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PubMedDate not supplied

The anthroform biorobotic arm: a system for the study of spinal circuits.

This paper reports the design, construction, and testing of a replica of the human arm, which aims to be dynamically as well as kinematically accurate. The arm model is actuated with McKibben pneumatic artificial muscles, and controlled by a special purpose digital signal processing system designed to simulate spinal neural networks in real time. An artificial muscle spindle has also been designed and tested. Design and test data are reviewed, and the paper describes how we hope to use the system to improve our understanding of the reflexive control of human movement and posture.

Arm↗

PubMed2002

Adaptation of reflexive feedback during arm posture to different environments.

In this study we have examined the ability of the central nervous system (CNS) to use spinal reflexes to minimize displacements during postural control while continuous force perturbations were applied at the hand. The subjects were instructed to minimize the displacements of the hand from a reference position that resulted from the force perturbations. The perturbations were imposed in one direction by means of a hydraulic manipulator of which the virtual mass and damping were varied. Resistance to the perturbations came from intrinsic and reflexive stiffness, and from the virtual environment. It is hypothesized that reflexive feedback during posture maintenance is optimally adjusted such that position deviations are minimal for a given virtual environment. Frequency response functions were estimated, capturing all mechanical properties of the arm at the end point (hand) level. Intrinsic and reflexive parameters were quantified by fitting a linear neuromuscular model to the frequency responses. The reflexive length feedback gain increased strongly with damping and little with the eigenfrequency of the total combined system (i.e. arm plus environment). The reflexive velocity feedback gain decreased slightly with relative damping at the largest eigenfrequency and more markedly at smaller eigenfrequencies. In the case of highest reflex gains, the total system remained stable and sufficiently damped while the responses of only the arm were severely underdamped and sometimes even unstable. To further analyse these results, a model optimization was performed. Intrinsic and reflexive parameters were optimized such that two criterion functions were minimized. The first concerns performance and penalized hand displacements from a reference point. The second one weights afferent control effort to avoid inefficient feedback. The simulations showed good similarities with the estimated values. Length feedback was adequately predicted by the model for all conditions. The predicted velocity feedback gains were larger in all cases, probably indicating a mutual gain limiting relation between length and velocity afferent signals. The results suggest that both reflex gains seem to be adjusted by the CNS, where in particular the length feedback gain was optimal so as to maximize performance at minimum control effort.

Adult↗

PubMed1997

Directional control of planar human arm movement.

We examined the patterns of joint kinematics and torques in two kinds of sagittal plane reaching movements. One consisted of movements from a fixed initial position with the arm partially outstretched, to different targets, equidistant from the initial position and located according to the hours of a clock. The other series added movements from different initial positions and directions and >40-80 cm distances. Dynamic muscle torque was calculated by inverse dynamic equations with the gravitational components removed. In making movements in almost every direction, the dynamic components of the muscle torques at both the elbow and shoulder were related almost linearly to each other. Both were similarly shaped, biphasic, almost synchronous and symmetrical pulses. These findings are consistent with our previously reported observations, which we termed a linear synergy. The relative scaling of the two joint torques changes continuously and regularly with movement direction. This was confirmed by calculating a vector defined by the dynamic components of the shoulder and elbow torques. The vector rotates smoothly about an ellipse in intrinsic, joint torque space as the direction of hand motion rotates about a circle in extrinsic Cartesian space. This confirms a second implication of linear synergy that the scaling constant between the linearly related joint torques is directionally dependent. Multiple linear regression showed that the torque at each joint scales as a simple linear function of the angular displacement at both joints, in spite of the complex nonlinear dynamics of multijoint movement. The coefficients of this function are independent of the initial arm position and movement distance and are the same for all subjects. This is an unanticipated finding. We discuss these observations in terms of the hypothesis that voluntary, multiple degrees of freedom, rapid reaching movements may use rule-based, feed-forward control of dynamic joint torque. Rule-based control of joint torque with separate dynamic and static controllers is an alternative to models such as those based on the equilibrium point hypotheses that rely on a positionally based controller to produce both dynamic and static torque components. It is also an alternative to feed-forward models that directly solve the problems of inverse dynamics. Our experimental findings are not necessarily incompatible with any of the alternative models, but they describe new, additional findings for which we need to account. The rules are chosen by the nervous system according to features of the kinematic task to couple muscle contraction at the shoulder and elbow in a linear synergy. Speed and load control preserves the relative magnitudes of the dynamic torques while directional control is accomplished by modulating them in a differential manner. This control system operates in parallel with a positional control system that solves the problems of postural stability.

Arm↗

PubMed2006

Computational motor control: redundancy and invariance.

The nervous system controls the behavior of complex kinematically redundant biomechanical systems. How it computes appropriate commands to generate movements is unknown. Here we propose a model based on the assumption that the nervous system: 1) processes static (e.g., gravitational) and dynamic (e.g., inertial) forces separately; 2) calculates appropriate dynamic controls to master the dynamic forces and progress toward the goal according to principles of optimal feedback control; 3) uses the size of the dynamic commands (effort) as an optimality criterion; and 4) can specify movement duration from a given level of effort. The model was used to control kinematic chains with 2, 4, and 7 degrees of freedom [planar shoulder/elbow, three-dimensional (3D) shoulder/elbow, 3D shoulder/elbow/wrist] actuated by pairs of antagonist muscles. The muscles were modeled as second-order nonlinear filters and received the dynamics commands as inputs. Simulations showed that the model can quantitatively reproduce characteristic features of pointing and grasping movements in 3D space, i.e., trajectory, velocity profile, and final posture. Furthermore, it accounted for amplitude/duration scaling and kinematic invariance for distance and load. These results suggest that motor control could be explained in terms of a limited set of computational principles.

Algorithms↗

PubMed1997

Stochastic processes in postural center-of-pressure profiles.

The stochastic processes of postural center-of-pressure profiles were examined in 3- and 5-year-old children, young adult students (mean 20 years), and an elderly age group (mean 67 years). Subjects stood still in an upright bipedal stance on a force platform under vision and nonvision conditions. The time evolutionary properties of the center-of-pressure dynamic were examined using basic stochastic process models. The amount of motion of the center of pressure decreased with increments of age from 3 to 5 years to young adult but increased again in the elderly age group. The availability of vision decreased the amount of motion of the center of pressure in all groups except the 3-year-old group, where there was less motion of the center of pressure with no vision. The stochastic properties of the center-of-pressure dynamic were assessed using both a two-process, random-walk model of Collins and De Luca and an Ornstein-Uhlenbeck model that is linear and has displacement governed only by a single stiffness term in the random walk. The two-process open- and closed-loop model accounted for about 96% and the Ornstein-Uhlenbeck model 92% of the variance of the diffusion term. Diffusion parameters in both models showed that the data were correlated and that they varied with age in a fashion consistent with developmental accounts of the changing regulation of the degrees of freedom in action. The findings suggest that it is premature to consider the trajectory of the center-of-pressure as a two-process, open- and closed-loop random-walk model given that: (a) the linear Ornstein-Uhlenbeck dynamic equation with only two parameters accommodates almost as much of the variance of the random walk; and (b) the linkage of a discontinuity in the diffusion process with the transition of open- to closed-loop processes is poorly founded. It appears that the nature of the stochastic properties of the random walk of the center-of-pressure trajectory in quiet, upright standing remains to be elucidated.

Adult↗

PubMed2005

'Initial state' coordinations reproduce the instant flexibility for human walking.

An important feature of human locomotor control is the instant adaptability to unpredictable changes of conditions surrounding the locomotion. Humans, for example, can seamlessly adapt their walking gait following a sudden ankle impairment (e.g., as a result of an injury). In this paper, we propose a theoretical study of the mechanisms underlying flexible locomotor control. We hypothesize that flexibility is achieved by modulating the posture at the beginning of the stance phase-the initial state. Using a walking model, we validate our hypothesis through computer simulations.

Adaptation, Physiological↗

PubMed2005

Comparison of kinematics in the healthy and ACL injured knee using MRI.

Magnetic Resonance Imaging (MRI) was used to examine the characteristics of abnormal motion in the injured knee by mapping tibiofemoral contact. Eleven healthy subjects and 20 subjects with a unilateral ACL injury performed a leg-press against resistance. MRI scans of both knees at 15 degrees intervals from 0 degrees to 90 degrees of flexion were used to record the tibiofemoral contact pattern. The tibiofemoral contact pattern of the injured knees was more posterior on the tibial plateau than the healthy knees, particularly in the lateral compartment. The tibiofemoral contact pattern of the loaded knees did not differ from the unloaded knees. The difference in the tibiofemoral contact pattern in the ACL injured knee was associated with more severe knee symptoms, irrespective of the passive anterior laxity of the knee.

Adult↗

PubMed2004

Light touch and center of mass stability during treadmill locomotion.

PURPOSE: To study the contributions of light fingertip touch on an earth-referenced object to body stability during treadmill locomotion. METHOD: Twenty young healthy adults were tested in two blocks of five testing conditions while walking on the treadmill at 3 km/h. In each condition, subjects were tested with eyes open (EO) and with eyes closed (EC). In each block, four separate conditions of heavy (H) or light (L) touch to either a left or to a right force sensor mounted on the respective side rail, as well as one condition of no touch (N), were randomly applied. The 3D positions of the center of mass (COM) and the midpoint of the posterior aspect of each leg were monitored via a kinematic ultrasonic system, while the anterior-posterior (AP) acceleration of the COM was measured with a uniaxial linear accelerometer. RESULTS: Light touch had a similar stabilizing effect as vision and as heavy touch on COM sway. Thus, COM sway and AP acceleration were comparable in conditions of eyes open and eyes closed as long as touch was applied. Conversely, without vision and touch, subjects drifted backwards, with complete disruption of the coordinated stepping pattern. CONCLUSIONS: Somatosensory fingertip input from an external reference provides spatial orientation, which, similar to vision, enables the sustaining of body stability during treadmill walking.

Adult↗

PubMed1999

Reorganisation of human step initiation during acute experimental muscle pain.

The effects of experimentally induced pain in tibialis anterior on step initiation were studied in six healthy male volunteers by kinematics, kinetics and electromyography (EMG). We observed longer reaction times, lower joint moments and decreased EMG activity in the painful leading leg's tibialis anterior and gastrocnemius muscles. Peripheral nociceptive input appeared to alter the internal representation used in the step initiation motor program.

Adult↗

PubMed2006

Generalizability of extracellular-to-intracellular fluid ratio using bio-impedance spectroscopy.

Generalizability theory was used to investigate the score consistency of observed extracellular fluid/intracellular fluid (ECF/ICF) ratio measurements for both the global and leg-segmental bio-impedance spectroscopy methods. The test instrument used was a Xitron Hydra ECF/ICF Bio-Impedance Analyzer System, model 4200 (Xitron Technologies, San Diego, CA). Fifty able-bodied American men (17 to 72 years) and 50 able-bodied American women (17 to 76 years) volunteered as experimental subjects. Xitron continuous global and leg-segmental ECF/ICF procedures for testing were followed for assessing subjects in both the standing erect and lying supine postures. A two-facet, person-by-trial, completely crossed design was used, and all facets were treated as random. Data were independently analyzed for each method, each body posture and each sex group. The major findings of this study were: (1) the leg-segmental method was superior in producing the higher G-coefficients when compared to the global method regardless of gender or posture; (2) the global method resulted in higher G-coefficients in males compared to females regardless of posture; (3) when the global method was used, the relative and absolute error variances were higher for females while the opposite trend was observed when the segmental method was used and (4) when using the global method, the precision of the ECF/ICF ratio scores in females could be increased by simply using the mean of several trials (e.g., by using the mean of 5, 10 or more test trials).

Adolescent↗

PubMed1995

Vestibular compensation in the lamprey.

Vestibular compensation, i.e. recovery after unilateral labyrinthectomy (UL) in the lamprey (a lower vertebrate, Cyclostome), as well as different means of promoting the compensation, is described. UL results in a loss of equilibrium and rotation during swimming which is compensated in about 60 days. The deficit can, however, be immediately abolished by applying asymmetrical tonic visual or vestibular input (electrical stimulation of the optic or vestibular nerve, illumination of one eye, removal of one eye). In addition, asymmetrical visual input promotes plastic changes underlying the vestibular compensation. The compensation is discussed in relation to the neuronal network responsible for postural control in the lamprey and identified in our previous studies.

Animals↗

PubMed1993

Pathomechanical analysis of thoracolumbar burst fracture reduction. A calf spine model.

Burst fractures were created in the spines of twelve dairy calves and the mechanism of indirect canal clearance studied. The spines were reduced posturally and divided in to four subsets--control, and subsets in which either the posterior longitudinal ligament (PLL), the PLL and annulus, or posterior osteoligmentous structures were sectioned. The specimens were then instrumented and further reduction obtained through application of extension and distraction forces. Statistically significant reduction of the intracanal burst fragment occurred even if the PLL or PLL and annulus were incompetent but did not occur in that group in which the posterolateral complex had been sectioned.

Animals↗

PubMed1995

Prediction equations for balance measured as sway speed by head tracking with eyes open and closed.

OBJECTIVES: To provide prediction equations for balance measured as sway speed, a population of randomly selected subjects was used as a model. METHODS: 265 subjects were selected from voter registration rolls in Arizona and Louisiana, USA. For validation these predicted values were compared with observed values obtained from a second population in California, USA. RESULTS: Sway speed with eyes open as a natural logarithm was: 1n (open) = -0.248333 -0.009634 x age +0.000164 x age2 and sway speed with eyes closed was: 1n (closed) = -0.585707 -0.023074 x age +0.000315 x age2 + 0.038496 x height (cm) CONCLUSIONS: The natural logarithm of balance with the eyes open was related to age by both linear and quadratic functions. Additionally with the eyes closed balance was dependent on height. These equations can be used to predict performance of groups being studied for effects of noise and chemicals. To define abnormality of individual subjects the predicted value plus 1.5 SDs could be used.

Adolescent↗

PubMed2004

Probing the human vestibular system with galvanic stimulation.

Galvanic vestibular stimulation (GVS) is a simple, safe, and specific way to elicit vestibular reflexes. Yet, despite a long history, it has only recently found popularity as a research tool and is rarely used clinically. The obstacle to advancing and exploiting GVS is that we cannot interpret the evoked responses with certainty because we do not understand how the stimulus acts as an input to the system. This paper examines the electrophysiology and anatomy of the vestibular organs and the effects of GVS on human balance control and develops a model that explains the observed balance responses. These responses are large and highly organized over all body segments and adapt to postural and balance requirements. To achieve this, neurons in the vestibular nuclei receive convergent signals from all vestibular receptors and somatosensory and cortical inputs. GVS sway responses are affected by other sources of information about balance but can appear as the sum of otolithic and semicircular canal responses. Electrophysiological studies showing similar activation of primary afferents from the otolith organs and canals and their convergence in the vestibular nuclei support this. On the basis of the morphology of the cristae and the alignment of the semicircular canals in the skull, rotational vectors calculated for every mode of GVS agree with the observed sway. However, vector summation of signals from all utricular afferents does not explain the observed sway. Thus we propose the hypothesis that the otolithic component of the balance response originates from only the pars medialis of the utricular macula.

Afferent Pathways↗

PubMed1995

Differential processing of semicircular canal signals in the vestibulo-ocular reflex.

Selective semicircular canal inactivation and three-dimensional eye movement recordings have been used to investigate the spatial organization of vestibular signals in the vestibulo-ocular reflex (VOR) of rhesus monkeys. In animals with one pair of semicircular canals inactivated, afferent activity no longer codes all spatial components of head angular velocity. if it were the activation pattern of semicircular canal afferents alone that determines VOR slow phase eye velocity, the head velocity components along the sensitivity vectors of the remaining intact semicircular canals would determine the orientation of slow phase eye velocity. Thus, angular head velocity and slow phase eye velocity would not necessarily always align. Alternatively, if vestibulo-ocular signals coded absolute angular head motion in space based on both semicircular canal and otolith afferent information, one might expect a spatial transformation of the encoded head angular velocity signals such that slow phase eye velocity and angular head velocity continue to spatially align. Examination of the VOR at different frequencies between 0.01 Hz and 1 Hz revealed a frequency-specific spatial organization of vestibulo-ocular signals. Mid and high frequency vestibulo-ocular responses were determined exclusively by the orientation of the sensitivity vectors of the remaining intact semicircular canals. In contrasts, low frequency vestibulo-ocular responses were largely determined by the orientation of the head relative to gravity. These low frequency responses after selective semicircular canal inactivation could be predicted and simulated by a simple model where semicircular canal signals are spatially transformed from a head-fixed to a space-fixed (inertial) representation of angular head velocity. These findings suggest that low frequency vestibulo-ocular responses are dominated by inertial vestibular signals that detect absolute head motion in space based on both semicircular canal and otolith afferent information. Inertial vestibular signals are likely to contribute to head control and motor coordination of gaze, head and body posture.

Animals↗

PubMed1997

Stability of the human spine in neutral postures.

The present study aimed to identify some of the mechanisms affecting spinal compressive load-bearing capacity in neutral postures. Two spinal geometries were employed in the evaluation of the stabilizing mechanisms of the spine in standing neutral postures. Large-displacement finite-element models were used for parametric studies of the effect of load distribution, initial geometry, and pelvic rotation on the compression stability of the spine. The role of muscles in stabilization of the spine was also investigated using a unique muscle model based on kinematic conditions. The model with a realistic load configuration supported the largest compression load. The compressive load-bearing capacity of the passive thoracolumbar spine was found to be significantly enhanced by pelvic rotation and minimal muscular forces. Pelvic rotation and muscle forces were sensitive to the initial positioning of T1 and the spinal curvatures. To sustain the physiological gravity load, the lordotic angle increased as observed in standing postures. These predictions are in good agreement with in vitro and in vivo observations. The load-bearing potential of the ligamentous spine in compression is substantially increased by controlling its deformation modes through minimal exertion of selected muscles and rotation of the pelvis.

Humans↗

PubMed1999

Effects of geometric joint constraints on the selection of final arm posture during reaching: a simulation study.

Significant debate exists regarding the neural strategies underlying the positioning and orienting of the hand during voluntary reaching movements of the human upper extremity. Some authors have suggested that positioning and orienting are controlled independently, while others have argued that a strong interdependence exists. In an effort to address this uncertainty, our study employed computer simulations to examine the impact of physiological limitations of joint rotation on the proposed independence of hand position and orientation. Specifically, we analyzed the effects of geometric constraints on final arm postures using a 7 degree-of-freedom model of the human arm. For 20 different hand configurations within the attainable workspace, we computed sets of achievable joint angles by applying inverse kinematics. From each set, we then calculated the locus of possible elbow positions for the particular final hand posture. When the joints were allowed 360 degrees of rotation, the loci formed complete circles; however, when joint ranges were limited to physiological values, the extent of the loci decreased to an average arc angle of 54.6 degrees (+/-27.9 degrees). Imposition of joint limits also led to practically linear relationships between joint angles within a solution set. These theoretical results suggest a requirement for coordinated interaction between control of the joints associated with hand position and those involved with hand orientation in order to ensure attainable joint trajectories. Furthermore, it is conceivable that some of the correlations observed between joint angles in the course of natural reaching movements result from geometric constraints.

Arm↗

PubMed2006

Predictors of impaired blood pressure homeostasis during acute and sustained orthostasis in patients with type 2 diabetes.

AIM: Sympathetic failure with acute postural hypotension is a common feature of advanced autonomic neuropathy in type 2 diabetes. It is unknown, however, whether: a) the presence of sympathetic autonomic neuropathy is also a powerful predictor of postural blood pressure changes during sustained orthostasis and b) other factors affecting baroreceptor and neuro-hormonal control might play a role. METHODS: Systolic blood pressure (SBP) was measured during supine rest and after 2, 5, and 20 min of active orthostasis in 45 males with type 2 diabetes (age 56.4+/-8.2 years, mean+/-SD) and different degrees of autonomic neuropathy (absence of neuropathy, n=26, parasympathetic neuropathy, n=9, and sympathetic neuropathy, n=10). Eight healthy subjects (50.1+/-11.6 years) served as controls. A multiple backward regression analysis was performed to identify independent predictors of SBP changes during orthostasis. The regression model included presence/absence of sympathetic autonomic neuropathy, age, diabetes duration, presence/absence of hypertension, baseline SBP and neuro-hormonal parameters (plasma adrenaline, noradrenaline, plasma renin activity, and aldosterone). RESULTS: Sympathetic autonomic neuropathy (P=0.005), baseline SBP (P=0.001), and adrenaline (P=0.003) independently predicted SBP changes after 2 min (R2=0.64); sympathetic autonomic neuropathy (P<0.001), baseline adrenaline (P=0.008), and plasma renin activity (P=0.006) predicted SBP changes after 5 min (R2=0.58); whereas sympathetic autonomic neuropathy (P<0.001) and baseline SBP (P<0.001) predicted SBP changes after 20 min orthostasis (R2=0.65). CONCLUSIONS: The presence of sympathetic autonomic neuropathy and higher supine SBP values remain strong and independent predictors of SBP fall not only during the acute transition from supine to standing position but also during sustained orthostasis in type 2 diabetes. Lower baseline plasma adrenaline concentrations and plasma renin activity are also involved, though to a lesser extent, in the genesis of this haemodynamic response.

Blood Pressure↗