence.

     

踝足矫形器对脑瘫患儿异常步态的影响

目的:研究踝足矫形器对改善痉挛型脑瘫患儿步态的影响。方法:对30例脑瘫患儿配戴踝足矫形器前、后进行步态分析。结果:脑瘫患儿配戴踝足矫形器后,跨步长、步速明显提高,其中跨步长由0.38±0.13m增加至0.45±0.17m,步速由0.36±0.19m/s增加至0.47±0.14m/s;首次着地时踝关节的跖屈角度明显减少,由-11.98±8.43°减至-3.94±4.31°;髋关节站立相最大伸展角度由-7.41±10.06°增加至-14.10±10.60°;迈步相踝关节最大背屈角度明显提高,平均由-8.19±9.63°增至-4.25±3.71°;矢状面踝关节角度活动范围明显降低,平均由14.44±9.99°减至9.40±5.77°。结论:配戴踝足矫形器可以明显减轻脑瘫患儿异常步态模式的程度。     

Understanding the role of foot biomechanics on regional foot orthosis deformation in flatfoot individuals during walking

BackgroundFoot orthoses (FOs) are one of the most common interventions to restore normal foot mechanics in flatfoot individuals. New technologies have made it possible to deliver customized FOs with complex designs for potentially better functionalities. However, translating the individuals’ biomechanical needs into the design of customized FOs is not yet fully understood.Research questionOur objective was to identify whether the deformation of customized FOs is related to foot kinematics and plantar pressure during walking.MethodsThe kinematics of multi-segment foot and FOs contour were recorded together with plantar pressure in 17 flatfoot individuals while walking with customized FOs. The deformation of FOs surface was predicted from its contour kinematics using an artificial neural network. Plantar pressure map and deformation were divided into five anatomically based regions defined by the corresponding foot segments. Forward stepwise linear mixed models were built for each of the four gait phases to determine the feet-FOs interaction.ResultsIt was observed that some associations existed between foot kinematics and pressure with regional FOs deformation. From heel-strike to foot-flat, longitudinal arch angle was associated with FOs deformation in forefoot. From foot-flat to midstance, rearfoot eversion accounted for variation in the deformation of medial FOs regions, and forefoot abduction for the lateral regions. From midstance to heel-off, rearfoot eversion, longitudinal arch angle, and plantar pressure played significant role in deformation. Finally, from heel-off to toe-off, forefoot adduction affected the deformation of forefoot and midfoot.SignificanceThis study provides guidelines for designing customized FOs. Flatfoot individuals with excessive rearfoot eversion or very flexible medial arches require more support on medial FOs regions, while the ones with excessive forefoot abduction need the support on lateral regions. However, a compromise should be made between the level of support and the level of increase in plantar pressure to avoid stress on foot structures.     

自制踝足矫形带对痉挛型偏瘫脑性瘫痪足下垂患儿下肢运动功能的疗效

目的观察自制自制踝足矫形带对痉挛型偏瘫脑瘫足下垂患儿下肢运动功能的疗效。方法 24例痉挛型偏瘫脑瘫足下垂患儿随机分为观察组和对照组各12例。两组患儿均行常规康复训练,对照组行步态训练,观察组佩戴自制踝足矫形带行步态训练,共12周。治疗前后分别采用腓肠肌改良Ashworth量表(MAS)、踝关节主动背屈活动度(ROM)和粗大运动功能测量(GMFM-88)D区(站立)、E区(走跑跳)进行评定。结果治疗后,两组MAS评分明显降低(P0.01),观察组低于对照组(P0.05);两组ROM、GMFM-88的D区和E区评分均明显高于治疗前(P0.01),观察组高于对照组(P0.05)。结论佩戴自制踝足矫形带行步态训练能进一步降低痉挛型偏瘫脑瘫患儿患侧的腓肠肌张力,增加踝关节活动度,提高下肢运动功能。