Biomedical subjects

Taishin Nomura

Publications and source records attributed to Taishin Nomura.

8 recordsLinked to original sources

PubMed2006

Stumbling with optimal phase reset during gait can prevent a humanoid from falling.

The human biped walking shows phase- dependent transient changes in gait trajectory in response to external brief force perturbations. Such responses, referred to as the stumbling reactions, are usually accompanied with phase reset of the walking rhythm. Our previous studies provided evidence, based on a human gait experiment and analyses of mathematical models of gait in the sagittal plane, that an appropriate amount of phase reset in response to a perturbation depended on the gait phase at the perturbation and could play an important role for preventing the walker from a fall, thus increasing gait stability. In this paper, we provide a further material that supports this evidence by a gait experiment on a biped humanoid. In the experiment, the impulsive force perturbations were applied using push-impacts by a pendulum-like hammer to the back of the robot during gait. The responses of the external perturbations were managed by resetting the gait phase with different delays or advancements. The results showed that appropriate amounts of phase resetting contributed to the avoidance of falling against the perturbation during the three-dimensional robot gait. A parallelism with human gait stumbling reactions was discussed.

Biomechanical Phenomena↗

PubMed2003

Intralimb incoordination in patients with ataxia.

Intralimb incoordination needs to be distinguished from interlimb incoordination, which is observed in Parkinson's disease (PD). With this aim, intra and inter-limb coordination impairment in the lower limbs were measured in 13 patients with cerebellar ataxia during pedaling of an ergometer with left and right pedals that can be rotated independently. Intralimb incoordination in patients with cerebellar ataxia was compared with interlimb incoordiation in patients with PD. We concluded that impairment of intralimb coordination in ataxia patients leads to inability to maintain pedaling amplitude and speed, but unlike in PD, right and left coordination was roughly preserved. Our method may be useful for assessing the severity of ataxia and detecting hidden parkinsonism in ataxic patients.

Adult↗

PubMed2003

Classifying lower limb dynamics in Parkinson's disease.

To classify lower limb dynamics in patients with Parkinson's disease (PD), we conducted a clinical study by using pedaling exercise.Twenty-seven patients with idiopathic PD were included in this study. We measured rotational velocities of pedals during pedaling movements with a newly developed ergometer. The velocity waveforms exhibited different characteristics among patients, which could be categorized into four different clusters. In cluster 1, the amplitude on each side was constant and the relative phase was locked at 180 degrees. The pattern was the same as seen in normal subjects. In cluster 2, the amplitude on each side was constant, but the relative phase was locked at 90 degrees. In cluster 3, the amplitude on each side was modulated, and the relative phase drifted monotonously from 0 to 360 degrees during pedaling cycles. In cluster 4, the amplitude on each side was synchronously and irregularly modulated, and the relative phase fluctuated with intermittent spike-like decrement. In order to evaluate, the correlation between pattern and severity of PD, we divided 13 patients, who underwent measurement of pedaling patterns more than three times, into three groups, and found that the abnormal coordination pattern correlated with the presence of freezing phenomenon in patients with PD. Our clinical analysis may contribute in analyzing and classifying the dynamics of PD.

Adult↗

PubMed2003

A coupled oscillator model of disordered interlimb coordination in patients with Parkinson's disease.

Coordination between the left and right limbs during cyclic movements, which can be characterized by the amplitude of each limb's oscillatory movement and relative phase, is impaired in patients with Parkinson's disease (PD). A pedaling exercise on an ergometer in a recent clinical study revealed several types of coordination disorder in PD patients. These include an irregular and burst-like amplitude modulation with intermittent changes in its relative phase, a typical sign of chaotic behavior in nonlinear dynamical systems. This clinical observation leads us to hypothesize that emergence of the rhythmic motor behaviors might be concerned with nonlinearity of an underlying dynamical system. In order to gain insight into this hypothesis, we consider a simple hard-wired central pattern generator model consisting of two identical oscillators connected by reciprocal inhibition. In the model, each oscillator acts as a neural half-center controlling movement of a single limb, either left or right, and receives a control input modeling a flow of descending signals from higher motor centers. When these two control inputs are tonic-constant and identical, the model has left-right symmetry and basically exhibits ordered coordination with an alternating periodic oscillation. We show that, depending on the intensities of these two control inputs and on the difference between them that introduces asymmetry into the model, the model can reproduce several behaviors observed in the clinical study. Bifurcation analysis of the model clarifies two possible mechanisms for the generation of disordered coordination in the model: one is the spontaneous symmetry-breaking bifurcation in the model with the left-right symmetry. The other is related to the degree of asymmetry reflecting the difference between the two control inputs. Finally, clinical implications by the model's dynamics are briefly discussed.

Ataxia↗

PubMed2003

Possible functional roles of phase resetting during walking.

The walking rhythm is known to show phase shift or "reset" in response to external impulsive perturbations. We tried to elucidate functional roles of the phase reset possibly used for the neural control of locomotion. To this end, a system with a double pendulum as a simplified model of the locomotor control and a model of bipedal locomotion were employed and analyzed in detail. In these models, a movement corresponding to the normal steady-state walking was realized as a stable limit cycle solution of the system. Unexpected external perturbations applied to the system can push the state point of the system away from its limit cycle, either outside or inside the basin of attraction of the limit cycle. Our mathematical analyses of the models suggested functional roles of the phase reset during walking as follows. Function 1: an appropriate amount of the phase reset for a given perturbation can contribute to relocating the system's state point outside the basin of attraction of the limit cycle back to the inside. Function 2: it can also be useful to reduce the convergence time (the time necessary for the state point to return to the limit cycle). In experimental studies during walking of animals and humans, the reset of walking rhythm induced by perturbations was investigated using the phase transition curve (PTC) or the phase resetting curve (PRC) representing phase-dependent responses of the walking. We showed, for the simple double-pendulum model, the existence of the optimal phase control and the corresponding PTC that could optimally realize the aforementioned functions in response to impulsive force perturbations. Moreover, possible forms of PRC that can avoid falling against the force perturbations were predicted by the biped model, and they were compared with the experimentally observed PRC during human walking. Finally, physiological implications of the results were discussed.

Models, Neurological↗

PubMed2003

Classification of dynamics of a model of motor coordination and comparison with Parkinson's disease data.

In our recent reports motor coordination of human lower limbs has been investigated during pedaling a special kind of ergometer which allows its left and right pedals to rotate independently. In particular, relative phase between left and right rotational-velocity waveforms of the pedals and their amplitude modulation have been analyzed for patients with Parkinson's disease (PD). Several patients showed peculiar interlimb coordination different from the regular anti-phase pattern of normal subjects. We have reported that these disordered patterns could be classified into four groups. Moreover, it has been demonstrated that a mathematical model could reproduce most of the disordered patterns. Such a model includes a schematization of the central pattern generator with two identical half-centers mutually coupled and two tonic control signals from higher motor centers, each of which inputs to one of the half-centers. Depending on the intensities of the tonic signals and on the differences between them, the model could generate a range of dynamics comparable to the clinically observed disordered patterns. In this paper, we explore the dynamics of the model by varying the intensities of the tonic signals in the model. Using the same method used for classifying the clinical data, the dynamics of the model are classified into several groups. The classified groups for the simulated data are compared with those for the clinical data to look at qualitative correspondence. Our systematic exploration of the model's dynamics in a wide range of the parameter space has revealed global organization of the bifurcations including Hopf bifurcations and cascades of period-doubling bifurcations among others, suggesting that the bifurcations, induced by instability of stable dynamics of the human motor control system, are responsible for the emergence of the disordered coordination in PD patients.

Cluster Analysis↗

PubMed2003

Phase reset and dynamic stability during human gait.

The human walking movement shows transient changes in response to single short-lived external perturbations, termed "stumbling reactions." During the stumbling reactions, the walking phase is reset. It has been considered that the reactions contribute to stabilizing the motion, but less evidence bridging between the rhythm reset and the dynamic stability of the gait has been provided. The present study tries to establish the relationship between them. To this end, we construct a simple dynamical system model of the human musculo-skeletal system interacting with the ground, whose joint kinematics during walking is constrained by a given periodic joint-angles-profile. We show first that the model can exhibit a stable limit cycle corresponding to the steady walking with no perturbations. The responses of the limit cycle oscillation are examined by applying a type of perturbations at various timings with various intensities, elucidating the stability of the model's walking when no phase reset is performed. We then observe that modifications of the periodic joint-angles-profile within a short time interval in response to the perturbation can alter the responses of the limit cycle oscillation and induce phase reset of the model's walking. It is shown that appropriate amounts of the phase reset can prevent the model from falling, even for the perturbation that induces falling in the case without the phase reset. This suggests that those phase resets can improve the dynamic stability of the gait. Moreover, the appropriate phase resets predicted by the model are compared with the experimentally observed phase resets during human stumbling reaction to show they share similar characteristics.

Biomechanical Phenomena↗

PubMed2002

MEG responses during rhythmic finger tapping in humans to phasic stimulation and their interpretation based on neural mechanisms.

The phase-resetting experiment was applied to human periodic finger tapping to understand how its rhythm is controlled by the internal neural clock that is assumed to exist. In the experiment, the right periodic tapping movement was disturbed transiently by a series of left finger taps in response to impulsive auditory cues presented randomly at various phases within the tapping cycle. After each left finger tap, the original periodic tapping was reestablished within several tapping cycles. Influences of the disturbance on the periodic right finger tapping varied depending on the phase of the periodic right finger tapping at which each left finger tap was made. It was confirmed that the periodic tapping was disturbed not by the auditory cues but by the left finger taps. Based on this fact, in this paper each single left tap was considered as the stimulus, and the phase of the periodic tapping of the right index finger when the left tap was executed as the phase of the stimulus. Responses of the neural activities (magnetoencephalography, MEG), the tapping movement, and the corresponding muscle activities (electromyography) were simultaneously measured. Phase-resetting curves (PRCs) representing the degree of phase reset as a function of the phase of the stimulus were obtained both for the left sensorimotor cortex MEG response and for the right index finger tapping response. The shapes of both PRCs were similar, suggesting that the phase reset of the left sensorimotor cortex activities and that of the finger tapping rhythm were the same. Four out of eight subjects showed type-0 reset in Winfree's definition, and the others showed type-1 reset. For general limit-cycle oscillators, type-0 reset is obtained for relatively strong perturbations and type 1 for weak perturbations. It was shown that the transient response of MEG to the single left tap stimuli in type-0 subjects, where the phase was progressively reset, were different from those in type-1 subjects. Based on detailed analysis of the differences, a neural network model for the phase reset of the tapping rhythm is proposed.

Acoustic Stimulation↗