Modified implanted drop foot stimulator system with graphical user interface for customised stimulation pulse-width profiles

A modified implanted drop foot stimulator that allows cyclic modulation of the stimulation pulse-width during gait has been developed. Stimulation was on two channels of a four-channel 12 polar cuff electrode. The stimulator allowed modulation of stimulation pulse-width, between 0 and 255μs, on both channels throughout the swing and stance phases of gait. Stimulation was applied between 17 and 40 Hz. The clinician can specify an infinite range of stimulation profiles on a desktop computer, using a user-friendly LabVIEW^TM interface. The desktop program generated a stimulation profile table of 100 values, which was then downloaded to the drop foot stimulator. As each phase of gait imposed different biomechanical demands on the ankle dorsiflexor muscles, different stimulation intensities were desirable, throughout gait, to match these demands. Moreover, as the gait of each person with hemiplegia is unique, the biomechanical demands imposed throughout the gait cycle for each user of a drop foot stimulator are unique. This stimulator architecture allowed the clinician to, specify stimulation intensities individually, at each phase of the gait cycle for each drop foot stimulator user. The stimulator was evaluated on a male hemiplegic subject. It was used to increase the stimulation pulse-width by 150% at 5% of gait cycle prior to heel strike. The system performed well, with the ankle angle at heel strike increasing by 5° owing to this increased pulse-width.     

Bipedal gait model for precise gait recognition and optimal triggering in foot drop stimulator: a proof of concept

Electrical stimulators are often prescribed to correct foot drop walking. However, commercial foot drop stimulators trigger inappropriately under certain non-gait scenarios. Past researches addressed this limitation by defining stimulation control based on automaton of a gait cycle executed by foot drop of affected limb/foot only. Since gait is a collaborative activity of both feet, this research highlights the role of normal foot for robust gait detection and stimulation triggering. A novel bipedal gait model is proposed where gait cycle is realized as an automaton based on concurrent gait sub-phases (states) from each foot. The input for state transition is fused information from feet-worn pressure and inertial sensors. Thereafter, a bipedal gait model-based stimulation control algorithm is developed. As a feasibility study, bipedal gait model and stimulation control are evaluated in real-time simulation manner on normal and simulated foot drop gait measurements from 16 able-bodied participants with three speed variations, under inappropriate triggering scenarios and with foot drop rehabilitation exercises. Also, the stimulation control employed in commercial foot drop stimulators and single foot gait-based foot drop stimulators are compared alongside. Gait detection accuracy (98.9%) and precise triggering under all investigations prove bipedal gait model reliability. This infers that gait detection leveraging bipedal periodicity is a promising strategy to rectify prevalent stimulation triggering deficiencies in commercial foot drop stimulators.

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Graphical abstract Bipedal information-based gait recognition and stimulation triggering

     

A microcontroller system for investigating the catch effect: functional electrical stimulation of the common peroneal nerve

Correction of drop foot in hemiplegic gait is achieved by electrical stimulation of the common peroneal nerve with a series of pulses at a fixed frequency. However, during normal gait, the electromyographic signals from the tibialis anterior muscle indicate that muscle force is not constant but varies during the swing phase. The application of double pulses for the correction of drop foot may enhance the gait by generating greater torque at the ankle and thereby increase the efficiency of the stimulation with reduced fatigue. A flexible controller has been designed around the Odstock Drop Foot Stimulator to deliver different profiles of pulses implementing doublets and optimum series. A peripheral interface controller (PIC) microcontroller with some external circuits has been designed and tested to accommodate six profiles. Preliminary results of the measurements from a normal subject seated in a multi-moment chair (an isometric torque measurement device) indicate that profiles containing doublets and optimum spaced pulses look favourable for clinical use.     

基于视频图像边缘检测的人体下肢运动步态

背景：步态规律主要应用人体行走的运动学、动力学等参数进行描述。目前在运动医学、康复工程和仿生学等领域,步态分析可为确定疾病诊断、康复和治疗方案提供重要依据。 目的：应用基于人体运动图像的测量装置系统,采集人体在跑步机上行走的下肢运动步态视频,分析人体步态运动规律。 方法：采用基于双摄影机的人体运动图像捕捉系统,在人体的左右髋关节、膝关节、踝关节及脚板设置标识点,对人体在跑步机上行走的下肢运动步态视频进行采集。应用图像边缘检测的原理,对测量数据进行了图像处理和分析,得到人体正常步速行走时,左右大腿与竖直方向夹角、小腿与竖直方向夹角、脚板与竖直方向夹角及膝关节、踝关节标识点的关节角度变化规律。 结果与结论：基于视频图像边缘检测人体下肢的运动步态,成本相对低廉,数据误差较小,精度与进口设备较接近。应用该测量结果初步构建了人体步态行走数据库,为建立步态评定标准、异常步态判别以及进一步的康复治疗提供了依据。     

A system for the delivery of programmable, adaptive stimulation intensity envelopes for drop foot correction applications

We describe the design of an intelligent drop foot stimulator unit for use in conjunction with a commercial neuromuscular electrical nerve stimulation (NMES) unit, the NT2000. The developed micro-controller unit interfaces to a personal computer (PC) and a graphical user interface (GUI) allows the clinician to graphically specify the shape of the stimulation intensity envelope required for a subject undergoing drop foot correction. The developed unit is based on the ADuC812S micro-controller evaluation board from Analog Devices and uses two force sensitive resistor (FSR) based foot-switches to control application of stimulus. The unit has the ability to display to the clinician how the stimulus intensity envelope is being delivered during walking using a data capture capability. The developed system has a built-in algorithm to dynamically adjust the delivery of stimulus to reflect changes both within the gait cycle and from cycle to cycle. Thus, adaptive control of stimulus intensity is achieved.     

The adaptive drop foot stimulator – Multivariable learning control of foot pitch and roll motion in paretic gait

Many stroke patients suffer from the drop foot syndrome, which is characterized by a limited ability to lift (the lateral and/or medial edge of) the foot and leads to a pathological gait. In this contribution, we consider the treatment of this syndrome via functional electrical stimulation (FES) of the peroneal nerve during the swing phase of the paretic foot. A novel three-electrodes setup allows us to manipulate the recruitment of m. tibialis anterior and m. fibularis longus via two independent FES channels without violating the zero-net-current requirement of FES. We characterize the domain of admissible stimulation intensities that results from the nonlinearities in patients’ stimulation intensity tolerance. To compensate most of the cross-couplings between the FES intensities and the foot motion, we apply a nonlinear controller output mapping. Gait phase transitions as well as foot pitch and roll angles are assessed in realtime by means of an Inertial Measurement Unit (IMU). A decentralized Iterative Learning Control (ILC) scheme is used to adjust the stimulation to the current needs of the individual patient. We evaluate the effectiveness of this approach in experimental trials with drop foot patients walking on a treadmill and on level ground. Starting from conventional stimulation parameters, the controller automatically determines individual stimulation parameters and thus achieves physiological foot pitch and roll angle trajectories within at most two strides.     

Step-length biofeedback device for walk rehabilitation

A biofeedback gait training system for step length is proposed, adapted to the correction of spatial walking asymmetries by means of a simple, quick and reliable method for daily clinical use. The system is composed of a walkway and a gait analysis device (locometer) measuring the main temporal and distance factors of gait. The step length is imposed on the subject by lighted targets appearing on the walkway, alternately on the right and left side; the subject is asked to place a swinging foot on the lighted target. Feedback to the subject is supplied by direct visual information (the subject looking at the movement and the position of the foot with respect to the lighted target) and an acoustic signal delivered in real time when the length step error is greater than an allowed value. The method is validated on a population of hemiparetic patients who have suffered from a stroke and who have been reeducated with traditional rehabilitation methods. The patients were divided into two groups; one group following a gait training with biofeedback (BFB group)_ and one group following a gait training without biofeedback (reference group). Preliminary results are presented, showing a significant beneficial effect of the biofeedback method in increasing the step length of paretic limbs and in correcting step-length asymmetry.     

Dynamic stress analysis of below-knee drop foot braces; Studies on patients with paralysis of the lower limb

A stress analysis was carried out on below-knee braces of standard design on four patients suffering from drop foot due to poliomyelitis. The maximum stresses were recorded during the stance phase of gait. A comparison was made with stresses analysed in similar braces worn by a normal subject. It was concluded that the stresses evolved during the stance phase might be reduced if the brace were redesigned so that the drop-foot preventive mechanism operated only during the swing phase.     

Methods for gait event detection and analysis in ambulatory systems

After stroke, hemiparesis is a common problem resulting in very individual needs for walking assistance. Often patients suffer from foot drop, i.e. inability to lift the foot from the ground during the swing phase of walking. Functional electrical stimulation is commonly used to correct foot drop. For all supporting stimulation devices, it is vital to adequately detect the gait events, which is traditionally obtained by a foot switch placed under the heel. To investigate present methods of gait analysis and detection for use in ambulatory rehabilitation systems, we carried out a meta-analysis on research studies. We found various sensors and sensor combinations capable of analyzing gait in ambulatory settings, ranging form simple force based binary switches to complex setups involving multiple inertial sensors and advanced algorithms. However additional effort is needed to minimize donning/doffing efforts, to overcome cosmetical aspects, and to implement those systems into closed loop ambulatory devices.     

Chronic inflammatory demyelinating polyneuropathy: diagnosis and management

Over the course of 8 weeks, a 50-year-old man developed progressive bilateral leg and arm weakness, with numbness and tingling of the feet and hands. His symptoms persisted for 6 months, with impaired manual dexterity, arm weakness when brushing his teeth, tripping when walking, inability to climb stairs and gait imbalance. On examination, there is mild proximal and distal weakness of the upper and lower extremity muscles, length-dependent sensory loss of vibratory perception and joint position sense, areflexia, positive Romberg test and steppage gait with bilateral foot drop. Motor nerve conduction studies of the arms and legs show partial conduction blocks in several nerves with nonuniform slowing, and sensory responses are absent in the hands, however, normal sural responses are noted. Lumbar puncture reveals acellular cerebrospinal fluid with elevated protein. After 2 months following treatment, his strength and gait improved significantly, and his sensory symptoms resolved.     

单、双肩书包负重行走儿童的足底压力测量

背景：在儿童时期,不同形式、质量的书包负重可能会引起步态变形。 目的：检测儿童书包负重行走时的动态足底压力分布。 方法：采用比利时Footscan USB2平板式足底压测试系统对24名健康学龄儿童进行动态足底压力测试。受试者分别以自然状态、单肩背书包、双肩背书包步行经过Footscan测力平板,观察步态、支撑期时相、压强及足轴角。 结果与结论：与自然行走时比较,双肩负重行走时,受试者整足着地阶段百分比增高,左、右足的足轴角增大,足部足跟、第2跖骨、第1跖骨处的压强值增大(P < 0.05);单肩负重行走时,步态上表现出双足支撑期各阶段的不平衡,负重侧足跟、第2跖骨、第3跖骨处的压强值急剧增大,同时负重侧足轴角显著大于自然及双肩负重行走时(P < 0.05)。说明书包负重增加了儿童行走的不稳定性,单肩负重儿童双足支撑期时相及压力均表现出不平衡的特征。     

Effect of medial foot loading self-practice on lower limb kinematics in young individuals with asymptomatic varus knee alignment

BackgroundVarus alignment of the knee is a risk factor for developing knee osteoarthritis. Recently, voluntary shifting the plantar pressure distribution medially (medial foot loading) during gait has been found to reduce knee adduction angle during stance, which may lower the joint load. However, it is not yet known whether such effect would persist after long-term self-practice. This study aimed to determine whether medial foot loading can be an effective self-care protocol for reducing the knee adduction angle.MethodsEight subjects with asymptomatic varus knee alignment were trained on medial foot loading once in a laboratory, then carried out as self-practice for 8 weeks outside the laboratory. Spatiotemporal gait parameters and lower limb joint kinematics data were collected during natural walking prior to the training (baseline walking), during the practice session immediately after the initial training (trained walking), and during natural walking after the self-practice period (post-practice walking).ResultsParticipants walked significantly faster after the self-practice period with longer step length compared with the baseline. The knee adduction angle at initial contact, maximum angle during stance, and mean angle during a gait cycle were significantly decreased during both the trained and post-practice walking compared with baseline. The 8-week self-practice caused larger decrements in the three angles than the single training, but no significant differences were found between the two conditions.ConclusionsSelf-practice of medial foot loading walking could be an effective gait strategy to reduce the knee adduction angle. The effect could be sustained for individuals with asymptomatic varus knee alignment.     

An investigation of the dynamic relationship between navicular drop and first metatarsophalangeal joint dorsal excursion

The modern human foot is a complex biomechanical structure that must act both as a shock absorber and as a propulsive strut during the stance phase of gait. Understanding the ways in which foot segments interact can illuminate the mechanics of foot function in healthy and pathological humans. It has been proposed that increased values of medial longitudinal arch deformation can limit metatarsophalangeal joint excursion via tension in the plantar aponeurosis. However, this model has not been tested directly in a dynamic setting. In this study, we tested the hypothesis that during the stance phase, subtalar pronation (stretching of the plantar aponeurosis and subsequent lowering of the medial longitudinal arch) will negatively affect the amount of first metatarsophalangeal joint excursion occurring at push‐off. Vertical descent of the navicular (a proxy for subtalar pronation) and first metatarsophalangeal joint dorsal excursion were measured during steady locomotion over a flat substrate on a novel sample consisting of asymptomatic adult males and females, many of whom are habitually unshod. Least‐squares regression analyses indicated that, contrary to the hypothesis, navicular drop did not explain a significant amount of variation in first metatarsophalangeal joint dorsal excursion. These results suggest that, in an asymptomatic subject, the plantar aponeurosis and the associated foot bones can function effectively within the normal range of subtalar pronation that takes place during walking gait. From a clinical standpoint, this study highlights the need for investigating the in vivo kinematic relationship between subtalar pronation and metatarsophalangeal joint dorsiflexion in symptomatic populations, and also the need to explore other factors that may affect the kinematics of asymptomatic feet.     

Microprocessor-based gait analysis system to retrain Trendelenburg gait

A microprocessor-based gait analysis system is described that uses two electromyogram (EMG) amplifiers, two foot switches and an audio feedback device to allow the retraining of one type of improper gait, where the hip abductors (gluteus medius muscles) are weak on one side of the body, causing the opposite hip to drop during the swing phase of gait (Trendelenburg gait). As the abnormality is strictly on one side of the body in most people, the circuitry is minimised, as gait can be analysed by only comparing muscle activity in the affected gluteus medius muscle with that in the unaffected gluteus medius muscle, through the EMG. Two foot contact switches are used to help assess timing of the step cycle. If gait is different on the two sides of the body, an audio cue directs the patient to correct the abnormality by increasing activity on the affected side. The device is tested on five patients. Trendelenburg gait is reduced by an average of 29 degrees through the use of the device. The average stride length at the beginning of the study is 0.32±0.3 m. By the end of the study, the stride length is increased to 0.45±0.2m for the entire group of five subjects. The speed of gait has increased from 1.6±0.4 kmh⁻¹ to 3.1±0.5 kmh⁻¹.     

Automated detection of gait initiation and termination using wearable sensors

This paper presents algorithms for detection of gait initiation and termination using wearable inertial measurement units and pressure-sensitive insoles. Body joint angles, joint angular velocities, ground reaction force and center of plantar pressure of each foot are obtained from these sensors and input into supervised machine learning algorithms. The proposed initiation detection method recognizes two events: gait onset (an anticipatory movement preceding foot lifting) and toe-off. The termination detection algorithm segments gait into steps, measures the signals over a buffer at the beginning of each step, and determines whether this measurement belongs to the final step. The approach is validated with 10 subjects at two gait speeds, using within-subject and subject-independent cross-validation. Results show that gait initiation can be detected timely and accurately, with few errors in the case of within-subject cross-validation and overall good performance in subject-independent cross-validation. Gait termination can be predicted in over 80% of trials well before the subject comes to a complete stop. Results also show that the two sensor types are equivalent in predicting gait initiation while inertial measurement units are generally superior in predicting gait termination. Potential use of the algorithms is foreseen primarily with assistive devices such as prostheses and exoskeletons.     

Immediate effects of a controllable knee ankle foot orthosis for functional compensation of gait in patients with proximal leg weakness

Application of intermittent control of the knee joint stiffness in a knee ankle foot orthosis (KAFO) during gait is proposed. The approach combines inertial sensors and an actuator system in order to apply compensation in quadriceps weakness with a wearable device. Two methods, segment-angular rotation based and segment-angular velocity based, are analysed for the control of the knee joint state (intermittent stiffness) based on the inertial sensors signals. Protocolled tests are developed with two post-polio syndrome patients (PPS). In this study, the cases of gait with free-swinging leg and safe stance with the orthotic system are presented in terms of quantified kinematics (average peak angle of knee flexion of 50°) and evidences of reduction of frequent compensations (e.g. leg lateral movement) in post-polio syndrome patients. The results from immediate inspection indicate an important improvement of the gait patterns in two patients with proximal leg weakness by means of compensations applied by the wearable orthosis.     

Biofeedback gait training system for temporal and distance factors

A biofeedback gait-training system has been developed which can deal with the gait problems of all subjects in any phase of rehabilitation: measurement, analysis, training and/or evaluation. The system is composed of a measuring walkway and a training walker. The walkway can measure all the temporal and distance factors of gait. The walker, with two parallel grasping bars and a CRT monitor, moves automatically with the aid of servo-motors. The system provides visual feedback for distance factors of gait and audio feedback for temporal factors. During the single-support phase the desired foot position for the next step and the supporting foot position are displayed on the CRT. The actual position of the foot placement is then overlaid for the double support duration that follows. A trainee learns to place the foot in such a way as to overlap the desired with the actual foot stamps on the CRT. The desired temporal factors are prpvided by buzzer tones. A trainee tries to shorten or elongate the duration of the respective phase of the gait cycle in accordance with the tone. Some experiments on normal subjects and on some with degenerative knee joints verified that the biofeedback signals were utilised effectively and that the walker was of value for improving pathological gait.     

How Crouch Gait Can Dynamically Induce Stiff-Knee Gait

Children with cerebral palsy frequently experience foot dragging and tripping during walking due to a lack of adequate knee flexion in swing (stiff-knee gait). Stiff-knee gait is often accompanied by an overly flexed knee during stance (crouch gait). Studies on stiff-knee gait have mostly focused on excessive knee muscle activity during (pre)swing, but the passive dynamics of the limbs may also have an important effect. To examine the effects of a crouched posture on swing knee flexion, we developed a forward-dynamic model of human walking with a passive swing knee, capable of stable cyclic walking for a range of stance knee crouch angles. As crouch angle during stance was increased, the knee naturally flexed much less during swing, resulting in a ‘stiff-knee’ gait pattern and reduced foot clearance. Reduced swing knee flexion was primarily due to altered gravitational moments around the joints during initial swing. We also considered the effects of increased push-off strength and swing hip flexion torque, which both increased swing knee flexion, but the effect of crouch angle was dominant. These findings demonstrate that decreased knee flexion during swing can occur purely as the dynamical result of crouch, rather than from altered muscle function or pathoneurological control alone.