Relationship between step length asymmetry and walking performance in subjects with chronic hemiparesis

Augmenting propulsion demands during split-belt walking increases locomotor adaptation of asymmetric step lengths

Background

Promising studies have shown that the gait symmetry of individuals with hemiparesis due to brain lesions, such as stroke, can improve through motor adaptation protocols forcing patients to use their affected limb more. However, little is known about how to facilitate this process. Here we asked if increasing propulsion demands during split-belt walking (i.e., legs moving at different speeds) leads to more motor adaptation and more symmetric gait in survivors of a stroke, as we previously observed in subjects without neurological disorders.

Methods

We investigated the effect of propulsion forces on locomotor adaptation during and after split-belt walking in the asymmetric motor system post-stroke. To test this, 12 subjects in the chronic phase post-stroke experienced a split-belt protocol in a flat and incline session so as to contrast the effects of two different propulsion demands. Step length asymmetry and propulsion forces were used to compare the motor behavior between the two sessions because these are clinically relevant measures that are altered by split-belt walking.

Results

The incline session resulted in more symmetric step lengths during late split-belt walking and larger after-effects following split-belt walking. In both testing sessions, subjects who have had a stroke adapted to regain speed and slope-specific leg orientations similarly to young, intact adults. Importantly, leg orientations, which were set by kinetic demands, during baseline walking were predictive of those achieved during split-belt walking, which in turn predicted each individual’s post-adaptation behavior. These results are relevant because they provide evidence that survivors of a stroke can generate the leg-specific forces to walk more symmetrically, but also because we provide insight into factors underlying the therapeutic effect of split-belt walking.

Conclusions

Individuals post-stroke at a chronic stage can adapt more during split-belt walking and have greater after-effects when propulsion demands are augmented by inclining the treadmill surface. Our results are promising since they suggest that increasing propulsion demands during paradigms that force patients to use their paretic side more could correct gait asymmetries post-stroke more effectively.

Lower limb muscle activity underlying temporal gait asymmetry post-stroke

OBJECTIVE

Asymmetric walking after stroke is common, detrimental, and difficult to treat, but current knowledge of underlying physiological mechanisms is limited. This study investigated electromyographic (EMG) features of temporal gait asymmetry (TGA).

METHODS

Participants post-stroke with or without TGA and control adults (n = 27, 8, and 9, respectively) performed self-paced overground gait trials. EMG, force plate, and motion capture data were collected. Lower limb muscle activity was compared across groups and sides (more/less affected).

RESULTS

Significant group by side interaction effects were found: more affected plantarflexor stance activity ended early (p = .0006) and less affected dorsiflexor on/off time was delayed (p < .01) in persons with asymmetry compared to symmetric and normative controls. The TGA group exhibited fewer dorsiflexor bursts during swing (p = .0009).

CONCLUSIONS

Temporal patterns of muscular activation, particularly about the ankle around the stance-to-swing transition period, are associated with TGA. The results may reflect specific impairments or compensations that affect locomotor coordination.

SIGNIFICANCE

Neuromuscular underpinnings of spatiotemporal asymmetry have not been previously characterized. These novel findings may inform targeted therapeutic strategies to improve gait quality after stroke.

Use of real-time visual feedback during overground walking training on gait symmetry and velocity in patients with post-stroke hemiparesis: randomized controlled, single-blind study

This study aimed to determine the efficacy of using real-time visual feedback during overground walking training to improve walking function in patients with post-stroke hemiparesis. Twenty-four patients with post-stroke hemiparesis who were able to walk independently under less impact of synergy pattern on the affected lower limbs (Brunnstrom stage IV or V) were randomly assigned to either the experimental group or the control group. All subjects performed overground walking for 30 min, three times a week for 6 weeks, with real-time visual feedback (weight load to the affected lower limb) provided during training for subjects in the experimental group. Outcome measures comprised the timed up-and-go test and gait parameters (step length, stride length, single and double support times, step and stride length ratios, and single support time ratio). In between-group comparison, the changes between pre-test and post-test scores in all parameters were significantly greater in the experimental group than in the control group (P < 0.05), except for double support time and step length ratio. Furthermore, post-test values of all parameters were significantly more improved in the experimental group than in the control group (P < 0.05). Our findings suggest that real-time visual feedback may be an advantageous therapeutic adjunct to reinforce the effects of overground walking training in patients with post-stroke hemiparesis.

Effects of mechanical perturbation gait training on gait and balance function in patients with stroke: A pre-post research study

Patients with stroke (PwS) demonstrate impaired gait and balance, and asymmetric gait, placing them at high risk of falls. We aimed to investigate the effects of a single training session that included mechanical external perturbation which resists forward movement of the paretic leg during its swing phase of walking on gait and balance in PwS. In a pre-post pilot study, gait asymmetry and balance function were assessed in 22 first-event chronic PwS (i.e., unilateral hemiparesis). PwS underwent tests during baseline and one week later, after participating in a single training session that resisted forward stepping during the swing phase of walking with a device secured around the patient's waist and connected diagonally to the patient's foot by a tension cord. Ground reaction forces and center of pressure were sampled during treadmill gait to assess step length asymmetry. Performance-oriented mobility assessment (POMA), a two-minute walk test (2MWT), and the voluntary step execution test were also measured. We found no significant improvement in step length asymmetry. However, POMA scores, as well as voluntary step execution tests improved with a moderate effect size. It seems that applying diagonal resistance force to the swinging leg resulted in insufficient horizontal force. However, the improvement in the preparation phase, i.e., better weight-bearing abilities during the voluntary stepping, may be due to the compression force applied to the lower limb joints thus providing proprioceptive training. This suggests that proprioceptive training may improve gait performance in stroke patients in a very short training period.

Wearer-Prosthesis Interaction for Symmetrical Gait: A Study Enabled by Reinforcement Learning Prosthesis Control

With advances in robotic prostheses, rese-archers attempt to improve amputee's gait performance (e.g., gait symmetry) beyond restoring normative knee kinematics/kinetics. Yet, little is known about how the prosthesis mechanics/control influence wearer-prosthesis' gait performance, such as gait symmetry, stability, etc. This study aimed to investigate the influence of robotic transfemoral prosthesis mechanics on human wearers' gait symmetry. The investigation was enabled by our previously designed reinforcement learning (RL) supplementary control, which simultaneously tuned 12 control parameters that determined the prosthesis mechanics throughout a gait cycle. The RL control design facilitated safe explorations of prosthesis mechanics with the human in the loop. Subjects were recruited and walked with a robotic transfemoral prosthesis on a treadmill while the RL controller tuned the control parameters. Stance time symmetry, step length symmetry, and bilateral anteroposterior (AP) impulses were measured. The data analysis showed that changes in robotic knee mechanics led to movement variations in both lower limbs and therefore gait temporal-spatial symmetry measures. Consistent across all the subjects, inter-limb AP impulse measurements explained gait symmetry: the stance time symmetry was significantly correlated with the net inter-limb AP impulse, and the step length symmetry was significantly correlated with braking and propulsive impulse symmetry. The results suggest that it is possible to personalize transfemoral prosthesis control for improved temporal-spatial gait symmetry. However, adjusting prosthesis mechanics alone was insufficient to maximize the gait symmetry. Rather, achieving gait symmetry may require coordination between the wearer's motor control of the intact limb and adaptive control of the prosthetic joints. The results also indicated that the RL-based prosthesis tuning system was a potential tool for studying wearer-prosthesis interactions.

Does kinematic gait quality improve with functional gait recovery? A longitudinal pilot study on early post-stroke individuals

Typical clinical gait outcomes mostly focus on function; only sparse information exists on gait quality, i.e. symmetry or more natural gait patterns. It remains unclear whether functional gait recovery improves with gait quality, or whether these are two independent processes. The objective of this observational pilot study is to examine whether the gait quality improves with gait function (i.e. speed) over the course of early recovery. Full lower body gait kinematics were measured longitudinally in a clinical environment using wearable inertial measurement units. We recorded six individuals with subacute stroke (<1 month) for a total of 56 physical therapy sessions over the initial recovery stage of 12 weeks. We examined relations between gait symmetry in spatiotemporal, limb and joint kinematic parameters compared to gait function. We observed that overall gait symmetry improved with walking speed, but limb and joint kinematic parameters remained asymmetric at the maximum level of recovery (both p < 0.01). We also found that limb kinematic parameters (R² = 41.9%) of the impaired side was preferentially associated with functional gait recovery over joint kinematics (R² = 33.1%). These data suggest that our pilot cohort did not achieve "true" gait recovery despite achieving typical measures of recovery in gait speed and spatiotemporal symmetry. These initial results illustrate the multifaceted nature of recovery and justify further research on monitoring gait quality with a larger clinical study, providing insight for more effective training regimens.

Real-Time Avatar-Based Feedback to Enhance the Symmetry of Spatiotemporal Parameters After Stroke: Instantaneous Effects of Different Avatar Views

Gait asymmetry, one of the hallmarks of post stroke locomotion, often persists despite gait rehabilitation interventions, impacting negatively on functional mobility. Real-time feedback and biological cues have been studied extensively in recent years, but their applicability to post-stroke gait symmetry remain questionable. This proof-of-concept study examined the feasibility and instantaneous effects of real-time visual feedback provided in the form of an avatar in twelve participants with stroke on gait symmetry and other gait-related outcomes. The visual avatar was presented via three different views from the back, front and paretic side. Avatar feedback from the paretic side view showed significant increase in bilateral step length, paretic swing time and treadmill walking speed, but no significant differences were found in symmetry measures in any of the three views. Those who had changes in symmetry ratio >0 were grouped as responders to spatial symmetry improvement in the side view. The responders had a significantly higher Chedoke-McMaster Stroke Assessment foot score and presented with a larger initial step length on the paretic side. Furthermore, all participants provided positive feedback and no adverse effects were observed during the experiment. Overall, these findings suggest that real-time avatar-based feedback can be used as an intervention to improve post-stroke gait asymmetry.

Gait characteristics of post-stroke hemiparetic patients with different walking speeds

Hemiparesis resulting from stroke presents characteristic spatiotemporal gait patterns. This study aimed to clarify the spatiotemporal gait characteristics of hemiparetic patients by comparing them with height-, speed-, and age-matched controls while walking at various speeds. The data on spatiotemporal gait parameters of stroke patients and that of matched controls were extracted from a hospital gait analysis database. In total, 130 pairs of data were selected for analysis. Patients and controls were compared for spatiotemporal gait parameters and the raw value (RSI) and absolute value (ASI) of symmetry index and coefficient of variation (CV) of these parameters. Stroke patients presented with prolonged nonparetic stance (patients vs. controls: 1.01 ± 0.41 vs. 0.83 ± 0.25) and paretic swing time (0.45 ± 0.12 vs. 0.39 ± 0.07), shortened nonparetic swing phase (0.35 ± 0.07 vs. 0.39 ± 0.07), and prolonged paretic and nonparetic double stance phases [0.27 ± 0.13 (paretic)/0.27 ± 0.17 (nonparetic) vs. 0.22 ± 0.10]. These changes are especially seen in low-gait speed groups (<3.4 km/h). High RSIs of stance and swing times were also observed (-9.62 ± 10.32 vs. -0.79 ± 2.93, 24.24 ± 25.75 vs. 1.76 ± 6.43, respectively). High ASIs and CVs were more generally observed, including the groups with gait speed of ≥3.5 km/h. ASI increase of the swing phase (25.79 ± 22.69 vs. 4.83 ± 4.88) and CV of the step length [7.7 ± 4.9 (paretic)/7.6 ± 5.0 (nonparetic) vs. 5.3 ± 3.0] were observed in all gait speed groups. Our data suggest that abnormalities in the spatiotemporal parameters of hemiparetic gait should be interpreted in relation to gait speed. ASIs and CVs could be highly sensitive indices for detecting gait abnormalities.

Altered post-stroke propulsion is related to paretic swing phase kinematics

BACKGROUND

Gait propulsion is often altered following a stroke, with clear effects on anterior progression. Changes in the pattern of propulsion could potentially also influence swing phase mechanics. The purpose of the present study was to investigate whether post-stroke variability in paretic propulsion magnitude or timing influence paretic swing phase kinematics.

METHODS

29 chronic stroke survivors participated in this study, walking on an instrumented treadmill at their self-selected and fastest-comfortable speeds. For each participant, we calculated several propulsion-related metrics derived from anteroposterior ground reaction force or from center of mass power, as well as knee flexion angle and circumduction displacement during the swing phase. We performed a series of linear mixed model analyses to determine whether the propulsion metrics for the paretic leg were related to paretic swing phase mechanics.

FINDINGS

A subset of the stroke survivors exhibited unusual braking forces late in the paretic stance phase, when strong propulsion typically occurs among uninjured controls. Beyond the effects of walking speed or walking condition, these braking forces were significantly linked with altered paretic swing phase mechanics. Specifically, large braking impulses were associated with reduced paretic knee flexion (p = 0.039) and increased paretic circumduction (p = 0.023).

INTERPRETATION

The present results suggest that braking forces late in stance are particularly indicative of deficits in the production of typical swing phase kinematics. This relationship suggests that therapies designed to address altered swing kinematics should also consider altered force generation in late stance, as these behaviors appear to be coupled.

Quadriceps Neuromuscular and Physical Function After Anterior Cruciate Ligament Reconstruction

CONTEXT

Persistent neuromuscular deficits in the surgical limb after anterior cruciate ligament reconstruction (ACLR) have been repeatedly described in the literature, yet little is known regarding their association with physical performance and patient-reported function.

OBJECTIVE

To describe (1) interlimb differences in neuromuscular and functional outcomes and (2) the associations of neuromuscular outcomes with measures of physical and knee-related patient-reported function.

DESIGN

Cross-sectional study.

SETTING

Laboratory.

PATIENTS OR OTHER PARTICIPANTS

Thirty individuals after primary, unilateral ACLR (19 males; age = 21.5 years [range, 14-41 years]; 8 months [range = 6-23 months] postsurgery).

MAIN OUTCOME MEASURE(S)

Knee-extensor isometric and isokinetic peak torque was measured with an isokinetic dynamometer. Cross-sectional area (CSA) was measured bilaterally for each of the quadriceps muscles via magnetic resonance imaging. We measured quadriceps central activation bilaterally via the superimposed-burst technique. Physical performance (single-legged hop tests, step length via spatiotemporal gait analysis) and patient-reported outcomes (International Knee Documentation Committee questionnaire and Knee Injury and Osteoarthritis Outcome Score Sport and Recreation subscale) were also recorded. We conducted Wilcoxon signed rank tests to identify interlimb differences. Spearman ρ correlation analyses revealed associations between limb symmetry and neuromuscular and functional outcomes, as well as with patient-reported function.

RESULTS

Deficits in the surgical limb as compared with the nonsurgical limb were present for all outcomes (P values < .05). Greater single-legged hop-test symmetry (83%) was significantly correlated with greater symmetry in knee-extensor isometric (63%; r_s = 0.567, P = .002) and isokinetic (68%; r_s = 0.540, P = .003) strength, as well as greater cross-sectional area of the vastus medialis (78%; r_s = 0.519, P = .006) and vastus lateralis (82%; r_s = 0.752, P < .001). A higher International Knee Documentation Committee questionnaire score (82.2) was significantly correlated with greater symmetry in knee-extensor isokinetic strength (r_s = 0.379, P = .039).

CONCLUSIONS

Although deficits were observed in the surgical limb for all neuromuscular measures, greater symmetry in the size and strength of the quadriceps, rather than activation, was more strongly associated with physical performance after ACLR. Greater symmetry in strength was also more strongly associated with patient-reported function.

Validity of Measurement for Trailing Limb Angle and Propulsion Force during Gait Using a Magnetic Inertial Measurement Unit

Propulsion force and trailing limb angle (TLA) are meaningful indicators for evaluating quality of gait. This study examined the validity of measurement for TLA and propulsion force during various gait conditions using magnetic inertial measurement units (IMU), based on measurements using a three-dimensional motion analysis system and a force platform. Eighteen healthy males (mean age 25.2  ±  3.2 years, body height 1.70   ±  0.06 m) walked with and without trunk fluctuation at preferred, slow, and fast velocities. IMU were fixed on the thorax, lumbar spine, and right thigh and shank. IMU calculated the acceleration and tilt angles in a global coordinate system. TLA, consisting of a line connecting the hip joint with the ankle joint, and the laboratory's vertical axis at late stance in the sagittal plane, was calculated from thigh and shank segment angles obtained by IMU, and coordinate data from the motion analysis system. Propulsion force was estimated by the increment of velocity calculated from anterior acceleration measured by IMU fixed on the thorax and lumbar spine, and normalized impulse of the anterior component of ground reaction force (AGRF) during late stance. Similarity of TLA measured by IMU and the motion analysis system was tested by the coefficient of multiple correlation (CMC), intraclass correlation coefficient (ICC), and root mean square (RMS) of measurement error. Relationships between normalized impulse of AGRF and increments of velocity, as measured by IMU, were tested using correlation analysis. CMC of TLA was 0.956–0.959. ICC between peak TLAs was 0.831–0.876 (p < 0.001), and RMS of error was 1.42°–1.92°. Velocity increment calculated from acceleration on the lumbar region showed strong correlations with normalized impulse of AGRF (r = 0.755–0.892, p < 0.001). These results indicated a high validity of estimation of TLA and propulsion force by IMU during various gait conditions; these methods would be useful for best clinical practice.

Effectiveness of rehabilitation interventions to improve paretic propulsion in individuals with stroke - A systematic review

BACKGROUND

Stroke survivors often show reduced walking velocity and gait asymmetry. These gait abnormalities are associated with reduced propulsion of the paretic leg. This review aimed to provide an overview of the potential effectiveness of post-stroke rehabilitation interventions to improve paretic propulsion, ankle kinetics and walking velocity.

METHODS

A systematic search was performed in Pubmed, Web of Science, Embase, and Pedro. Studies were eligible if they reported changes in propulsion measures (impulse, peak value and symmetry ratios) or ankle kinetics (moment and power) following intervention in stroke survivors (group size ≥10). Study selection, data extraction and quality assessment were performed independently by two authors.

FINDINGS

A total of 28 studies were included, of which 25 studies applied exercise interventions, two studies focused on surgical interventions, and one on non-invasive brain stimulation. The number of high-quality trials was limited (N = 6; score Downs and Black scale ≥19). Propulsion measures were the primary outcome in eight studies. In general, mixed results were reported with 14 interventions yielding improvements in propulsion and ankle kinetics. In contrast, gains in walking velocity were observed in the vast majority of studies (N = 20 out of 23).

INTERPRETATION

Interventions that yielded gains in propulsion appeared to have in common that they challenged and/or enabled the utilization of latent propulsive capacity of the paretic leg during walking. Walking speed generally increased, regardless of the observed change in propulsion, suggesting the use of compensatory mechanisms. Findings should, however, be interpreted with some caution, as the evidence base for this emerging focus of rehabilitation is limited.

Gait Asymmetry Post-Stroke: Determining Valid and Reliable Methods Using a Single Accelerometer Located on the Trunk

Asymmetry is a cardinal symptom of gait post-stroke that is targeted during rehabilitation. Technological developments have allowed accelerometers to be a feasible tool to provide digital gait variables. Many acceleration-derived variables are proposed to measure gait asymmetry. Despite a need for accurate calculation, no consensus exists for what is the most valid and reliable variable. Using an instrumented walkway (GaitRite) as the reference standard, this study compared the validity and reliability of multiple acceleration-derived asymmetry variables. Twenty-five post-stroke participants performed repeated walks over GaitRite whilst wearing a tri-axial accelerometer (Axivity AX3) on their lower back, on two occasions, one week apart. Harmonic ratio, autocorrelation, gait symmetry index, phase plots, acceleration, and jerk root mean square were calculated from the acceleration signals. Test-retest reliability was calculated, and concurrent validity was estimated by comparison with GaitRite. The strongest concurrent validity was obtained from step regularity from the vertical signal, which also recorded excellent test-retest reliability (Spearman's rank correlation coefficients (rho) = 0.87 and Intraclass correlation coefficient (ICC21) = 0.98, respectively). Future research should test the responsiveness of this and other step asymmetry variables to quantify change during recovery and the effect of rehabilitative interventions for consideration as digital biomarkers to quantify gait asymmetry.

Human Gait Analysis Metric for Gait Retraining

The combined gait asymmetry metric (CGAM) provides a method to synthesize human gait motion. The metric is weighted to balance each parameter's effect by normalizing the data so all parameters are more equally weighted. It is designed to combine spatial, temporal, kinematic, and kinetic gait parameter asymmetries. It can also combine subsets of the different gait parameters to provide a more thorough analysis. The single number quantifying gait could assist robotic rehabilitation methods to optimize the resulting gait patterns. CGAM will help define quantitative thresholds for achievable balanced overall gait asymmetry. The study presented here compares the combined gait parameters with clinical measures such as timed up and go (TUG), six-minute walk test (6MWT), and gait velocity. The comparisons are made on gait data collected on individuals with stroke before and after twelve sessions of rehabilitation. Step length, step time, and swing time showed a strong correlation to CGAM, but the double limb support asymmetry has nearly no correlation with CGAM and ground reaction force asymmetry has a weak correlation. The CGAM scores were moderately correlated with TUG and strongly correlated to 6MWT and gait velocity.

Use of Pelvic Corrective Force With Visual Feedback Improves Paretic Leg Muscle Activities and Gait Performance After Stroke

The purpose of this study was to examine the effects of combined pelvic corrective force and visual feedback during treadmill walking on paretic leg muscle activity and gait characteristics in individuals with post-stroke hemiparesis. Fifteen chronic stroke participants completed visual feedback only and combined pelvic corrective force and visual feedback conditions during treadmill walking. Each condition included: 1-minute baseline, 7-minute training with visual feedback only or additional pelvic corrective force, 1-minute post training, 1-minute standing break, and another 5-minute training. EMGs from the paretic leg muscles and step length were measured. Overground walking was evaluated before treadmill walking, immediately and 10 minutes after treadmill walking. Greater increases in integrated EMG of all muscles, except vastus medialis and tibialis anterior, were observed with the application of additional pelvic corrective force compared to visual feedback only during treadmill walking. Overground walking speed significantly increased after treadmill training with combined pelvic correction force and visual feedback, but was not significant for the visual feedback only condition. Voluntary weight shifting with additional pelvic corrective force enhanced paretic leg muscle activities and improved gait characteristics during walking. Individuals with post-stroke hemiparesis could adapt feedforward control and generalize the adaptation to overground walking.

Training for Walking Efficiency With a Wearable Hip-Assist Robot in Patients With Stroke: A Pilot Randomized Controlled Trial

Background and Purpose- The purpose of this study was to investigate the effects of gait training with a newly developed wearable hip-assist robot on locomotor function and efficiency in patients with chronic stroke. Methods- Twenty-eight patients with stroke with hemiparesis were initially enrolled, and 26 patients completed the randomized controlled trial (14 in the experimental and 12 in the control groups). The experimental group participated in a gait training program over a total of 10 sessions, including 5 treadmill sessions and 5 over-ground gait training sessions while wearing a hip-assist robot, the Gait Enhancing and Motivating System (GEMS, Samsung Advanced Institute of Technology, Suwon, Republic of Korea). The control group received gait training without Gait Enhancing and Motivating System. Primary outcome measured locomotor function and cardiopulmonary metabolic energy efficiency. Also, secondary outcome measured motor function and balance parameter. Results- Compared with the control group, the experimental group had significantly greater improvement in spatiotemporal gait parameters and muscle efforts after the training intervention (P<0.05). The net cardiopulmonary metabolic energy cost (mL·kg^-1·min^-1) was also reduced by 14.71% in the experimental group after the intervention (P<0.01). Significant group×time interactions were observed for all parameters (P<0.05). Cardiopulmonary metabolic efficiency was strongly correlated with gait symmetry ratio in the experimental group (P<0.01). Conclusions- Gait training with Gait Enhancing and Motivating System was effective for improving locomotor function and cardiopulmonary metabolic energy efficiency during walking in patients with stroke. These findings suggest that robotic locomotor training can be adopted for rehabilitation of patients with stroke with gait disorders. Clinical Trial Registration- URL: https://clinicaltrials.gov. Unique identifier: NCT02843828.

Phase-Synchronized Assistive Torque Control for the Correction of Kinematic Anomalies in the Gait Cycle

Gait anomalies give rise to several clinical problems in stroke survivors, which restrict their functional mobility and have a negative impact on their quality of life. Robotics-aided gait training post-stroke has proven capable of improving patients' functional walking, but so far it has not performed significantly better than conventional therapy. We hypothesize that an exoskeleton-based training program, aimed at correcting deficits in the leg joints' movement, could produce greater improvements in gait function than conventional therapy. As a first step towards testing this hypothesis, we designed an exoskeleton control to correct a typical kinematic deficit post-stroke, namely, reduced knee flexion on the paretic side during swing. The proposed control attempts to minimize this deficit by delivering assistive torque synchronized with the continuous phase of the patient's gait. Nine healthy male participants walked in a unilateral cable-driven exoskeleton while subject to an artificial knee flexion impairment produced by a custom-made knee brace. The experiments employed a treadmill featuring a variable-velocity control to allow self-selected gait speed. The artificial impairment by itself caused a significant reduction in peak flexion angle (p = 0.000129). Exoskeleton assistance compensated most of the knee flexion deficit, yielding no significant difference with unrestricted flexion (p = 0.3393). No significant changes in self-selected gait speed or stride frequency were detected. The proposed control can be expanded to correct motion deficits in other joints at different stages of the gait cycle.

Preliminary Clinical Application of Textile Insole Sensor for Hemiparetic Gait Pattern Analysis

Post-stroke gait dysfunction occurs at a very high prevalence. A practical method to quantitatively analyze the characteristics of hemiparetic gait is needed in both clinical and community settings. This study developed a 10-channeled textile capacitive pressure sensing insole (TCPSI) with a real-time monitoring system and tested its performance through hemiparetic gait pattern analysis. Thirty-five subjects (18 hemiparetic, 17 healthy) walked down a 40-m long corridor at a comfortable speed while wearing TCPSI inside the shoe. For gait analysis, the percentage of the plantar pressure difference (PPD), the step count, the stride time, the coefficient of variation, and the phase coordination index (PCI) were used. The results of the stroke patients showed a threefold higher PPD, a higher step count (41.61 ± 10.7), a longer average stride time on the affected side, a lower mean plantar pressure on the affected side, higher plantar pressure in the toe area and the lateral side of the foot, and a threefold higher PCI (hemi: 19.50 ± 13.86%, healthy: 5.62 ± 5.05%) compared to healthy subjects. This study confirmed that TCPSI is a promising tool for distinguishing hemiparetic gait patterns and thus may be used as a wearable gait function evaluation tool, the external feedback gait training device, and a simple gait pattern analyzer for both hemiparetic patients and healthy individuals.

Effect of Scapular Stabilization Exercise during Standing on Upper Limb Function and Gait Ability of Stroke Patients

Background

The purpose of this study was to determine the effect of scapular stabilization exercise during standing on a paretic side on upper limb function and gait ability of stroke patients.

Methods

This study was a hospital-based, randomized controlled trial with a blinded assessor. A total of 17 patients with hemiplegic diagnosis after stroke were divided into two groups (9 patients in a study group and 8 patients in a control group). The study group received physical therapy and scapular stabilization exercise on a paretic side. Participants were subjected to initial evaluation before the treatment. Subjects were subsequently re-evaluated 4 and 8 weeks later to compare the changes. Measurements of hand function and gait ability were performed.

Results

Based on multivariate analysis of variance for repeated-measures, there was a significant time effect for Timed Up and Go test (TUG) (F = 13.816, P = 0.000), Functional Gait Assessment (FGA) (F = 18.613, P = 0.000), and manual function test (MFT) (F = 16.777, P = 0.000). The group × time interaction effect was also significant for FGA (F = 4.966, P = 0.024) and MFT (F = 6.946, P = 0.003), but not for TUG test (F = 3.343, P = 0.069).

Conclusion

Results of the present study indicated that scapular stabilization exercise during standing on a paretic side for 8 weeks had an effect on hand function and gait ability of hemiplegic patients after stroke. Further studies are needed to find the most proper exercise for stroke patients who have gait disability and upper limb dysfunction.

Pendular energy transduction in the different phases of gait cycle in post-stroke subjects

MAIN: To analyze spatiotemporal gait parameters and the body center of mass (CoM) energy transduction at self-selected speed walking in a group of older patients with stroke.

METHODS

A cross-sectional study, fifteen subjects with 4.06 years post ̵stroke hemiparesis (eleven men and four women) and fifteen healthy subjects (four men and eleven women) participate in this study. Pendulum-like determining variables; Recovery (R) and Congruity percentage (%Cong) were analyzed in addition to immediate pendular re-conversion (Rint) during the phases in which the gait cycle is usually divided in clinical evaluations.

RESULTS

Healthy subjects walked faster that stroke group (p = 0.001). %Cong was significantly higher in post-stroke respect to healthy subjects (p = 0.05). Rint showed significant differences between the groups for all phases (p = 0.05). The relation between speed and R was confirmed, for healthy (r = 0.67, p = 0.006) and post-stroke subjects (r = 0.851, p = 0.001), %Cong y Rint (r = -0.79, p = 0.001), (r = -0.93, p = 0.001) and periods of double support (r = -0.76, p = 0.001), (r = 0.69, p = 0.004) respectively.

CONCLUSION

Alteration of pendular mechanism in subjects post-stroke is associated mainly with energy transduction; mechanical energy recovered during double support phases in healthy and post-stroke subjects follows a different trend, in post-stroke subjects, a longer duration of the double support is associated with less energy loss.

Kinematic and Functional Gait Changes After the Utilization of a Foot Drop Stimulator in Pediatrics

Foot drop is one of the most common secondary conditions associated with hemiplegia post stroke and cerebral palsy (CP) in children, and is characterized by the inability to lift the foot (dorsiflexion) about the ankle. This investigation focuses on children and adolescents diagnosed with brain injury and aims to evaluate the orthotic and therapeutic effects due to continuous use of a foot drop stimulator (FDS). Seven children (10 ± 3.89 years) with foot drop and hemiplegia secondary to brain injury (stroke or CP) were evaluated at baseline and after 3 months of FDS usage during community ambulation. Primary outcome measures included using mechanistic (joint kinematics, toe displacement, temporal-spatial asymmetry), and functional gait parameters (speed, step length, time) to evaluate the orthotic and therapeutic effects. There was a significant correlation between spatial asymmetry and speed without FDS at 3 months (r = 0.76, p < 0.05, df = 5) and no correlation between temporal asymmetry and speed for all conditions. The results show orthotic effects including significant increase in toe displacement (p < 0.025 N = 7) during the swing phase of gait while using the FDS. A positive correlation exists between toe displacement and speed (with FDS at 3 months: r = 0.62, p > 0.05, without FDS at 3 months: r = 0.44, p > 0.05). The results indicate an orthotic effect of increased dorsiflexion and toe displacement during swing with the use of the FDS in children with hemiplegia. Further, the study suggests that there could be a potential long-term effect of increased dorsiflexion during swing with continuous use of FDS.

Perturbation-Induced Stepping Post-stroke: A Pilot Study Demonstrating Altered Strategies of Both Legs

Introduction: Asymmetrical sensorimotor function after stroke creates unique challenges for bipedal tasks such as walking or perturbation-induced reactive stepping. Preference for initiating steps with the less-involved (preferred) leg after a perturbation has been reported with limited information on the stepping response of the more-involved (non-preferred) leg. Understanding the capacity of both legs to respond to a perturbation would enhance the design of future treatment approaches. This pilot study investigated the difference in perturbation-induced stepping between legs in stroke participant and non-impaired controls. We hypothesized that stepping performance will be different between groups as well as between legs for post-stroke participants.

Methods: Thirty-six participants (20 persons post-stroke, 16 age matched controls) were given an anterior perturbation from three stance positions: symmetrical (SS), preferred asymmetrical (PAS−70% body weight on the preferred leg), and non-preferred asymmetrical (N-PAS−70% body weight on the non-preferred leg). Kinematic and kinetic data were collected to measure anticipatory postural adjustment (APA), characteristics of the first step (onset, length, height, duration), number of steps, and velocity of the body at heel strike. Group differences were tested using the Mann-Whitney U-test and differences between legs tested using the Wilcoxon signed-rank test with an alpha level of 0.05.

Results: Stepping with the more-involved leg increased from 11.5% of trials in SS and N-PAS up to 46% in PAS stance position for participants post-stroke. Post-stroke participants had an earlier APA and always took more steps than controls to regain balance. However, differences between post-stroke and control participants were mainly found when stance position was modified. Compare to controls, steps with the preferred leg (N-PAS) were earlier and shorter (in time and length), whereas steps with the non-preferred leg (PAS) were also shorter but took longer. For post-stroke participants, step duration was longer and utilized more steps when stepping with the more-involved leg compared to the less-involved leg.

Conclusions: Stepping with the more-involved leg can be facilitated by unweighting the leg. The differences between groups, and legs in post-stroke participants illustrate the simultaneous bipedal role (support and stepping) both legs have in reactive stepping and should be considered for reactive balance training.

Motor module generalization across balance and walking is impaired after stroke

Muscle coordination is often impaired after stroke, leading to deficits in the control of walking and balance. In this study, we examined features of muscle coordination associated with reduced walking performance in chronic stroke survivors using motor module (a.k.a. muscle synergy) analysis. We identified differences between stroke survivors and age-similar neurotypical controls in the modular control of both overground walking and standing reactive balance. In contrast to previous studies that demonstrated reduced motor module number poststroke, our cohort of stroke survivors did not exhibit a reduction in motor module number compared with controls during either walking or reactive balance. Instead, the pool of motor modules common to walking and reactive balance was smaller, suggesting reduced generalizability of motor module function across behaviors. The motor modules common to walking and reactive balance tended to be less variable and more distinct, suggesting more reliable output compared with motor modules specific to either behavior. Greater motor module generalization in stroke survivors was associated with faster walking speed, more normal step length asymmetry, and narrower step widths. Our work is the first to show that motor module generalization across walking and balance may help to distinguish important and clinically relevant differences in walking performance across stroke survivors that would have been overlooked by examining only a single behavior. Finally, because similar relationships between motor module generalization and walking performance have been demonstrated in healthy young adults and individuals with Parkinson's disease, this suggests that motor module generalization across walking and balance may be important for well-coordinated walking. NEW & NOTEWORTHY This is the first work to simultaneously examine neuromuscular control of walking and standing reactive balance in stroke survivors. We show that motor module generalization across these behaviors (i.e., recruiting common motor modules) is reduced compared with controls and is associated with slower walking speeds, asymmetric step lengths, and larger step widths. This is true despite no between-group differences in module number, suggesting that motor module generalization across walking and balance is important for well-coordinated walking.

Real-World Gait Speed Estimation Using Wrist Sensor: A Personalized Approach

Gait speed is an important parameter to characterize people's daily mobility. For real-world speed measurement, inertial sensors or global navigation satellite system (GNSS) can be used on wrist, possibly integrated in a wristwatch. However, power consumption of GNSS is high and data are only available outdoor. Gait speed estimation using wrist-mounted inertial sensors is generally based on machine learning and suffers from low accuracy because of the inadequacy of using limited training data to build a general speed model that would be accurate for the whole population. To overcome this issue, a personalized model was proposed, which took unique gait style of each subject into account. Cadence and other biomechanically derived gait features were extracted from a wrist-mounted accelerometer and barometer. Gait features were fused with few GNSS data (sporadically sampled during gait) to calibrate the step length model of each subject through online learning. The proposed method was validated on 30 healthy subjects where it has achieved a median [Interquartile Range] of root mean square error of 0.05 [0.04-0.06] (m/s) and 0.14 [0.11-0.17] (m/s) for walking and running, respectively. Results demonstrated that the personalized model provided similar performance as GNSS. It used 50 times less training GNSS data than nonpersonalized method and achieved even better results. This parsimonious GNSS usage allowed extending battery life. The proposed algorithm met requirements for applications which need accurate, long, real-time, low-power, and indoor/outdoor speed estimation in daily life.

Large Propulsion Demands Increase Locomotor Adaptation at the Expense of Step Length Symmetry

There is an interest to identify factors facilitating locomotor adaptation induced by split-belt walking (i.e., legs moving at different speeds) because of its clinical potential. We hypothesized that augmenting braking forces, rather than propulsion forces, experienced at the feet would increase locomotor adaptation during and after split-belt walking. To test this, forces were modulated during split-belt walking with distinct slopes: incline (larger propulsion than braking), decline (larger braking than propulsion), and flat (similar propulsion and braking). Step length asymmetry was compared between groups because it is a clinically relevant measure robustly adapted on split-belt treadmills. Unexpectedly, the group with larger propulsion demands (i.e., the incline group) changed their gait the most during adaptation, reached their final adapted state more quickly, and had larger after-effects when the split-belt perturbation was removed. We also found that subjects who experienced larger disruptions of propulsion forces in early adaptation exhibited greater after-effects, which further highlights the catalytic role of propulsion forces on locomotor adaptation. The relevance of mechanical demands on shaping our movements was also indicated by the steady state split-belt behavior, during which each group recovered their baseline leg orientation to meet leg-specific force demands at the expense of step length symmetry. Notably, the flat group was nearly symmetric, whereas the incline and decline group overshot and undershot step length symmetry, respectively. Taken together, our results indicate that forces propelling the body facilitate gait changes during and after split-belt walking. Therefore, the particular propulsion demands to walk on a split-belt treadmill might explain the gait symmetry improvements in hemiparetic gait following split-belt training.

Paretic propulsion as a measure of walking performance and functional motor recovery post-stroke: A review

BACKGROUND

Although walking speed is the most common measure of gait performance post-stroke, improved walking speed following rehabilitation does not always indicate the recovery of paretic limb function. Over the last decade, the measure paretic propulsion (Pp, defined as the propulsive impulse generated by the paretic leg divided by the sum of the propulsive impulses of both legs) has been established as a measure of paretic limb output and recently targeted in post-stroke rehabilitation paradigms. However, the literature lacks a detailed synthesis of how paretic propulsion, walking speed, and other biomechanical and neuromuscular measures collectively relate to post-stroke walking performance and motor recovery.

OBJECTIVE

The aim of this review was to assess factors associated with the ability to generate Pp and identify rehabilitation targets aimed at improving Pp and paretic limb function.

METHODS

Relevant literature was collected in which paretic propulsion was used to quantify and assess propulsion symmetry and function in hemiparetic gait.

RESULTS

Paretic leg extension during terminal stance is strongly associated with Pp. Both paretic leg extension and propulsion are related to step length asymmetry, revealing an interaction between spatiotemporal, kinematic and kinetic metrics that underlies hemiparetic walking performance. The importance of plantarflexor function in producing propulsion is highlighted by the association of an independent plantarflexor excitation module with increased Pp. Furthermore, the literature suggests that although current rehabilitation techniques can improve Pp, these improvements depend on the patient's baseline plantarflexor function.

SIGNIFICANCE

Pp provides a quantitative measure of propulsion symmetry and should be a primary target of post-stroke gait rehabilitation. The current literature suggests rehabilitation techniques that target both plantarflexor function and leg extension may restore paretic limb function and improve gait asymmetries in individuals post stroke.

FES-assisted Cycling Improves Aerobic Capacity and Locomotor Function Postcerebrovascular Accident

PURPOSE

After a cerebrovascular accident (CVA) aerobic deconditioning contributes to diminished physical function. Functional electrical stimulation (FES)-assisted cycling is a promising exercise paradigm designed to target both aerobic capacity and locomotor function. This pilot study aimed to evaluate the effects of an FES-assisted cycling intervention on aerobic capacity and locomotor function in individuals post-CVA.

METHODS

Eleven individuals with chronic (>6 months) post-CVA hemiparesis completed an 8-wk (three times per week; 24 sessions) progressive FES-assisted cycling intervention. V˙O2peak, self-selected, and fastest comfortable walking speeds, gait, and pedaling symmetry, 6-min walk test (6MWT), balance, dynamic gait movements, and health status were measured at baseline and posttraining.

RESULTS

Functional electrical stimulation-assisted cycling significantly improved V˙O2peak (12%, P = 0.006), self-selected walking speed (SSWS, 0.05 ± 0.1 m·s, P = 0.04), Activities-specific Balance Confidence scale score (12.75 ± 17.4, P = 0.04), Berg Balance Scale score (3.91 ± 4.2, P = 0.016), Dynamic Gait Index score (1.64 ± 1.4, P = 0.016), and Stroke Impact Scale participation/role domain score (12.74 ± 16.7, P = 0.027). Additionally, pedal symmetry, represented by the paretic limb contribution to pedaling (paretic pedaling ratio [PPR]) significantly improved (10.09% ± 9.0%, P = 0.016). Although step length symmetry (paretic step ratio [PSR]) did improve, these changes were not statistically significant (-0.05% ± 0.1%, P = 0.09). Exploratory correlations showed moderate association between change in SSWS and 6-min walk test (r = 0.74), and moderate/strong negative association between change in PPR and PSR.

CONCLUSIONS

These results support FES-assisted cycling as a means to improve both aerobic capacity and locomotor function. Improvements in SSWS, balance, dynamic walking movements, and participation in familial and societal roles are important targets for rehabilitation of individuals after CVA. Interestingly, the correlation between PSR and PPR suggests that improvements in pedaling symmetry may translate to a more symmetric gait pattern.

Lower Local Dynamic Stability and Invariable Orbital Stability in the Activation of Muscle Synergies in Response to Accelerated Walking Speeds

In order to achieve flexible and smooth walking, we must accomplish subtasks (e. g., loading response, forward propulsion or swing initiation) within a gait cycle. To evaluate subtasks within a gait cycle, the analysis of muscle synergies may be effective. In the case of walking, extracted sets of muscle synergies characterize muscle patterns that relate to the subtasks within a gait cycle. Although previous studies have reported that the muscle synergies of individuals with disorders reflect impairments, a way to investigate the instability in the activations of muscle synergies themselves has not been proposed. Thus, we investigated the local dynamic stability and orbital stability of activations of muscle synergies across various walking speeds using maximum Lyapunov exponents and maximum Floquet multipliers. We revealed that the local dynamic stability in the activations decreased with accelerated walking speeds. Contrary to the local dynamic stability, the orbital stability of the activations was almost constant across walking speeds. In addition, the increasing rates of maximum Lyapunov exponents were different among the muscle synergies. Therefore, the local dynamic stability in the activations might depend on the requirement of motor output related to the subtasks within a gait cycle. We concluded that the local dynamic stability in the activation of muscle synergies decrease as walking speed accelerates. On the other hand, the orbital stability is sustained across broad walking speeds.

Propulsive Forces Applied to the Body's Center of Mass Affect Metabolic Energetics Poststroke

OBJECTIVE

To investigate the effect of timing and magnitude of horizontally directed propulsive forces to the center of mass (COM) on the metabolic cost of walking (COW) for individuals poststroke.

DESIGN

Repeated-measures, within-subject design.

SETTING

Research laboratory.

PARTICIPANTS

A total of 9 individuals with chronic hemiparesis poststroke and 7 unimpaired similarly aged controls (N=16).

INTERVENTION

Individuals walked on a treadmill in 2 separate studies. First, we compared the metabolic COW with an anterior force applied to the COM that (1) coincided with paretic propulsion or (2) was applied throughout the gait cycle. Next, we compared the metabolic COW with anterior (assistive) or posterior (resistive) forces applied during paretic propulsion.

MAIN OUTCOME MEASURE

Metabolic COW.

RESULTS

The COW was significantly greater in the Stroke group. Anterior (propulsive) assistance reduced the COW differently based on group. The Stroke group exhibited a 12% reduction in COW when assistance was provided only during paretic propulsion, but not when assistance was provided throughout the gait cycle. In contrast, the Control group demonstrated reduced COW during both anterior assistance conditions. In addition, we observed that resistance during paretic propulsion (simulated hemiparesis for Control group) significantly increased the COW.

CONCLUSIONS

Systematically manipulating propulsive forces at the body's COM had a profound influence on metabolic cost. The timing of propulsive forces to the COM is important and needs to coincide with paretic terminal stance. Additional internally or externally generated propulsive forces applied to the body's COM poststroke may produce a lower metabolic COW.

Gait Training with Bilateral Rhythmic Auditory Stimulation in Stroke Patients: A Randomized Controlled Trial

The aim of this study was to investigate the effect of gait training with bilateral rhythmic auditory stimulation (RAS) on lower extremity rehabilitation in stroke patients. Forty-four participants (<6 months after stroke) were randomly allocated to the gait training with bilateral rhythmic auditory stimulation (GTBR) group (n = 23) and the control group (n = 21). The GTBR group had gait training with bilateral RAS for 30 min a day, 5 days a week, in a 6-week period, in addition to conventional therapy. The control group had gait training without RAS, and conventional therapy. Outcome measures included gait symmetry, gait ability, balance ability, and lower extremity function. Gait symmetry on step time showed significant improvements compared to baseline (p < 0.05) in the GTBR group, but not in the control group. Gait ability was significantly improved in both groups relative to baseline values (p < 0.05), and the GTBR group showed significantly greater improvement in comparison to the control group (p < 0.05). Both groups showed significant improvements in the Timed Up and Go test (TUG), Berg Balance Scale (BBS), and Fugl–Meyer Assessment (FMA) compared to baseline (p < 0.05). GTBR is an effective therapeutic method of improving symmetric gait in stroke rehabilitation. Moreover, we found that GTBR beat frequency matching fast step time might be even more beneficial in improving gait symmetry. Future studies may develop a method of applying RAS on step time and length for improvement of gait symmetry in stroke patients.

Suppression of somatosensory stimuli during motor planning may explain levels of balance and mobility after stroke

The ability to actively suppress, or gate, irrelevant sensory information is required for safe and efficient walking in sensory-rich environments. Both motor attention and motor planning alter somatosensory evoked potentials (SEPs) in healthy adults. This study's aim was to examine the effect of motor attention on processing of irrelevant somatosensory information during plantar flexion motor planning after stroke. Thirteen healthy older adults and 11 individuals with stroke participated. Irrelevant tibial nerve stimulation was delivered while SEPs were recorded over Cz, overlaying the leg portion of the sensorimotor cortex at the vertex of the head. Three conditions were tested in both legs: (1) Rest, (2) Attend To, and (3) Attend Away from the stimulated limb. In conditions 2 and 3, relevant vibration cued voluntary plantar flexion movements of the stimulated (Attend To) or non-stimulated (Attend Away) leg. SEP amplitudes were averaged during motor planning per condition. Individuals with stroke did not show attention-mediated gating of the N40 component associated with irrelevant somatosensory information during motor planning. It may be that dysfunction in pathways connecting to area 3b explains the lack of attention-mediated gating of the N40. Also, attention-mediated gating during motor planning explained significant and unique variance in a measure of community balance and mobility combined with response time. Thus, the ability to gate irrelevant somatosensory information appears important for stepping in both older adults and after stroke. Our data suggest that therapies that direct motor attention could positively impact walking after stroke.

Exoskeleton assistance symmetry matters: unilateral assistance reduces metabolic cost, but relatively less than bilateral assistance

BACKGROUND

Many gait impairments are characterized by asymmetry and result in reduced mobility. Exoskeletons could be useful for restoring gait symmetry by assisting only one leg. However, we still have limited understanding of the effects of unilateral exoskeleton assistance. Our aim was to compare the effects of unilateral and bilateral assistance using a within-subject study design.

METHODS

Eleven participants walked in different exoskeleton conditions. In the Unilateral conditions, only one leg was assisted. In Bilateral Matched Total Work, half of the assistance from the Unilateral conditions was applied to both legs such that the bilateral sum was equal to that of the Unilateral conditions. In Bilateral Matched Work Per Leg, the same assistance as in the Unilateral conditions was provided to both legs such that the bilateral sum was the double of that of the Unilateral conditions. In the Powered-Off condition, no assistance was provided. We measured metabolic energy consumption, exoskeleton mechanics and kinematics.

RESULTS

On average, the Unilateral, Bilateral Matched Total Work and Bilateral Matched Work Per Leg conditions reduced the metabolic rate by 7, 11 and 15%, respectively, compared with the Powered-Off condition. A possible explanation for why the Unilateral conditions effectively reduced the metabolic rate could be that they caused only very little asymmetry in gait biomechanics, except at the ankle and in the horizontal center-of-mass velocity. We found the highest ratio of metabolic rate reduction versus positive work assistance with bilateral assistance and low work per leg (Bilateral Matched Total Work). Statistical analysis indicated that assistance symmetry and assistance per leg are more important than the bilateral summed assistance for reducing the metabolic rate of walking.

CONCLUSIONS

These data bridge the gap between conclusions from studies with unilateral and bilateral exoskeletons and inform how unilateral assistance can be used to influence gait parameters, such as center-of-mass velocity.

Comparative effects of robotic-assisted gait training combined with conventional physical therapy on paretic hip joint stiffness and kinematics between subacute and chronic hemiparetic stroke

BACKGROUND

Robotic-assisted gait training (RAGT) has been proposed as a novel, promising intervention paradigm to improve gait function in subacute or chronic stroke neurorehabilitation. However, the benefits of RAGT combined with conventional physical therapy for gait recovery in patients with subacute and chronic hemiparetic stroke remain unclear.

OBJECTIVES

The aim of the present study was to compare the effect of RAGT combine with conventional physical therapy on hip joint kinetics, kinematics, and clinical function characteristics between subacute and chronic hemiparetic stroke.

METHODS

Seventeen patients with hemiparetic stroke (nine subacute and eight chronic patients) performed progressive RAGT (session 1, 40 min) combined with conventional physical therapy (session 1, 40 min) 5 days per week, for an average of 86 sessions over 8 weeks. The clinical outcomes included the Functional Ambulation Category (FAC), modified Rankin scale (mRS), Korean version of the modified Barthel index (K-MBI), and modified Ashworth scale, in addition to hip joint kinetics and kinematics before and after intervention.

RESULTS

The mean change in active torque, resistive torque, and stiffness in the paretic hip joint did not differ significantly between the two groups. However, Cohen's effect size suggested a moderate difference between the groups in the hip flexion phase (d = 0.58, d = 0.70, and d = 0.70). The mean change in maximal hip flexion kinematics in the chronic group was significantly greater than that in the subacute group (p = 0.04, d = -0.70). The mean change in the clinical function test results between the groups was not statistically significant. However, both groups showed significantly improved FAC, mRS, and K-MBI scores.

CONCLUSIONS

RAGT combine with conventional physical therapy may be useful when selecting therapeutic interventions to improve the active torque, resistive torque, and stiffness in the paretic hip flexion phase in patients with chronic hemiparetic stroke who reached a plateau in the maximum locomotor recovery after conventional locomotor training.

Individual Differences in Locomotor Function Predict the Capacity to Reduce Asymmetry and Modify the Energetic Cost of Walking Poststroke

Changes in the control of the lower extremities poststroke lead to persistent biomechanical asymmetries during walking. These asymmetries are associated with an increase in energetic cost, leading to the possibility that reducing asymmetry can improve walking economy. However, the influence of asymmetry on economy may depend on the direction and cause of asymmetry. For example, impairments with paretic limb advancement may result in shorter paretic steps, whereas deficits in paretic support or propulsion result in shorter nonparetic steps. Given differences in the underlying impairments responsible for step length asymmetry, the capacity to reduce asymmetry and the associated changes in energetic cost may not be consistent across this population. Here, we identified factors explaining individual differences in the capacity to voluntarily reduce step length asymmetry and modify energetic cost during walking. A total of 24 individuals poststroke walked on a treadmill, with visual feedback of their step lengths to aid explicit modification of asymmetry. We found that individuals who took longer paretic steps had a greater capacity to reduce asymmetry and were better able to transfer the effects of practice to overground walking than individuals who took shorter paretic steps. In addition, changes in metabolic cost depended on the direction of asymmetry, baseline cost of transport, and reductions in specific features of spatiotemporal asymmetry. These results demonstrate that many stroke survivors retain the residual capacity to voluntarily walk more symmetrically on a treadmill and overground. However, whether reductions in asymmetry reduce metabolic cost depends on individual differences in impairments affecting locomotor function.

Neural Constraints Affect the Ability to Generate Hip Abduction Torques When Combined With Hip Extension or Ankle Plantarflexion in Chronic Hemiparetic Stroke

Stroke lesions interrupt descending corticofugal fibers that provide the volitional control of the upper and lower extremities. Despite the evident manifestation of movement impairments post-stroke during standing and gait, neural constraints in the ability to generate joint torque combinations in the lower extremities are not yet well determined. Twelve chronic hemiparetic participants and 8 age-matched control individuals participated in the present study. In an isometric setup, participants were instructed to combine submaximal hip extension or ankle plantarflexion torques with maximal hip abduction torques. Statistical analyses were run using linear mixed effects models. Results for the protocol combining hip extension and abduction indicate that participants post-stroke have severe limitations in the amount of hip abduction torque they can generate, dependent upon hip extension torque magnitude. These effects are manifested in the paretic extremity by the appearance of hip adduction torques instead of hip abduction at higher levels of hip extension. In the non-paretic extremity, significant reductions of hip abduction were also observed. In contrast, healthy control individuals were capable of combining varied levels of hip extension with maximal hip abduction. When combining ankle plantarflexion and hip abduction, only the paretic extremity showed reductions in the ability to generate hip abduction torques at increased levels of ankle plantarflexion. Our results provide insight into the neural mechanisms controlling the lower extremity post-stroke, supporting previously hypothesized increased reliance on postural brainstem motor pathways. These pathways have a greater dominance in the control of proximal joints (hip) compared to distal joints (ankle) and lead to synergistic activation of musculature due to their diffuse, bilateral connections at multiple spinal cord levels. We measured, for the first time, bilateral constraints in hip extension/abduction coupling in hemiparetic stroke, again in agreement with the expected increased reliance on bilateral brainstem motor pathways. Understanding of these neural constraints in the post-stroke lower extremities is key in the development of more effective rehabilitation interventions that target abnormal joint torque coupling patterns.

Conservation of Reactive Stabilization Strategies in the Presence of Step Length Asymmetries During Walking

The ability to maintain dynamic balance in response to unexpected perturbations during walking is largely mediated by reactive control strategies. Reactive control during perturbed walking can be characterized by multiple metrics such as measures of whole-body angular momentum (WBAM), which capture the rotational dynamics of the body, and through Floquet analysis which captures the orbital stability of a limit cycle attractor. Recent studies have demonstrated that people with spatiotemporal asymmetries during gait have impaired control of whole-body dynamics as evidenced by higher peak-to-peak ranges of WBAM over the gait cycle. While this may suggest that spatiotemporal asymmetries could impair stability, no studies have quantified how direct modification of asymmetry influences reactive balance control. Here, we used a biofeedback paradigm that allows participants to systematically adopt different levels of step length asymmetry to test the hypothesis that walking asymmetrically impairs the reactive control of balance. In addition, we tested the hypothesis that perturbations to the non-dominant leg would cause less whole-body rotation due to its hypothesized role in weight support during walking. We characterized reactive control strategies in two ways. We first computed integrated angular momentum to characterize changes in whole-body configuration during multi-step responses to perturbations. We also computed the maximum Floquet multipliers (FMs) across the gait cycle, which represent the rate of convergence back to limit cycle behavior. Our results show that integrated angular momentum during the perturbation step and subsequent recovery steps, as well as the magnitude of maximum FMs over the gait cycle, do not change across levels of asymmetry. However, our results showed both limb-dependent and limb-independent responses to unexpected perturbations. Overall, our findings suggest that there is no causal relationship between step length asymmetry and impaired reactive control of balance in the absence of neuromotor impairments. Our approach could be used in future studies to determine if reducing asymmetries in populations with neuromotor impairments, such people post-stroke or amputees improves dynamic stability.

Immediate effects of talus-stabilizing taping on balance and gait parameters in patients with chronic stroke: a cross-sectional study

BACKGROUND

Talus-stabilizing taping (TST) may improve ankle range of motion and gait performance by providing a posterior-inferior talar glide in a closed-chain dorsiflexion position.

OBJECTIVES

This study aimed to investigate the immediate effects of TST on balance and gait parameters in patients with chronic stroke.

METHODS

Twenty post-stroke patients participated in this study. Each participant performed tests under three conditions (TST, barefoot, and conventional ankle-foot orthosis [AFO]), in random order. Before testing, the patients walked for 10 min under the three conditions, followed by a 5 min rest period. The outcome measures were static balance ability (SBA), timed up-and-go (TUG) test results, and gait parameters evaluated using a 6-m-long gait mat. One-way repeated measures analysis of variance was used to determine the difference in balance and gait parameters under the three conditions.

RESULTS

SBA more significantly improved in the TST condition than in the barefoot condition. SBA more significantly improved in the conventional AFO condition than in the barefoot condition. The TUG test results more significantly improved in the TST condition than in the conventional AFO and barefoot conditions. Walking speed, cadence, and affected side and unaffected side step and stride lengths more significantly improved in the TST condition than in the conventional AFO and barefoot conditions.

CONCLUSIONS

This study used a cross-sectional method and demonstrated that TST improves SBA, TUG, gait speed, cadence, step length, and stride length in patients with chronic stroke.

Pelvic excursion during walking post-stroke: A novel classification system

BACKGROUND

Researchers and clinicians often use gait speed to classify hemiparetic gait dysfunction because it offers clinical predictive capacity. However, gait speed fails to distinguish unique biomechanical characteristics that differentiate aspects of gait dysfunction.

RESEARCH QUESTION

Here we describe a novel classification of hemiparetic gait dysfunction based on biomechanical traits of pelvic excursion. We hypothesize that individuals with greater deviation of pelvic excursion, relative to controls, demonstrate greater impairment in key gait characteristics.

METHODS

We compared 41 participants (61.0 ± 11.2yrs) with chronic post-stroke hemiparesis to 21 non-disabled controls (55.8 ± 9.0yrs). Participants walked on an instrumented split-belt treadmill at self-selected walking speed. Pelvic excursion was quantified as the peak-to-peak magnitude of pelvic motion in three orthogonal planes (i.e., tilt, rotation, and obliquity). Raw values of pelvic excursion were compared against the distribution of control data to establish deviation scores which were assigned bilaterally for the three planes producing six values per individual. Deviation scores were then summed to produce a composite pelvic deviation score. Based on composite scores, participants were allocated to one of three categories of hemiparetic gait dysfunction with progressively increasing pelvic excursion deviation relative to controls: Type I (n = 15) - minimal pelvic excursion deviation; Type II (n = 20) - moderate pelvic excursion deviation; and Type III (n = 6) - marked pelvic excursion deviation. We assessed resulting groups for asymmetry in key gait parameters including: kinematics, joint powers temporally linked to the stance-to-swing transition, and timing of lower extremity muscle activity.

RESULTS

All groups post-stroke walked at similar self-selected speeds; however, classification based on pelvic excursion deviation revealed progressive asymmetry in gait kinematics, kinetics and temporal patterns of muscle activity.

SIGNIFICANCE

The progressive asymmetry revealed in multiple gait characteristics suggests exaggerated pelvic motion contributes to gait dysfunction post-stroke.

Effect of different designs of ankle-foot orthoses on gait in patients with stroke: A systematic review

BACKGROUND

Ankle foot orthoses (AFOs) are used to improve the gait of patients with stroke.

RESEARCH QUESTION

The current review aimed at evaluating the efficacy of different designs of AFOs and comparison between them on the gait parameters of individuals with hemiplegic stroke.

METHODS

The search strategy was based on the population intervention comparison outcome (PICO) method. A search was performed in PubMed, ISI Web of Knowledge, Scopus, Science Direct, and Google Scholar databases.

RESULTS

A total of 27 articles were found for the final evaluation. All types of AFOs had positive effects on ankle kinematic in the first rocker and swing phases, but not on knee kinematics in the swing phase, hip kinematics or the third rocker function. All trials, except two, assessed immediate or short-term effects only. The articulated passive AFO compared with the non-articulated passive AFO had better effects on some aspects of the gait of patients with hemiplegia following stroke, more investigations are needed in this regard though.

SIGNIFICANCE

An ankle-foot orthosis can immediately improve the dropped foot in the stance and swing phases. The effects of long-term usage and comparison among the different types of AFOs need to be evaluated.

A soft robotic exosuit improves walking in patients after stroke

Stroke-induced hemiparetic gait is characteristically slow and metabolically expensive. Passive assistive devices such as ankle-foot orthoses are often prescribed to increase function and independence after stroke; however, walking remains highly impaired despite-and perhaps because of-their use. We sought to determine whether a soft wearable robot (exosuit) designed to supplement the paretic limb's residual ability to generate both forward propulsion and ground clearance could facilitate more normal walking after stroke. Exosuits transmit mechanical power generated by actuators to a wearer through the interaction of garment-like, functional textile anchors and cable-based transmissions. We evaluated the immediate effects of an exosuit actively assisting the paretic limb of individuals in the chronic phase of stroke recovery during treadmill and overground walking. Using controlled, treadmill-based biomechanical investigation, we demonstrate that exosuits can function in synchrony with a wearer's paretic limb to facilitate an immediate 5.33 ± 0.91° increase in the paretic ankle's swing phase dorsiflexion and 11 ± 3% increase in the paretic limb's generation of forward propulsion (P < 0.05). These improvements in paretic limb function contributed to a 20 ± 4% reduction in forward propulsion interlimb asymmetry and a 10 ± 3% reduction in the energy cost of walking, which is equivalent to a 32 ± 9% reduction in the metabolic burden associated with poststroke walking. Relatively low assistance (~12% of biological torques) delivered with a lightweight and nonrestrictive exosuit was sufficient to facilitate more normal walking in ambulatory individuals after stroke. Future work will focus on understanding how exosuit-induced improvements in walking performance may be leveraged to improve mobility after stroke.

Effects of visual cue and cognitive motor tasks on standing postural control following a chronic stroke

[Purpose] The objective of the study was to examine the effects of visual cue and cognitive motor tasks on quiet standing posture center of pressure (COP) and the weight loads to the paretic and non-paretic legs in chronic stroke patients. [Subjects and Methods] Twenty chronic stroke patients were included in the study. COP total distance, sway velocity, and the weight loads to the paretic and non-paretic legs of the participants were measured while they performed a visual cue task, cognitive motor task, and dual task. The parameters were compared using a repeated three-way analysis of variance. [Results] When the visual cue was provided, the COP total distance and sway velocity were significantly reduced compared with when no visual cue was given. When the cognitive motor task was performed, the COP total distance and sway velocity decreased significantly compared to when the task was not performed. [Conclusion] These findings suggest that visual cue and cognitive motor tasks could be used as parts of a rehabilitative training program to improve the control of standing in chronic stroke patients. In addition, visual cues can be used as an intervention to train the paretic leg of stroke patients.

Comparing Gait with Multiple Physical Asymmetries Using Consolidated Metrics

Physical changes such as leg length discrepancy, the addition of a mass at the distal end of the leg, the use of a prosthetic, and stroke frequently result in an asymmetric gait. This paper presents a metric that can potentially serve as a benchmark to categorize and differentiate between multiple asymmetric bipedal gaits. The combined gait asymmetry metric (CGAM) is based on modified Mahalanobis distances, and it utilizes the asymmetries of gait parameters obtained from motion capture and force data recorded during human walking. The gait parameters that were used in this analysis represent spatio-temporal, kinematic, and kinetic parameters. This form of a consolidated metric will help researchers identify overall gait asymmetry by showing them if the overall gait symmetry is improving and avoid the case where one parameter's symmetry is improving while another is getting worse. The CGAM metric successfully served as a measure for overall symmetry with eleven different gait parameters and successfully showed differences among gait with multiple physical asymmetries. The results showed that mass at the distal end had a larger magnitude on overall gait asymmetry compared to leg length discrepancy. It also showed that the combined effects are varied based on the cancelation effect between gait parameters. The metric was also successful in delineating the differences of prosthetic gait and able-bodied gait at three different walking velocities.

Effects of real-time gait biofeedback on paretic propulsion and gait biomechanics in individuals post-stroke

Objectives Gait training interventions that target paretic propulsion induce improvements in walking speed and function in individuals post-stroke. Previously, we demonstrated that able-bodied individuals increase propulsion unilaterally when provided real-time biofeedback targeting anterior ground reaction forces (AGRF). The purpose of this study was to, for the first time, investigate short-term effects of real-time AGRF gait biofeedback training on post-stroke gait. Methods Nine individuals with post-stroke hemiparesis (6 females, age = 54 ± 12.4 years 39.2 ± 24.4 months post-stroke) completed three 6-minute training bouts on an instrumented treadmill. During training, visual and auditory biofeedback were provided to increase paretic AGRF during terminal stance. Gait biomechanics were evaluated before training, and during retention tests conducted 2, 15, and 30 minutes post-training. Primary dependent variables were paretic and non-paretic peak AGRF; secondary variables included paretic and non-paretic peak trailing limb angle, plantarflexor moment, and step length. In addition to evaluating the effects of biofeedback training on these dependent variables, we compared effects of a 6-minute biofeedback training bout to a non-biofeedback control condition. Results Compared to pre-training, significantly greater paretic peak AGRFs were generated during the 2, 15, and 30-minute retention tests conducted after the 18-minute biofeedback training session. Biofeedback training induced no significant effects on the non-paretic leg. Comparison of a 6-minute biofeedback training bout with a speed-matched control bout without biofeedback demonstrated a main effect for training type, with greater peak AGRF generation during biofeedback. Discussion Our results suggest that AGRF biofeedback may be a feasible and promising gait training strategy to target propulsive deficits in individuals post-stroke.

Speed-Dependent Modulation of Muscle Activity Based on Muscle Synergies during Treadmill Walking

The regulation of walking speed is easily achieved. However, the central nervous system (CNS) must coordinate numerous muscles in order to achieve a smooth and continuous control of walking speed. To control walking speed appropriately, the CNS may need to utilize a simplified system for the control of numerous muscles. Previous studies have revealed that the CNS may control walking via muscle synergies that simplify the control of muscles by modularly organizing several muscles. We hypothesized that the CNS controls the walking speed by flexibly modulating activation of muscle synergies within one gait cycle. Then, we investigated how the activation of muscle synergies depend on walking speeds using the center of activity (CoA) that indicates the center of the distribution of activation timing within one gait cycle. Ten healthy men walked on a treadmill at 14 different walking speeds. We measured the surface electromyograms (EMGs) and kinematic data. Muscle synergies were extracted using non-negative matrix factorization. Then, we calculated the CoA of each muscle synergy. We observed that the CoA of each specific synergy would shift as the walking speed changed. The CoA that was mainly activated during the heel contact phase (C₁) and the activation that contributed to the double support phase (C₃) shifted to the earlier phase as the walking speed increased, whereas the CoA that produced swing initiation motion (C₄) and the activation that related to the late-swing phase (C₅) shifted to the later phase. This shifting of the CoA indicates that the CNS controls intensive activation of muscle synergies during the regulation of walking speed. In addition, shifting the CoA might be associated with changes in kinematics or kinetics depending on the walking speed. We concluded that the CNS flexibly controls the activation of muscle synergies in regulation of walking speed.