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PubMedDate not supplied

Sensory control of a multifunction hand prosthesis.

The current generation of prostheses that are fitted to limb deficient individuals have only a single degree of freedom which limits their functional range. Furthermore, electrically powered prostheses have a limited user input. Electrical signals generated by the contraction of muscles in the user's stump open and close the hand in an 'on and off' fashion. Since the only feedback is visual, the prostheses tend to be used less dexterously than body powered devices. A different approach has been adopted by the Control Engineering Group at Southampton University. They have retained a single electromyographic input channel, but added sensory feedback to an electronic controller, which decides on the grip posture and tension. Satisfactory operation of the hand depends on the sensors employed. A review of transducers used on previous prostheses at Southampton is followed by a description of recent sensor developments. Finally the intentions for a new generation of prostheses are outlined. These include combining sensory input with an integrated circuit microcontroller to provide a more reliable system.

Biomedical Engineering↗

PubMed2001

Neural compensation for mechanical loading of the hand during coupled oscillations of the hand and foot.

The role of kinaesthetic afferences in controlling coupling of voluntary oscillation of the hand and foot, both in-phase and anti-phase, was investigated by modifying the mechanical properties of one of the two segments (the hand) with applied inertial or elastic loads. Loads consisted of a lead disk, rotating coaxially with the wrist (total inertial momentum 15 g m2), or in two symmetrical rubber bands (elasticity, 4 g deg(-1)) connected 5 cm away from the wrist pivot. Experiments were performed on five male and five female subjects. Both the frequency responses of the hand and foot (i.e. the phase relations between the onset of muscular activation in limb extensors and the onset of the related movement) and the inter-limb phase relations (the phase differences between the hand and foot movement cycles and between the onsets of the electromyographic (EMG) activity in hand and foot extensors) were analysed. The hand frequency-response was fitted with a 2nd-order model, allowing us to describe the loaded and unloaded conditions through the changes in the model response. Inertial loading induced an immediate and steep decay in the frequency response, with a clear-cut reduction of the model resonance frequency, while elastic loading shifted the response to the right and upwards. Inter-limb phase relations were only partially affected by inertial loading of the hand. Despite the fact that the load strongly increased the difference between the frequency-responses of the hand and foot, when hand and foot were oscillated in-phase only about half of this difference remained as an increased phase-lag between hand and foot oscillations. The other half was offset by an advance of the contraction of the hand movers with respect to the foot movers. This compensation mechanism was more effective during anti-phase than during in-phase movements. Elastic loading improved inter-limb synchronisation, since it superimposed the hand frequency-response on that of the foot. In this condition, the requested synchronisation (in-phase or anti-phase) could be achieved by an almost simultaneous (or in strict phase opposition) contraction of the hand and foot movers. In conclusion, the main feedback reaction to the de-coupling effect of hand loading consisted in modifying the timing of activation of the muscles moving the extremities. An advance of hand movers on foot movers is already present in unloaded conditions to compensate for the difference in the natural mechanical properties of the two segments. This advance is enhanced when increasing the inertia of the hand system and attenuated when increasing its elasticity.

Adaptation, Physiological↗

PubMed2003

Biopotentials as command and feedback signals in functional electrical stimulation systems.

Today Functional Electrical Stimulation (FES) is available as a clinical tool in muscle activation used for picking up objects, for standing and walking, for controlling bladder emptying, and for breathing. Despite substantial progress in development and new knowledge, many challenges remain to be resolved to provide a more efficient functionality of FES systems. The most important task of these challenges is to improve control of the activated muscles through open loop or feedback systems. Command and feedback signals can be extracted from biopotentials recorded from muscles (Electromyogram, EMG), nerves (Electroneurogram, ENG), and the brain (Electroencephalogram (EEG) or individual cells). This paper reviews work in which EMG, ENG, and EEG signals in humans have been used as command and feedback signals in systems using electrical stimulation of motor nerves to restore movements after an injury to the Central Nervous System (CNS). It is concluded that the technology is ready to push for more substantial clinical FES investigations in applying muscle and nerve signals. Brain-computer interface systems hold great prospects, but require further development of faster and clinically more acceptable technologies.

Action Potentials↗

PubMed1976

Myofeedback: a new method of teaching breathing exercises in emphysematous patients.

The diaphragm of the emphysematous patient is low and limited in its excursions, producing an increased functional residual capacity and decreased pulmonary ventilation. This report describes our experiences with a new technique for 1) the training of abdominal-diaphragmatic (A-D) breathing and 2) the relaxation of accessory respiratory muscles in emphysematous patients. Abdominal muscle contraction during expiration has been shown to increase diaphragmatic excursions and, hence, pulmonary ventilation. Use of this technique has been limited, however, because of the difficulty in learning this breathing pattern. Through continuous audio and visual feedback of myoelectric potentials (myofeedback) from abdominal muscles, 12 patients learned A-D breathing. The lower rectus abdominis muscle was found to be the most suitable muscle for obtaining the myoelectric potentials. Similarly, by providing the patients with myofeedback from their accessory muscles, they decreased the use of these muscles, thus increasing their respiratory efficiency. With myofeedback, patients appear to learn new breathing patterns effectively and in fewer sessions than with conventional procedures.

Abdominal Muscles↗

PubMed2006

Quantification of intrinsic and reflexive properties during multijoint arm posture.

This study estimates intrinsic and reflexive properties of single- and two-joint muscles acting around the human shoulder, elbow and wrist joint during posture maintenance. External force disturbances were applied to the hand while subjects (n = 5) were instructed to minimize their hand displacement amplitude in a horizontal plane. To examine how the nervous system modifies intrinsic and reflexive muscle properties, we varied external damping, disturbance power and arm configuration. A new identification method is introduced to quantify a large set of model parameters describing intrinsic, activation and reflexive properties, the latter representing afferent feedback gains from muscle spindles and Golgi tendon organs. Consistent estimates were found for the gains of the different types of reflex pathways. The results showed that intrinsic visco-elasticity of shoulder muscles was minimal, whereas reflexive feedback was largest compared to the elbow and wrist joint. Intrinsic and reflexive properties of the two-joint shoulder-elbow muscles were larger than the two-joint elbow-wrist muscles. Contrasting to previous single-joint studies, the reflex gains did not vary with the experimental conditions. It is concluded that during redundant multijoint posture maintenance, the mechanical properties are efficiently controlled on the joint level and not on the endpoint level.

Adult↗

PubMed2003

Attenuation of human neck muscle activity following repeated imposed trunk-forward linear acceleration.

It has been suggested that, after a passive linear acceleration of a seated subject which resembles a small, rear-end car impact, sensory information from proprioceptive, vestibular, and visual systems elicit stabilizing neck muscular responses. These neck muscular responses are presumably reflex based and are modified with the magnitude of the perturbation. A key issue that remains is to determine whether the neck and head postural responses can be modulated by a previous experience of the acceleration and not only by the magnitude of the acceleration. This question is of interest because, contrary to cadaver studies, one could expect that humans apprehending a rapid trunk acceleration would adopt a bracing behavior to minimize head movements. The aim of the present experiment was to verify whether neck-muscle activities can be modulated when prior knowledge about whole-body acceleration onset, direction, and magnitude are unknown compared with when only acceleration onset is unknown. Nine seated subjects were submitted to 11 imposed, forward linear accelerations (1.1 g). For the first trial, subjects were completely unaware of the platform acceleration characteristics (onset, direction, amplitude, and acceleration magnitude). For the subsequent ten trials, subjects knew they would be submitted to a forward linear acceleration, but the onset of the acceleration was unknown. Head kinematics and EMG responses of the neck muscles to the first perturbation were similar for all subjects (6.2 degrees head extension, EMG activity starting from 55 to 72 ms after platform onset). Following the first trial, however, all subjects showed a decreased neck EMG activity. Moreover, subjects responded in one of two ways across trials: one group of subjects ( n=5) maintained a constant head angular position and velocity, whereas the other group ( n=4) showed an increased head angular position (up to 12.6 degrees ) and velocity. This suggests that the first perturbation trial revealed a completely reactive response. After this initial trial, the responses observed may present a mixture of feedforward and feedback control. It is likely that whiplash injuries occur under conditions resembling those observed for the first trial only. If this is the case, the behavior for the following trials cannot be representative of injury mechanisms occurring in whiplash-like motion. Altogether, our results strongly suggest that, following repeated trunk linear accelerations of a constant magnitude, the nervous system prefers to minimize muscle stress instead of adopting a bracing strategy.

Acceleration↗

PubMed1990

Excitation-contraction coupling model to estimate the recirculating fraction of activator calcium in intact cardiac muscle.

Potentiated contractions were evoked with rapid pace pause maneuver in 14 length-clamped ferret papillary muscles paced 12 times/min at 25 degrees C. At 1.25 mM [Ca2+]o the average steady-state force was 2.94 +/- 1.08 g/mm2 and the potentiated contraction averaged 10.96 +/- 1.61 g/mm2. At 5.0 mM [Ca2+]o the steady-state force increased to 6.18 +/- 1.23 g/mm2 and the potentiated contraction averaged 12.08 +/- 1.15 g/mm2. Under the conditions of these experiments the potentiated contraction obtained at 5.0 mM [Ca2+]o is equal to the maximum twitch tension (Fmax) these muscles can generate. We have previously shown that Fmax is an equivalent of maximal calcium activated force. Since there is a beat to beat nearly exponential decay of the evoked potentiation, the fraction (= fraction x) of the potentiation that is not dissipated with each beat is nearly constant. Using an excitation-contraction coupling model we have previously found that x reflects a measure of the recirculating fraction of activator calcium. Because the tension-calcium relationship is better characterized by a sigmoidal curve, we have now incorporated the Hill equation in the model. To account for the inverse relationship between [Ca2+]i and the magnitude of the slow inward current, a term for negative feedback (h) was also included. We have determined the quantity (x-h) because x and h could not be determined separately. The quantity (x-h) was denoted as x'. The average values of x' at 1.25 and 5.0 mM [Ca2+]o were significantly different (p less than 0.0001), approximately 20% at the lower [Ca2+]o and about 50% at the higher [Ca2+]o.(ABSTRACT TRUNCATED AT 250 WORDS)

Acetylcholine↗

PubMed2002

Afferent feedback in the control of human gait.

Sensory activity contributes to motor control in two fundamentally different ways. It may mediate 'error signals' following sudden external perturbations and it may contribute to the pre-programmed motoneuronal drive. Here we review data, which illustrate these two functions of sensory feedback in relation to human walking. When ankle plantarflexors are unloaded in the stance phase there is a sudden decrease in the sensory activity in muscle and tendon afferents from the active muscles. This decrease in sensory activity results in a drop in EMG activity recorded from the soleus muscle, which demonstrates that the sensory activity contributes importantly to the activation of the muscles. Data suggests that a spinal pathway from gr. II muscle afferents is responsible for this positive feedback contribution to the motoneuronal drive during walking. When cutaneous nerves from the foot are stimulated in the early swing phase of walking a late reflex response may be observed in the tibialis anterior muscle. This reflex may help to ensure that the foot is lifted effectively over an obstacle. Data suggest that this reflex response is at least partly mediated by a transcortical reflex pathway. It seems to be important that reactions to external perturbations are integrated at a supraspinal level during human walking.

Ankle↗

PubMed1985

[Role of the commissural channels of the somatosensory system in the conduction of feedback signals during the control of voluntary movements].

The time-course of formation of the conditioned defence reflex and electromyograms of the working forelimb were studied on cats with classical and commissural somatosensory pathways transections. It was established that exclusion of the classical somatosensory projections only reduces the rate of the skill formation that is related to the possibility of conducting feedback signals via the remaining commissural pathways. However, the commissural channel in question is not effective enough, since its isolated functioning is accompanied by an increase in the duration of instrumental movement. The combined transection of the classical and commissural somatosensory pathways excludes the possibility of formation of the conditioned reflex on the "deafferented" limb. The lack of direct visual control over the moving forelimb does not essentially affect the behavioral and electromyographic data.

Animals↗

PubMed1994

The effect of motivation on shoulder-muscle tension in attention-demanding tasks.

This paper evaluates motivation as a task-related factor causing the development of psychologically mediated ('psychogenic') shoulder-muscle tension. In four separate experiments using a visual display unit (VDU) based complex reaction-time task, motivation was established by means of continuous feedback on the level of performance (relative to a preset target performance level) or by means of a money reward for good performance. In all experiments motivation improved the performance, but an increase in the psychogenic shoulder-muscle tension was only observed in the money-reward condition. It is discussed whether this difference in the muscle-tension response is due to changes in the subjects' attitude unrelated to performance or due to a superior performance in the money-reward condition.

Adult↗

PubMed1998

Neuromuscular control model of the arm including feedback and feedforward components.

A neuromusculoskeletal model of the human arm was developed which contains both feedforward and feedback control, and thereby accounts for motor control of fast movements as well as interaction with external forces. The feedforward control component forms an approximate representation of the inverse dynamics of the arm and its interaction with the environment. The feedback control component compensates for errors in the representation of the inverse dynamics and for unexpected forces acting on the arm. Moreover, the control system provides a solution for the redundancy of the muscles. The system performance is adapted in a learning procedure according to a specified goal function. It is shown in the paper that good control of the nonlinear musculoskeletal model and neural control signals which are similar to electromyographic (EMG) data, are attained. The response of the arm to external forces is analysed and compared with experimental data on arm impedance.

Arm↗

PubMed1997

Central modifications of reflex parameters may underlie the fastest arm movements.

Descending and reflex pathways usually converge on common interneurons and motoneurons. This implies that active movements may result from changes in reflex parameters produced by control signals conveyed by descending systems. Specifically, according to the lambda-model, a fast change in limb position is produced by a rapid change in the threshold of the stretch reflex. Consequently, external perturbations may be ineffective in eliciting additional reflex modifications of electromyographic (EMG) patterns unless the perturbations are relatively strong. In this way, the model accounts for the relatively weak effects of perturbations on the initial agonist EMG burst (Ag1) usually observed in fast movements. On the other hand, the same model permits robust reflex modifications of the timing and shape of the Ag1 in response to strong perturbations even in the fastest movements. To test the model, we verified the suggestion that the onset time of the Ag1, even in the fastest movements, depends on proprioceptive feedback in a manner consistent with a stretch reflex. In control trials, subjects (n = 6) made fast unopposed elbow flexion movements of approximately 60 degrees (peak velocity 500-700 degrees/s) in response to an auditory signal. In random test trials, a brief (50 ms) torque of 8-15 Nm either assisting or opposing the movement was applied 50 ms after this signal. Subjects had no visual feedback and were instructed not to correct arm deflections in case of perturbations. In all subjects, the onset time of the Ag1 depended on the direction of perturbation: it was 25-60 ms less in opposing compared with assisting load conditions. Assisting torques caused, at a short latency of 37 ms, an additional antagonist EMG burst preceding the Ag1. The direction-dependent effects of the perturbation persisted when cutaneous feedback was suppressed. It was concluded that the direction-dependent changes in the onset time and duration of the Ag1 as well as the antagonist activation preceding the Ag1 resulted from stretch reflex activity elicited by the perturbations rather than from a change in the control strategy or cutaneous reflexes. The results support the hypothesis on the hierarchical scheme of sensorimotor integration in which EMG patterns and movement emerge from the modification of the thresholds and other parameters of proprioceptive reflexes by control systems.

Adult↗

PubMed1999

Arm raising in humans under loaded vs. unloaded and bipedal vs. unipedal conditions.

The aim of the present experiment was to study the central organization of equilibrium control during arm raising in the frontal plane. Nine adult subjects (five seniors and four young adults) were asked to raise their right arm to a horizontal position in the frontal plane in two support conditions (bipedal vs. unipedal) and two load conditions (unloaded vs. a 3.5-kg load added on the moving hand). No instructions were given concerning the movement speed. The movements were performed at about half the maximum speed achievable under reaction time conditions. The final lateral center of mass (CM) position 1 s after the movement offset, and the time course of the CM shift during the movement were studied in the four experimental conditions, using a CM compensation index. The electromyographic (EMG) pattern of the main muscles involved in the movement performance and in the postural control were studied in three out of nine subjects during movements performed at two velocities (at the preferred speed and as fast as possible). The results indicate that (1) the CM shift remains minimized in the frontal plane during the time course of the arm movement and during the final stabilization of the arm regardless of the stance and load conditions; (2) the time course of the CM compensation index remains stable during the first 400 ms after the movement onset, decreasing late in the movement and increasing again at the end of the stabilization stage. A modelisation suggests that the time course is the result of the interaction of two controls: a first one, putative feedforward, starting early and decreasing with time and a second one, putative feedback, starting late in the movement and increasing with time; (3) both early and late index values are influenced by the support and load conditions, the highest index values being observed during unipedal stance and load conditions; (4) activation of quadratus lomborum (QL) contralateral to the raising arm is time locked with the deltoidus activation of the raising arm in both fast and slow movements: this contralateral QL activation corresponds to an anticipatory postural adjustment (APA) aimed at minimizing the CM shift.

Adult↗

PubMed1975

Lip and jaw motor control during speech: responses to resistive loading of the jaw.

Resistive loads were applied to the jaw during speech production. Loads were initiated during the jaw closing movement associated with the production of bilabial stops, creating a situation in which bilabial closure would be disrupted if motor control were independent of peripheral feedback. Three subjects were observed during control and experimental conditions. In all utterances in which a load was appropriately introduced, closure of the lips was achieved and the bilabial stop was adequately produced. To assess the nature of this control, displacement of the upper lip, lower lip, and jaw, in the inferior-superior dimension, were recorded along with EMG from medial pterygoid, anterior temporalis, masseter, and orbicularis oris superior muscles. Based on observation of these variables, it appears that the muscles of the lips and jaw are capable of on-line compensatory motor reorganization.

Adult↗

PubMed2004

Contribution of stretch reflexes to locomotor control: a modeling study.

It is known that the springlike properties of muscles provide automatic load compensation during weight bearing. How crucial is sensory control of the motor output given these basic properties of the locomotor system? To address this question, a neuromuscular model was used to test two hypotheses. (1) Stretch reflexes are too weak and too delayed to contribute significantly to weight-bearing. (2) The important contributions of sensory input involve state-dependent processing. We constructed a two-legged planar locomotor model with 9 segments, driven by 12 musculotendon actuators with Hill-type force-velocity and monotonic force-length properties. Electromyographic (EMG) profiles of the simulated muscle groups during slow level walking served as actuator activation functions. Spindle Ia and tendon organ Ib sensory inputs were represented by transfer functions with a latency of 35 ms, contributing 30% to the net EMG profile and gated to be active only when the receptor-bearing muscles were contracting. Locomotor stability was assessed by parametric variations of actuator maximum forces during locomotion in open-loop ("deafferented") trials and in trials with feedback control based on either sensory-evoked stretch reflexes or finite-state rules. We arrived at the following conclusions. (1) In the absence of sensory control, the intrinsic stiffness of limb muscles driven by a stereotyped rhythmical pattern can produce surprisingly stable gait. (2) When the level of central activity is low, the contribution of stretch reflexes to load compensation can be crucial. However, when central activity provides adequate load compensation, the contribution of stretch reflexes is less significant. (3) Finite-state control can greatly extend the adaptive capability of the locomotor system.

Computer Simulation↗

PubMed1985

Effect of training on voluntary activation of human fusimotor neurons.

The study was designed to determine if human subjects could develop a strategy that would allow them to activate muscle spindle afferents selectively, without contraction or stretch of the receptor-bearing muscle. Recordings were made from 19 identified muscle spindle afferents using insulated tungsten microelectrodes inserted into motor fascicles innervating ankle dorsiflexors, ankle plantar-flexors, and intrinsic muscles of the hand. The discharge of nine of the spindle endings accelerated in voluntary contractions at low levels of effort (less than 10% of maximum force). The remaining 10 endings had relatively high thresholds for activation in voluntary contractions. Despite periods of relative freedom to move and prolonged feedback of the spindle discharge and relevant electromyographic signals, subjects did not develop a strategy with which they could activate any of the afferents selectively. The findings suggest that fusimotor neurons in awake human subjects cannot be activated voluntarily without also activating low-threshold alpha-motoneurons. This is in contrast to reports of selective activity in muscle spindle afferents in freely moving cats. There are two possible explanations: 1) the motor tasks studied in man and cat are not equivalent, or 2) there is a species difference in the control and excitability of fusimotor neurons.

Action Potentials↗

PubMed1983

Cognitive and physiologic responses to EMG biofeedback and three types of pseudofeedback during a muscular relaxation task.

Four groups of normal human subjects were tested for their ability to reduce frontal muscle tension levels during presentation of veridical auditory biofeedback or auditory pseudofeedback. A double-blind methodology was used. Three groups of subjects assigned to the pseudofeedback conditions received a feedback signal that was not contingent on EMG activity but that followed one of three different patterns. One group received a truly random signal, the second received a signal that gradually increased in frequency (apparent failure), and the third received a signal that gradually decreased in frequency (apparent success). Dependent measures included both physiologic (frontal and neck EMG) and subjective reactions to the relaxation task. The different patterns of pseudofeedback did produce reliably different subjective responses, suggesting that the manipulations succeeded in producing unequal nonspecific effects that were unrelated to the feedback contingency specifically. However, these differential subjective effects were not strongly reflected in the physiologic responses since the differences in EMG levels among the four groups did not differ significantly at any stage of training. An analysis of the integrity of the double-blind procedure showed that although experimenters were effectively kept blind to group assignment, subjects' responding suggested a response bias as well as the possibility that the double-blind was breached. The utility of the double-blind methodology in biofeedback experiments is discussed and suggestions for future research are offered.

Biofeedback, Psychology↗

PubMed1985

Reflex compensation of voluntary inspiration when immersion changes diaphragm length.

When immersion alters inspiratory muscle operating lengths, spontaneously breathing humans maintain a constant tidal volume by reflex adjustment of inspiratory muscle activation (Reid et al. J. Appl. Physiol. 58: 1136-1142, 1985). We term this the operational length compensation reflex. The present experiment demonstrates that similar adjustments occur during voluntary respiratory maneuvers. Each of seven naive subjects sat in a tank with water at hip level. We trained them to reproduce an inspired volume (+/- 10%) at constant inspiratory duration. They received verbal feedback during training but not during the experiment. We measured surface electromyograms (EMGs) of diaphragm and intercostal muscles and tidal volume. After the subjects were trained, we made repeated measurements of 10 trained breaths with water at the hip and then again after raising water level to the xiphoid (which decreases lung volume and increases operating length of the diaphragm). In 30 of 42 trials there was a substantial fall in peak diaphragm EMG. In 10 trials this was sufficient to prevent any change in tidal volume. Inspiratory flow was more closely regulated than tidal volume. Subjects were not aware of making adjustments in drive.

Adult↗