The influence of solid ankle-foot-orthoses on forward propulsion and dynamic balance in healthy adults during walking

A wearable ankle-assisted robot for improving gait function and pattern in stroke patients

BACKGROUND

Hemiplegic gait after a stroke can result in a decreased gait speed and asymmetrical gait pattern. Normal gait patterns and speed are typically the ultimate goals of gait function in stroke rehabilitation. The purpose of this study was to investigate the immediate effects of the Gait Enhancing and Motivating System-Ankle (GEMS-A) on gait function and pattern in stroke patients with hemiplegia.

METHODS

A total of 45 eligible participants was recruited for the study. The experimental protocol consisted of overground gait at a comfortable speed under 2 conditions: free gait (FG) without robot assistance and robot-assisted gait (RAG). All measurement data were collected using a 3D motion capture system with 8 infrared cameras and 2 force plates.

RESULTS

Patients in the RAG condition had significantly increased gait speed, cadence, gait symmetry, and peak flexion angle and moment of the paretic ankle joint compared to the FG condition. Moreover, the RAG resulted in higher propulsive forces by altering peak ankle force generation compared with the FG.

CONCLUSION

The findings of this study provide evidence that a newly developed wearable ankle-assist robot, the GEMS-A, is a potentially useful walking assist device for improving gait function and pattern in stroke patients with hemiplegia.

TRIAL REGISTRATION

NCT03767205 (first registration date: 02/12/2018, URL: https://register.

CLINICALTRIALS

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Inducing asymmetric gait in healthy walkers: a review

Gait symmetry between both legs is a typical hallmark of healthy walking. In contrast, several pathologies induce asymmetry in the gait pattern, regarding both spatial and temporal features. This can be due to either an asymmetrical change of the body morphology-e.g., after an amputation or an injury-or a damage in the brain-such as stroke or cerebral palsy. This deficit in gait symmetry usually induces higher metabolic effort in locomotion and might further accelerate severe comorbidities such as osteoarthritis and low back pain. Consequently, several assistive devices-such as active exoskeletons or prostheses-are currently developed to mitigate gait asymmetry and restore a healthier gait pattern. Typically, the development of such devices requires extensive tests and validations, and it is practically and ethically not always desirable to recruit disabled patients to run these tests in the preliminary stages of development. In this review paper, we collect and analyse the different reversible interventions described in the literature that can induce asymmetry in the gait pattern of healthy walkers. We perform a systematic literature research by exploring five databases, i.e., Pubmed, Embase, Web of Science, Google Scholar, and Scopus. This narrative review identifies more than 150 articles reporting 16 different interventional methods used to induce asymmetric gait pattern in healthy walkers or with the potential to do so. These interventions are categorized according to their mode of action, and their effects on spatiotemporal parameters, joint kinematics and kinetics are summarized adopting a macroscopic viewpoint. Interventions are compared in terms of efficacy, maturity of the results, and applicability. Recommendations are provided for guiding researchers in the field in using each of the identified manipulations in its most relevant research contexts.

Investigating the effects of ankle foot orthoses on electromyography in impaired populations: a systematic review

PURPOSE

Despite ample evidence supporting ankle foot orthoses (AFOs) for enhancing ambulation in those with neuromuscular impairment, a prevalent belief among rehabilitation professionals is that AFO use may lead to disuse and reduced muscle activity of the lower leg. To determine the effects of AFO intervention on electromyography (EMG) activity during walking in individuals with neuromuscular impairment.

MATERIALS AND METHODS

Five databases were searched for studies that met the predefined inclusion criteria and were published any time through April 2024. AFO design characteristics, muscle groups measured, study design, experimental comparisons, and EMG parameters were extracted from each study. Methodological quality of the included studies was assessed using the modified PEDro scale.

RESULTS

Twenty studies met the inclusion criteria. AFO interventions utilized, EMG outcomes utilized, and result interpretations varied widely. In situations of hypertonicity, reduced EMG activity was deemed a positive outcome, while other studies viewed it negatively. Seven longitudinal studies found no adverse long-term impact on EMG activity.

CONCLUSION

The results of this review challenge the clinical belief that AFOs cause muscle disuse over time; however, the heterogeneity of AFO designs prevents broad statements related to which orthoses optimize muscle activity.

Patients with multiple sclerosis and low disability display cautious rotational behavior during gait initiation

BACKGROUND

Multiple sclerosis induces locomotor impairments. The objective was to characterize the effects of Multiple Sclerosis on whole-body angular momentum control during gait initiation.

METHODS

Fifteen patients with Multiple Sclerosis with Expanded Disability status scale of 2.5 and 16 healthy participants were instructed to perform gait initiation. Spatiotemporal parameters, whole-body angular momentum, net external moment about the body's center of mass and its components were calculated by using a 3D motion capture system and two force plates.

FINDINGS

Patients with Multiple Sclerosis had a significantly smaller whole-body angular momentum range during the double support phase of gait initiation in the transversal plane (p = 0.011), and smaller net external moment at the transition between the initial double support phase and the execution phase in the sagittal plane (p = 0.013). In the transversal plane, patients with Multiple Sclerosis had a smaller net external moment during the double support phase (p = 0.024) and between the double support phase and the execution phase (p < 0.001).

INTERPRETATION

Despite preserved spatiotemporal parameters during gait initiation, patients with Multiple Sclerosis with low disability had reduced net external moments in the transversal and sagittal planes during the critical transitional period of this functional task, which appeared as a compensatory modality to preserve global postural stability. This finding highlights the cautious rotational behaviors in these planes to prevent the risk of falling and preserve dynamic stability. Whole-body angular momentum and net external moment are relevant parameters for functional and disease progression follow-up of the disease.

Autonomous Powered Ankle Exoskeleton Improves Foot Clearance and Knee Hyperextension After Stroke: A Case Study

Hemiparetic gait is often characterized by ankle weakness, resulting in decreased propulsion and clearance, as well as knee hyperextension. These gait deviations reduce speed and efficiency while increasing the risk of falls and osteoarthritis. Powered ankle exoskeletons have the potential to address these issues. However, only a handful of studies have investigated their effects on hemiparetic gait. The results are often inconsistent, and the biomechanical analysis rarely includes the knee or hip joint or a direct clearance measure. In this case study, we assess the ankle, knee, and hip biomechanics with and without a new autonomous powered ankle exoskeleton across different speeds and inclines. Exoskeleton assistance resulted in more normative kinematics at the subject's self-selected walking speed. The paretic ankle angle at heel strike increased from 10° plantarflexed without the exoskeleton to 0.5° dorsiflexed with the exoskeleton, and the peak plantarflexion angle during swing decreased from 28° without the exoskeleton to 12° with the exoskeleton. Furthermore, stance knee flexion increased from 7° without the exoskeleton to 20° with the exoskeleton. Finally, foot clearance increased with the exoskeleton for all conditions between 3.1 cm and 5.4 cm. This case study highlights new mechanisms for powered ankle exoskeletons to improve hemiparetic gait.

Whole-body angular momentum during stair ascent and descent in individuals with and without knee osteoarthritis

Given the higher fall risk and the fatal sequelae of falls on stairs, it is worthwhile to investigate the mechanism of dynamic balance control in individuals with knee osteoarthritis during stair negotiation. Whole-body angular momentum ([Formula: see text]) is widely used as a surrogate to reflect dynamic balance and failure to constrain [Formula: see text] may increase the fall risk. This study aimed to compare the range of [Formula: see text] between people with and without knee osteoarthritis during stair ascent and descent. Seven participants with symptomatic knee osteoarthritis and eight asymptomatic controls were instructed to ascend and descend an instrumented staircase at a fixed cadence. Kinematic and kinetic data were collected and range of [Formula: see text] in sagittal, frontal, and transverse planes were computed. The knee osteoarthritis group exhibited greater [Formula: see text] in the sagittal plane during both stair ascent (P = 0.005, Cohen's d = 1.7) and descent (P = 0.020, Cohen's d = 1.3) as well as in the transverse plane during stair descent (P = 0.015, Cohen's d = 1.3), than the control group. These observations may be explained by greater hip flexion (P < 0.05, Cohen's d > 1.12) and reduced knee flexion moment (P < 0.001, Cohen's d<-2.77) during stair ascent and descent, and decreased foot progression angle (P = 0.038, Cohen's d=-1.2) during stair descent, in individuals with knee osteoarthritis. No significant difference in frontal plane [Formula: see text] was found between the two groups (P > 0.05). Individuals with knee osteoarthritis exhibited greater whole-body angular momentum during stair negotiation when compared to asymptomatic controls. Our findings may provide mechanistic rationale for a greater fall risk among people with knee osteoarthritis.

Changes in Toe Clearance Due to Adjusting the Dorsiflexion Angle of Ankle-Foot Orthoses: A Study in Healthy Individuals

This study investigated the effects of ankle dorsiflexion angle adjustments in ankle-foot orthoses (AFOs) on the gait of healthy individuals. Fifteen healthy participants engaged in treadmill walking tasks while wearing AFOs with dorsiflexion angles set at 0°, 5°, 10°, and 15°. Three-dimensional treadmill gait analysis was used to collect data during treadmill walking. The analysis focused on toe clearance and the contribution of the vertical component of limb shortening (LS), and compared them across different dorsiflexion angles. The results indicated a significant increase in toe clearance at 10° (median [interquartile change]: 5.03 [0.90] vs. 5.98 [1.18], p < 0.01) and 15° (5.03 [0.90] vs. 5.82 [1.11], p < 0.01) dorsiflexion angle conditions compared to the 0° condition. Similarly, LS demonstrated significant increases at 10° (4.89 [1.97] vs. 5.87 [1.31], p < 0.01) and 15° (4.89 [1.97] vs. 5.61 [1.65], p < 0.01) conditions when compared with the 0° condition. These findings support the notion that higher dorsiflexion angles in AFOs lead to increased toe clearance and LS, suggesting the effectiveness of dorsiflexion angle adjustments as a strategy to address reduced toe clearance.

Soft ankle exoskeleton to counteract dropfoot and excessive inversion

Introduction

Wearable exoskeletons are emerging technologies for providing movement assistance and rehabilitation for people with motor disorders. In this study, we focus on the specific gait pathology dropfoot, which is common after a stroke. Dropfoot makes it difficult to achieve foot clearance during swing and heel contact at early stance and often necessitates compensatory movements.

Methods

We developed a soft ankle exoskeleton consisting of actuation and transmission systems to assist two degrees of freedom simultaneously: dorsiflexion and eversion, then performed several proof-of-concept experiments on non-disabled persons. The actuation system consists of two motors worn on a waist belt. The transmission system provides assistive force to the medial and lateral sides of the forefoot via Bowden cables. The coupling design enables variable assistance of dorsiflexion and inversion at the same time, and a force-free controller is proposed to compensate for device resistance. We first evaluated the performance of the exoskeleton in three seated movement tests: assisting dorsiflexion and eversion, controlling plantarflexion, and compensating for device resistance, then during walking tests. In all proof-of-concept experiments, dropfoot tendency was simulated by fastening a weight to the shoe over the lateral forefoot.

Results

In the first two seated tests, errors between the target and the achieved ankle joint angles in two planes were low; errors of <1.5° were achieved in assisting dorsiflexion and/or controlling plantarflexion and of <1.4° in assisting ankle eversion. The force-free controller in test three significantly compensated for the device resistance during ankle joint plantarflexion. In the gait tests, the exoskeleton was able to normalize ankle joint and foot segment kinematics, specifically foot inclination angle and ankle inversion angle at initial contact and ankle angle and clearance height during swing.

Discussion

Our findings support the feasibility of the new ankle exoskeleton design in assisting two degrees of freedom at the ankle simultaneously and show its potential to assist people with dropfoot and excessive inversion.

A Propulsion Neuroprosthesis Improves Overground Walking in Community-Dwelling Individuals After Stroke

Functional electrical stimulation (FES) is a common neuromotor intervention whereby electrically evoked dorsiflexor muscle contractions assist foot clearance during walking. Plantarflexor neurostimulation has recently emerged to assist and retrain gait propulsion; however, safe and effective coordination of dorsiflexor and plantarflexor neurostimulation during overground walking has been elusive, restricting propulsion neuroprostheses to harnessed treadmill walking. We present an overground propulsion neuroprosthesis that adaptively coordinates, on a step-by-step basis, neurostimulation to the dorsiflexors and plantarflexors. In 10 individuals post-stroke, we evaluate the immediate effects of plantarflexor neurostimulation delivered with different onset timings, and retention to unassisted walking (NCT06459401). Preferred onset timing differed across individuals. Individualized tuning resulted in a significant 10% increase in paretic propulsion peak (Δ: 1.41 ± 1.52%BW) and an 8% increase in paretic plantarflexor power (Δ: 0.27 ± 0.23 W/kg), compared to unassisted walking. Post-session unassisted walking speed, paretic propulsion peak, and propulsion symmetry all significantly improved by 9% (0.14 ± 0.09 m/s), 28% (2.24 ± 3.00%BW), and 12% (4.5 ± 6.0%), respectively, compared to pre-session measurements. Here we show that an overground propulsion neuroprosthesis can improve overground walking speed and propulsion symmetry in the chronic phase of stroke recovery. Future studies should include a control group to examine the efficacy of gait training augmented by the propulsion neuroprosthesis compared to gait training alone.

Ankle-Foot Orthoses affect Spatio-Temporal Gait Parameters in Foot Drop Patients

Ankle-foot orthosis (AFO) prescriptions are common for patients presenting the deficit of foot drop. The intervention aims at improving ankle-foot function and enhancing general gait quality. In this work the asymmetries in gait of foot drop patients and the effectiveness of a plastic passive AFO are investigated by means of statistical methods performed on spatiotemporal measures collected using 3D gait analysis. Step length, stance, swing and single support phases exhibited statistically significant asymmetries between the limbs, while gait cycle time and stride length were meaningfully improved by the use of the orthotic device. The variability of results, with respect to the literature, suggests that general effects of standard AFO are hardly detectable, whereas a customised prescription of the orthosis should be considered.

Effects of ankle-foot orthoses on step activities in the community: a systematic review

PURPOSE

To determine the effects of ankle-foot orthoses (AFO) on step-based physical activities in individuals with neurological, orthopaedic, or cardiovascular disorders.

METHODS

Electronic searches of databases such as Scopus, PubMed, Web of Science, Embase, ProQuest, Cochrane Library, and EBSCO were conducted. Two evaluators independently searched with keywords focusing on step-based physical activities, and either articulated or non-articulated AFO. Study quality was assessed using a modified Downs and Black quality scale.

RESULTS

Eleven studies that met the inclusion criteria were selected, including four being classified as good, four as fair, and three as poor in quality. The majority of these trials found no significant effects of AFO on step activities. Only a few studies reported improvements in step counts and active times in step activity with a limited to moderate level of evidence. Subjective evaluations such as user satisfaction, and physical functionality during step activity, on the other hand, showed substantial changes with the use of AFO interventions, although there was no evidence of improvement in the quality of life.

CONCLUSIONS

Although the AFO did not seem to have a substantial effect on step activity, it appeared to play a vital role in improving the patient satisfaction level of step activity.IMPLICATIONS FOR REHABILITATIONAnkle-foot orthoses (AFO) may not significantly affect the step activity of individuals with impaired ankle-foot complex.AFO may enhance patient-reported satisfaction, physical functioning, participation, and fatigue level during step activity.The patient's perception that the AFO is beneficial is in contrast to objective data showing no significant increase in real-world activity.

Quantifying changes in individual-specific template-based representations of center-of-mass dynamics during walking with ankle exoskeletons using Hybrid-SINDy

Ankle exoskeletons alter whole-body walking mechanics, energetics, and stability by altering center-of-mass (CoM) motion. Controlling the dynamics governing CoM motion is, therefore, critical for maintaining efficient and stable gait. However, how CoM dynamics change with ankle exoskeletons is unknown, and how to optimally model individual-specific CoM dynamics, especially in individuals with neurological injuries, remains a challenge. Here, we evaluated individual-specific changes in CoM dynamics in unimpaired adults and one individual with post-stroke hemiparesis while walking in shoes-only and with zero-stiffness and high-stiffness passive ankle exoskeletons. To identify optimal sets of physically interpretable mechanisms describing CoM dynamics, termed template signatures, we leveraged hybrid sparse identification of nonlinear dynamics (Hybrid-SINDy), an equation-free data-driven method for inferring sparse hybrid dynamics from a library of candidate functional forms. In unimpaired adults, Hybrid-SINDy automatically identified spring-loaded inverted pendulum-like template signatures, which did not change with exoskeletons (p > 0.16), except for small changes in leg resting length (p < 0.001). Conversely, post-stroke paretic-leg rotary stiffness mechanisms increased by 37-50% with zero-stiffness exoskeletons. While unimpaired CoM dynamics appear robust to passive ankle exoskeletons, how neurological injuries alter exoskeleton impacts on CoM dynamics merits further investigation. Our findings support Hybrid-SINDy's potential to discover mechanisms describing individual-specific CoM dynamics with assistive devices.

Effects of soft robotic exosuit on ambulation ability in stroke patients: a systematic review

BACKGROUND

Robot-assisted gait training is incorporated into guidelines for stroke rehabilitation. It is a promising tool combined with conventional therapy for low ambulatory patients. The heavy weight and bulky appearance of a robotic exoskeleton limits its practicality. On the other hand, soft robotic exosuit (SRE) based on its light weight and inconspicuous property, is better tolerated by patients in daily life. The aim of this study is to review the efficacy of the SRE with regard to walking ability and biomechanical properties in stroke patients.

METHODS

Electronic searches were carried out in PubMed, Embase, Cochrane Library, Web of Science, and the Physiotherapy Evidence Database. Clinical trials that investigated the effectiveness of SREs on ambulation ability in patients with post-stroke hemiparesis were eligible. Qualitative data synthesis was subsequently performed.

RESULTS

Nine studies were identified as relevant, involving a total of 83 patients. For the assessment of SRE efficacy, outcome measures were walking ability and biomechanical properties. In terms of both immediate effect and training effect, SREs improved the walking speed, walking distance, peak ankle dorsiflexion angle during swing phase, peak paretic propulsion, stride length and compensated gait in stroke patients.

CONCLUSIONS

SRE improved the ambulation ability of stroke patients in terms of walking ability and biomechanical properties. The small number of studies limits the generalizability of interpretation. More controlled studies with better quality are required to reach a more solid conclusion on this issue.

A comparison of the range of motion and dynamic stability of the ankle joint of athletes with an ankle sprain as compared to healthy controls: A cross-sectional study

Background

Ankle sprains are the most common lower-leg musculoskeletal injuries, frequently occurring among athletes and other physical activity individuals. The objective of this study was to compare the ankle range of motion and dynamic stability of healthy and injured athletes for their dominant and nondominant legs.

Methods

A cross-sectional study design was selected to investigate this study with 32 male soccer players with average age: 22.6 ± 3.3 years, weight: 69.6 ± 5.7 kg, height: 176.8 ± 5.32 cm, with a history of a lateral ankle sprain on the dominant leg for the past 2 years. Ankle range of motion was determined using dorsiflexion and plantar flexion by a goniometer. The dynamic stability was determined using the SWAY medical system. An independent t-test was used to study the differences between healthy and injured groups and between dominant and nondominant legs for dynamic stability, dorsiflexion, and plantar flexion range.

Results

There were higher significant differences for dynamic stability in healthy participants than in injured participants for their dominant (P = 0.001) and nondominant (P = 0.001) legs. There were significant differences in dynamic stability in the dominant and nondominant leg (healthy [P = 0.033] and injured [P = 0.000] participants). The dominant leg shows higher dynamic stability in healthy group, whereas nondominant leg shows higher dynamic stability in the injured group.

Conclusion

The study found significant differences between the injured and sound legs. The injured dominant and nondominant leg revealed a striking disparity in the ankle range of motion. Therefore, the study demonstrated that ankle sprain causes due to less stability of the ankle joint, which limits ankle movements.

The influence of backward versus forward locomotor training on gait speed and balance control post-stroke: Recovery or compensation?

Backward walking training has been reported to improve gait speed and balance post-stroke. However, it is not known if gains are achieved through recovery of the paretic limb or compensations from the nonparetic limb. The purpose of this study was to compare the influence of backward locomotor training (BLT) versus forward locomotor training (FLT) on gait speed and dynamic balance control, and to quantify the underlying mechanisms used to achieve any gains. Eighteen participants post chronic stroke were randomly assigned to receive 18 sessions of either FLT (n = 8) or BLT (n = 10). Pre- and post-intervention outcomes included gait speed (10-meter Walk Test) and forward propulsion (time integral of anterior-posterior ground-reaction-forces during late stance for each limb). Dynamic balance control was assessed using clinical (Functional Gait Assessment) and biomechanical (peak-to-peak range of whole-body angular-momentum in the frontal plane) measures. Balance confidence was assessed using the Activities-Specific Balance Confidence scale. While gait speed and balance confidence improved significantly within the BLT group, these improvements were associated with an increased nonparetic limb propulsion generation, suggesting use of compensatory mechanisms. Although there were no improvements in gait speed within the FLT group, paretic limb propulsion generation significantly improved post-FLT, suggesting recovery of the paretic limb. Neither training group improved in dynamic balance control, implying the need of balance specific training along with locomotor training to improve balance control post-stroke. Despite the within-group differences, there were no significant differences between the FLT and BLT groups in the achieved gains in any of the outcomes.

Effects of orthoses on muscle activity and synergy during gait

An orthosis is often used in rehabilitation to improve kinetic and kinematic parameters during gait. However, whether changes in neural control depend on wearing an orthosis during gait is unclear. We measured the muscle activity and synergy of the lower limb muscles without orthosis and with two types of orthoses: ankle-foot orthosis (AFO) and knee-ankle-foot orthosis (KAFO). Muscle activity during gait was measured in 15 healthy adults, and muscle synergies were extracted using non-negative matrix factorization. The results revealed that some muscle activities were significantly different among the three conditions. Post-hoc analysis indicated differences between each condition. Knee extensor muscle activity related to the loading response was significantly increased by wearing the AFO. In the KAFO condition, hip abductor muscle activity related to weight bearing was significantly decreased, and ankle dorsiflexor muscle activity was increased to secure clearance during the swing phase. However, the number of muscle synergies and complexity of muscle synergy did not significantly change among these conditions. However, along with changes in muscle activity, the activation pattern and weightings of muscle synergies tended to change with the use of orthoses. Each muscle activity was changed by wearing the orthosis; however, the immediate mechanical constraint did not change the framework of muscle synergy.

Effects of ankle-foot orthoses on the stability of post-stroke hemiparetic gait

BACKGROUND

Ankle-foot orthoses are used to improve gait stability in patients with post-stroke gait; however, there is not enough evidence to support their beneficial impact on gait stability.

AIM

To investigate the effects of ankle-foot orthoses on post-stroke gait stability.

DESIGN

An experimental study with repeated measurements of gait parameters with and without orthosis.

SETTING

Inpatients and outpatients in the Fujita Health University Hospital, Toyoake, Japan.

POPULATION

Thirty-two patients (22 males; mean age 48.3±20.0 years) with post-stroke hemiparesis participated in the study.

METHODS

Three-dimensional treadmill gait analysis was performed with and without ankle-foot orthosis for each participant. Spatiotemporal parameters, their coefficient of variation, and margin of stability were evaluated. Toe clearance, another major target of orthosis, was also examined. The effect of orthosis in the patients with severe (not able to move within the full range of motion, defying gravity) and mild ankle impairment (able to move within the full range but have problem with speed and/or smoothness of the ankle movement) was compared.

RESULTS

In the total group comparison, the decrease in the coefficient of variation of step width (P=0.012), and margin of stability on the paretic side (P=0.023) were observed. In the severe ankle impairment groups, the decreased in the coefficient of variation of the non-paretic step length (P=0.007), stride length (P=0.037), and step width (P=0.033) and margin of stability on the paretic side (P=0.006) were observed. No significant effects were observed in the mild ankle impairment group; rather, the coefficient of variation of non-paretic step length increased with the use of orthosis in this group (P=0.043); however, toe clearance increased with the use of ankle-foot orthosis (P=0.041).

CONCLUSIONS

Ankle-foot orthoses improved gait stability indices; however, the effect was either not significant or showed possible worsening in the patients with mild ankle impairment, while the effect on toe clearance was significant. These results suggest that the effects of using orthoses in patients with mild impairment should be carefully evaluated.

CLINICAL REHABILITATION IMPACT

Understanding the effects of ankle-foot orthoses on the stability of post-stroke gait and their relationship with ankle impairment severity may support clinical decision-making while prescribing orthosis for post-stroke hemiparesis.

Does Gait with an Ankle Foot Orthosis Improve or Compromise Minimum Foot Clearance?

The purpose of this study was to investigate if the use of an ankle foot orthosis in passive mode (without actuation) could modify minimum foot clearance, and if there are any compensatory mechanisms to enable these changes during treadmill gait at a constant speed. Eight participants walked on an instrumented treadmill without and with an ankle foot orthosis on the dominant limb at speeds of 0.8, 1.2, and 1.6 km/h. For each gait cycle, the minimum foot clearance and some gait linear kinematic parameters were calculated by an inertial motion capture system. Additionally, maximum hip and knee flexion and maximum ankle plantar flexion were calculated. There were no significant differences in the minimum foot clearance between gait conditions and lower limbs. However, differences were found in the swing, stance and step times between gait conditions, as well as between limbs during gait with orthosis (p < 0.05). An increase in hip flexion during gait with orthosis was observed for all speeds, and different ankle ranges of motion were observed according to speed (p < 0.05). Thus, the use of an ankle foot orthosis in passive mode does not significantly hinder minimum foot clearance, but can change gait linear and angular parameters in non-pathological individuals.

Effects of restriction of forefoot rocker functions by immobilisation of metatarsophalangeal joints on kinematics and kinetics during walking

OBJECTIVE

This study was conducted to investigate the effects of restriction of forefoot rocker (FFR) functions by immobilisation of unilateral metatarsophalangeal joints (MPJs) on kinematic and kinetic factors during walking.

METHODS

Eighteen healthy young adults participated in this study. To immobilise the MPJs of the right leg, an aluminium sole plate (AS) was fixed on the sole of the foot. Kinematic and kinetic data were collected while each subject walked at a comfortable speed with the AS and without.

RESULTS

In the AS condition, the walking speed and contralateral step length were significantly decreased, and an asymmetrical centre of mass (COM) movement was observed. The range of plantarflexion motion and positive work by the ankle joint were decreased markedly during the late stance of the AS limb. In contrast, maximum hip and knee flexion angles in the swing phase of the AS limb and positive work by the bilateral hip joints over the gait cycle were increased.

CONCLUSIONS

The results suggested that MPJ immobilisation may result in marked motion limitation of ankle plantarflexion and inhibition of push-off by the ankle joint despite no restrictions on the ankle joint. These changes may interfere with gait speed and a smooth and symmetrical COM shift during walking.

Segmental contribution to whole-body angular momentum during stepping in healthy young and old adults

Recent evidence suggests that during volitional stepping older adults control whole-body angular momentum (H) less effectively than younger adults, which may impose a greater challenge for balance control during this task in the elderly. This study investigated the influence of aging on the segment angular momenta and their contributions to H during stepping. Eighteen old and 15 young healthy adults were instructed to perform a series of stepping at two speed conditions: preferred and as fast as possible. Full-body kinematics were recorded to compute angular momenta of the trunk, arms and legs and their contributions to total absolute H on the entire stepping movement. Results indicated that older adults exhibited larger angular momenta of the trunk and legs in the sagittal plane, which contributed to a higher sagittal plane H range during stepping compared to young adults. Results also revealed that older adults had a greater trunk contribution and lower leg contribution to total absolute H in the sagittal plane compared to young adults, even though there was no difference in the other two planes. These results stress that age-related changes in H control during stepping arise as a result of changes in trunk and leg rotational dynamics.

Effect of increasing speed on whole-body angular momentum during stepping in the elderly

Recent evidence suggests that older adults may have difficulty controlling whole-body angular momentum (H) during volitional stepping, which could impose a major challenge for balance control and result in potential falls. However, it is not known if and how H is influenced by speed when stepping. This study aimed to investigate the effect on H of increasing speed during step initiation in older adults. Twenty-seven healthy individuals over 60 were enrolled in the current study and were instructed to perform a series of step initiations with their dominant leg under two speed conditions: at preferred speed and as fast as possible. Two force plates and a motion-capture system were used to record H and the components of the net external moment (moment arms and ground reaction forces) during the double support and step execution phases of stepping. Results revealed that increasing speed of stepping affected H differently in both stepping phases and in the different planes. H ranges in all three planes increased with speed during the double support phase. During the step execution phase, while H ranges in frontal and transversal planes decreased, sagittal plane H range significantly increased with speed. This increased H range in the sagittal plane, which may result from the task demands, could impose a greater challenge for balance control in the elderly.

The effect of rotational speed on ankle-foot orthosis properties

Ankle-foot orthoses (AFOs) are devices that support ankle motion. An AFO's sagittal plane rotational stiffness can affect gait kinematics. Because AFOs are often made from viscoelastic materials, their properties may vary at different walking speeds. The influence of rotational speed on AFO properties has not been thoroughly investigated. Therefore, the purpose of this study was to determine the impact of rotational speed on AFO stiffness about the ankle. We tested a sample of one thermoplastic off-the-shelf AFO and two 3-D printed carbon fiber enforced nylon AFOs. Each AFO's dynamic resistance torque was measured as it was flexed at five speeds (5-100 °/s) using a custom-built measurement apparatus. We compared loading stiffness, neutral angle, and energy dissipation parameters for each AFO across speeds. Parameter values were generally greater at higher speeds. These effects were statistically significant for all AFOs (p≤0.002). However, differences in AFO stiffness and neutral angle across speeds were quite small (<0.6 Nm/° and <2.2 °). Changes in the thermoplastic AFO's stiffness were lower than the minimum detectable difference. Energy dissipation, as indicated by hysteresis area, increased by up to 6.3 J (about 250%) at the highest speed. This demonstrates that AFO flexion speed can influence the properties of different AFOs over the range typically achieved in human walking. Future work should assess whether the observed small variations of stiffness and neutral angle have a clinically meaningful impact on user performance, as well as explore effects of angular speed on a variety of AFO materials and designs.

Postoperative changes in vertical ground reaction forces, walking barefoot and with ankle-foot orthoses in children with Cerebral Palsy

BACKGROUND

Children with cerebral palsy often have problems to support the body centre of mass, seen as increased ratio between excessive vertical ground reaction forces during weight acceptance and decreased forces below bodyweight in late stance. We aimed to examine whether increasing ankle range of motion through surgery and restraining motion with ankle-foot orthoses postoperatively would have impact on the vertical ground reaction force in weight acceptance and late stance.

METHODS

Ground reaction forces were recorded from 24 children with bilateral and 32 children with unilateral cerebral palsy, each measured walking barefoot before and after triceps surae lengthening. Postoperatively, the children were also measured walking with ankle-foot orthoses. Changes in vertical ground reaction forces between the three conditions were evaluated with functional curve and descriptive peak analyses; accounting for repeated measures and within-subject correlation.

FINDINGS

After surgery, there were decreased vertical ground reaction forces in weight acceptance and increased forces in late stance. Additional significant changes with ankle-foot orthoses involved increased vertical forces in weight acceptance, and in late stance corresponding to bodyweight (bilateral, from 92% to 98% bodyweight; unilateral, from 94% to 103% bodyweight) postoperatively.

INTERPRETATION

Our findings confirmed that surgery affected vertical ground reaction forces to approach more normative patterns. Additional changes with ankle-foot orthoses indicated further improved ability to support bodyweight and decelerate centre of mass in late stance.

A Clinical Practice Guideline for the Use of Ankle-Foot Orthoses and Functional Electrical Stimulation Post-Stroke

BACKGROUND

Level of ambulation following stroke is a long-term predictor of participation and disability. Decreased lower extremity motor control can impact ambulation and overall mobility. The purpose of this clinical practice guideline (CPG) is to provide evidence to guide clinical decision-making for the use of either ankle-foot orthosis (AFO) or functional electrical stimulation (FES) as an intervention to improve body function and structure, activity, and participation as defined by the International Classification of Functioning, Disability and Health (ICF) for individuals with poststroke hemiplegia with decreased lower extremity motor control.

METHODS

A review of literature published through November 2019 was performed across 7 databases for all studies involving stroke and AFO or FES. Data extracted included time post-stroke, participant characteristics, device types, outcomes assessed, and intervention parameters. Outcomes were examined upon initial application and after training. Recommendations were determined on the basis of the strength of the evidence and the potential benefits, harm, risks, or costs of providing AFO or FES.

RESULTS/DISCUSSION

One-hundred twenty-two meta-analyses, systematic reviews, randomized controlled trials, and cohort studies were included. Strong evidence exists that AFO and FES can each increase gait speed, mobility, and dynamic balance. Moderate evidence exists that AFO and FES increase quality of life, walking endurance, and muscle activation, and weak evidence exists for improving gait kinematics. AFO or FES should not be used to decrease plantarflexor spasticity. Studies that directly compare AFO and FES do not indicate overall superiority of one over the other. But evidence suggests that AFO may lead to more compensatory effects while FES may lead to more therapeutic effects. Due to the potential for gains at any phase post-stroke, the most appropriate device for an individual may change, and reassessments should be completed to ensure the device is meeting the individual's needs.

LIMITATIONS

This CPG cannot address the effects of one type of AFO over another for the majority of outcomes, as studies used a variety of AFO types and rarely differentiated effects. The recommendations also do not address the severity of hemiparesis, and most studies included participants with varied baseline ambulation ability.

SUMMARY

This CPG suggests that AFO and FES both lead to improvements post-stroke. Future studies should examine timing of provision, device types, intervention duration and delivery, longer term follow-up, responders versus nonresponders, and individuals with greater impairments.

DISCLAIMER

These recommendations are intended as a guide for clinicians to optimize rehabilitation outcomes for people with poststroke hemiplegia who have decreased lower extremity motor control that impacts ambulation and overall mobility.A Video Abstract is available as supplemental digital content from the authors (available at: http://links.lww.com/JNPT/A335).

Trends and Technologies in Rehabilitation of Foot Drop: A Systematic Review

INTRODUCTION

Foot Drop (FD) is a condition, which is very commonly found in post-stoke patients; however it can also be seen in patients with multiple sclerosis, and cerebral palsy. It is a sign of neuromuscular damage caused by the weakness of the muscles. There are various approaches of FD's rehabilitation, such as physiotherapy, surgery, and the use of technological devices. Recently, researchers have worked on developing various technologies to enhance assisting and rehabilitation of FD.

AREAS COVERED

This review analyzes different types of technologies available for FD. This include devices that are available commercially or still under research. 101 studies published between 2015 and 2020 were identified for the review, many were excluded due to various reasons, e.g., were not robot-based devices, did not include FD as one of the targeted diseases, or was insufficient information. 24 studies that met our inclusion criteria were assessed. These studies were further classified into two different categories: robot-based ankle-foot orthosis (RAFO) and Functional Electrical Stimulation (FES) devices.

EXPERT OPINION

Studies included showed that both RAFO and FES showed considerable improvement in the gait cycle of the patients. Future trends are inclining towards integrating FES with other neuro-concepts such as muscle-synergies for further developments.

These legs were made for propulsion: advancing the diagnosis and treatment of post-stroke propulsion deficits

Advances in medical diagnosis and treatment have facilitated the emergence of precision medicine. In contrast, locomotor rehabilitation for individuals with acquired neuromotor injuries remains limited by the dearth of (i) diagnostic approaches that can identify the specific neuromuscular, biomechanical, and clinical deficits underlying impaired locomotion and (ii) evidence-based, targeted treatments. In particular, impaired propulsion by the paretic limb is a major contributor to walking-related disability after stroke; however, few interventions have been able to target deficits in propulsion effectively and in a manner that reduces walking disability. Indeed, the weakness and impaired control that is characteristic of post-stroke hemiparesis leads to heterogeneous deficits that impair paretic propulsion and contribute to a slow, metabolically-expensive, and unstable gait. Current rehabilitation paradigms emphasize the rapid attainment of walking independence, not the restoration of normal propulsion function. Although walking independence is an important goal for stroke survivors, independence achieved via compensatory strategies may prevent the recovery of propulsion needed for the fast, economical, and stable gait that is characteristic of healthy bipedal locomotion. We posit that post-stroke rehabilitation should aim to promote independent walking, in part, through the acquisition of enhanced propulsion. In this expert review, we present the biomechanical and functional consequences of post-stroke propulsion deficits, review advances in our understanding of the nature of post-stroke propulsion impairment, and discuss emerging diagnostic and treatment approaches that have the potential to facilitate new rehabilitation paradigms targeting propulsion restoration.

Offline assistance optimization of a soft exosuit for augmenting ankle power of stroke survivors during walking

Locomotor impairments afflict more than 80% of people poststroke. Our group has previously developed a unilateral ankle exosuit aimed at assisting the paretic ankle joint of stroke survivors during walking. While studies to date have shown promising biomechanical and physiological changes, there remains opportunity to better understand how changes in plantarflexion (PF) assistance profiles impact wearer response. In healthy populations, studies explicitly varying augmentation power have been informative about how exosuit users are sensitive to changes in PF assistance; however there are challenges in applying existing methods to a medical population where significantly higher gait variability and limited walking capacity exist. This paper details an offline assistance optimization scheme that uses pre-recorded biomechanics data to generate torque profiles designed to deliver either positive or negative augmentation power in PF while being less sensitive to stride-by-stride variability. Additionally, we describe an admittance-control strategy that can effectively deliver PF force with RMS error less than 10 N. A preliminary study on six people poststroke demonstrates that offline assistance optimization can successfully isolate positive and negative augmentation power. Moreover, we show that in people poststroke, positive augmentation power effected changes in total positive ankle power while delivering negative augmentation power had no effect on total negative ankle power.

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.

Age-related changes in the control of whole-body angular momentum during stepping

BACKGROUND

Appropriate control of whole-body angular momentum (H) is crucial to maintain dynamic balance and thus avoid falling during daily activities. Poor H control ability during locomotion has been found in people with an increased risk of falling, such as post-stroke patients and amputees. In contrast, little is known about the control of H during locomotion in the elderly. The aim of this study was to investigate whether and how aging influences three-dimensional H control during initiation of stepping.

METHODS

Twenty-two healthy old and 22 healthy young individuals were instructed to perform a series of initiation of stepping with their dominant leg and at their self-selected preferred pace. Two force plates and a motion capture system were used to record H, the net external moment about the body's center of mass and components of this net external moment (moment arms and ground reaction forces) during the double support and step execution phases of stepping.

RESULTS

In the double support phase, older participants exhibited smaller peak-to-peak ranges of H in the sagittal and transversal planes compared to their younger counterparts. These results were explained by decreased net external moments in both planes in the older participants. Conversely, during the step execution phase, older adults had higher peak-to-peak ranges of H in the frontal and sagittal planes compared to the younger adults. These higher ranges of H were associated with a longer duration of the step execution phase. Furthermore, in the sagittal plane, a higher external moment also contributed to increasing peak-to-peak ranges of H in older adults.

CONCLUSION

The current study revealed that older and younger adults exhibit different control strategies of H during initiation of stepping. The age-related changes, which may emphasize a higher difficulty to control H in the older adults, could impose a higher challenge for balance control and a potentially higher risk of falling during the step execution phase in this population.

Effect of ankle-foot orthosis on level walking in healthy subjects

An ankle-foot orthosis is often prescribed in the rehabilitation of patients with neurological motor disorders such as hemiparesis. However, walking with a unilateral ankle-foot orthosis may not be effectively achieved just by trying to reproduce normal intact walking with a symmetrical gait pattern. Understanding skills to facilitate walking gait with a unilateral ankle-foot orthosis has implications for better rehabilitative interventions to help restore walking ability in patients with stroke. We, therefore, analyzed the kinematics and ground reaction forces of walking with and without an ankle-foot orthosis in healthy subjects to infer the possible skills to facilitate walking gait with a unilateral ankle-foot orthosis. Adult male participants were asked to walk with and without an ankle-foot orthosis across two force platforms set in a wooden walkway, and body kinematics and ground reaction force profiles in the sagittal plane were simultaneously recorded. We found that the forward tilting angle of the trunk at the time of toe-off of the leg with the ankle-foot orthosis was significantly larger than that of the leg without the ankle-foot orthosis, to adaptively compensate for the loss of ankle joint mobility due to the unilateral ankle-foot orthosis. Furthermore, the peak vertical ground reaction force at heel-contact was significantly larger in the leg without the ankle-foot orthosis than in the leg with the ankle-foot orthosis owing to the fact that the stance phase duration of the leg with the ankle-foot orthosis was relatively shorter. Such information may potentially be applied to facilitate walking training in stroke patients wearing a unilateral ankle-foot orthosis.

Wearable Ankle Robots in Post-stroke Rehabilitation of Gait: A Systematic Review

Background: Stroke causes weak functional mobility in survivors and affects the ability to perform activities of daily living. Wearable ankle robots are a potential intervention for gait rehabilitation post-stroke. Objective: The aim of this study is to provide a systematic review of wearable ankle robots, focusing on the overview, classification and comparison of actuators, gait event detection, control strategies, and performance evaluation. Method: Only English-language studies published from December 1995 to July 2018 were searched in the following databases: PubMed, EMBASE, Web of Science, Scopus, IEEE Xplore, Science Direct, SAGE journals. Result: A total of 48 articles were selected and 97 stroke survivors participated in these trials. Findings showed that few comparative trials were conducted among different actuators or control strategies. Moreover, mixed sensing technology which combines kinematic with kinetic information was effective in detecting motion intention of stroke survivors. Furthermore, all the selected clinical studies showed an improvement in the peak dorsiflexion degree of the swing phase, propulsion on the paretic side during push-off, and further enhanced walking speed after a period of robot-assisted ankle rehabilitation training. Conclusions: Preliminary findings suggest that wearable ankle robots have certain clinical benefits for the treatment of hemiplegic gait post-stroke. In the near future, a multicenter randomized controlled clinical trial is extremely necessary to enhance the clinical effectiveness of wearable ankle robots.

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.

A Review on the Control of the Mechanical Properties of Ankle Foot Orthosis for Gait Assistance

In the past decade, advanced technologies in robotics have been explored to enhance the rehabilitation of post-stroke patients. Previous works have shown that gait assistance for post-stroke patients can be provided through the use of robotics technology in ancillary equipment, such as Ankle Foot Orthosis (AFO). An AFO is usually used to assist patients with spasticity or foot drop problems. There are several types of AFOs, depending on the flexibility of the joint, such as rigid, flexible rigid, and articulated AFOs. A rigid AFO has a fixed joint, and a flexible rigid AFO has a more flexible joint, while the articulated AFO has a freely rotating ankle joint, where the mechanical properties of the AFO are more controllable compared to the other two types of AFOs. This paper reviews the control of the mechanical properties of existing AFOs for gait assistance in post-stroke patients. Several aspects that affect the control of the mechanical properties of an AFO, such as the controller input, number of gait phases, controller output reference, and controller performance evaluation are discussed and compared. Thus, this paper will be of interest to AFO researchers or developers who would like to design their own AFOs with the most suitable mechanical properties based on their application. The controller input and the number of gait phases are discussed first. Then, the discussion moves forward to the methods of estimating the controller output reference, which is the main focus of this study. Based on the estimation method, the gait control strategies can be classified into subject-oriented estimations and phase-oriented estimations. Finally, suggestions for future studies are addressed, one of which is the application of the adaptive controller output reference to maximize the benefits of the AFO to users.

Dynamic Balance during Human Movement: Measurement and Control Mechanisms

Walking can be exceedingly complex to analyze due to highly nonlinear multi-body dynamics, nonlinear relationships between muscle excitations and resulting muscle forces, dynamic coupling that allows muscles to accelerate joints and segments they do not span, and redundant muscle control. Walking requires the successful execution of a number of biomechanical functions such as providing body support, forward propulsion and balance control, with specific muscle groups contributing to their execution. Thus, muscle injury or neurological impairment that affects muscle output can alter the successful execution of these functions and impair walking performance. The loss of balance control in particular can result in falls and subsequent injuries that lead to the loss of mobility and functional independence. Thus, it is important to assess the mechanisms used to control balance in clinical populations using reliable methods with the ultimate goal of improving rehabilitation outcomes. In this review, we highlight common clinical and laboratory-based measures used to assess balance control and their potential limitations, show how these measures have been used to analyze balance in several clinical populations, and consider the translation of specific laboratory-based measures from the research laboratory to the clinic.

The effect of a novel gait retraining device on lower limb kinematics and muscle activation in healthy adults

The Re-Link Trainer (RLT) is a modified walking frame with a linkage system designed to apply a non-individualized kinematic constraint to normalize gait trajectory of the left limb. The premise behind the RLT is that a user's lower limb is constrained into a physiologically normal gait pattern, ideally generating symmetry across gait cycle parameters and kinematics. This pilot study investigated adaptations in the natural gait pattern of healthy adults when using the RLT compared to normal overground walking. Bilateral lower limb kinematic and electromyography data were collected while participants walked overground at a self-selected speed, followed by walking in the RLT. A series of 2-way analyses of variance examined between-limb and between-condition differences. Peak hip extension and knee flexion were reduced bilaterally when walking in the RLT. Left peak hip extension occurred earlier in the gait cycle when using the RLT, but later for the right limb. Peak hip flexion was significantly increased and occurred earlier for the constrained limb, while peak plantarflexion was significantly reduced. Peak knee flexion and plantarflexion in the right limb occurred later when using the RLT. Significant bilateral reductions in peak electromyography amplitude were evident when walking in the RLT, along with a significant shift in when peak muscle activity was occurring. These findings suggest that the RLT does impose a significant constraint, but generates asymmetries in lower limb kinematics and muscle activity patterns. The large interindividual variation suggests users may utilize differing motor strategies to adapt their gait pattern to the imposed constraint.

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.

Biomechanical mechanisms underlying exosuit-induced improvements in walking economy after stroke

Stroke-induced hemiparetic gait is characteristically asymmetric and metabolically expensive. Weakness and impaired control of the paretic ankle contribute to reduced forward propulsion and ground clearance - walking subtasks critical for safe and efficient locomotion. Targeted gait interventions that improve paretic ankle function after stroke are therefore warranted. We have developed textile-based, soft wearable robots that transmit mechanical power generated by off-board or body-worn actuators to the paretic ankle using Bowden cables (soft exosuits) and have demonstrated the exosuits can overcome deficits in paretic limb forward propulsion and ground clearance, ultimately reducing the metabolic cost of hemiparetic walking. This study elucidates the biomechanical mechanisms underlying exosuit-induced reductions in metabolic power. We evaluated the relationships between exosuit-induced changes in the body center of mass (COM) power generated by each limb, individual joint power and metabolic power. Compared with walking with an exosuit unpowered, exosuit assistance produced more symmetrical COM power generation during the critical period of the step-to-step transition (22.4±6.4% more symmetric). Changes in individual limb COM power were related to changes in paretic (R2=0.83, P=0.004) and non-paretic (R2=0.73, P=0.014) ankle power. Interestingly, despite the exosuit providing direct assistance to only the paretic limb, changes in metabolic power were related to changes in non-paretic limb COM power (R2=0.80, P=0.007), not paretic limb COM power (P>0.05). These findings contribute to a fundamental understanding of how individuals post-stroke interact with an exosuit to reduce the metabolic cost of hemiparetic walking.

Reducing Circumduction and Hip Hiking During Hemiparetic Walking Through Targeted Assistance of the Paretic Limb Using a Soft Robotic Exosuit

OBJECTIVE

The aim of the study was to evaluate the effects on common poststroke gait compensations of a soft wearable robot (exosuit) designed to assist the paretic limb during hemiparetic walking.

DESIGN

A single-session study of eight individuals in the chronic phase of stroke recovery was conducted. Two testing conditions were compared: walking with the exosuit powered versus walking with the exosuit unpowered. Each condition was 8 minutes in duration.

RESULTS

Compared with walking with the exosuit unpowered, walking with the exosuit powered resulted in reductions in hip hiking (27 [6%], P = 0.004) and circumduction (20 [5%], P = 0.004). A relationship between changes in knee flexion and changes in hip hiking was observed (Pearson r = -0.913, P < 0.001). Similarly, multivariate regression revealed that changes in knee flexion (β = -0.912, P = 0.007), but not ankle dorsiflexion (β = -0.194, P = 0.341), independently predicted changes in hip hiking (R = 0.87, F(2, 4) = 13.48, P = 0.017).

CONCLUSIONS

Exosuit assistance of the paretic limb during walking produces immediate changes in the kinematic strategy used to advance the paretic limb. Future work is necessary to determine how exosuit-induced reductions in paretic hip hiking and circumduction during gait training could be leveraged to facilitate more normal walking behavior during unassisted walking.

The influence of the Re-Link Trainer on gait symmetry in healthy adults

Walking function post-stroke is characterized by asymmetries in gait cycle parameters and joint kinematics. The Re-Link Trainer is designed to provide kinematic constraint to the paretic lower limb, to guide a physiologically normal and symmetrical gait pattern. The purpose of this pilot study was to assess the immediate influence of the Re-Link Trainer on measures of gait symmetry in healthy adults. Participants demonstrated a significantly lower cadence and a 62% reduction in walking speed in the Re-Link Trainer compared to normal walking. The step length ratio had a significant increase from 1.0 during normal walking to 2.5 when walking in the Re-Link Trainer. The results from this pilot study suggest in its current iteration the Re-Link Trainer imposes an asymmetrical constraint on lower limb kinematics.

The effects of open and closed kinetic chain exercises on the static and dynamic balance of the ankle joints in young healthy women

[Purpose] The purpose of the present study was to analyze the effects of open kinetic chain and closed kinetic chain exercises on the static and dynamic balance of ankle joints in young healthy women. [Subjects and Methods] Twenty women in their 20s were randomly assigned to two groups of ten women each: an open kinetic chain exercise group and a closed kinetic chain exercise group. Each group performed five sets of exercises three times per week for four weeks. Exercise intensity was increased once after two weeks. The subjects' Romberg's test results and their limits of stability were measured to evaluate their static and dynamic balance. The data were analyzed using a two-way repeated measures analysis of variance test. [Results] In the results of Romberg's test, the main effect of the time showed a significant difference in the trace length with eyes closed (Effect size: d=0.97). In the result of limits of stability, the interaction effect showed a significant difference in the backward, and the main effect of the group showed a significant difference in the forward. [Conclusion] The open kinetic chain and closed kinetic chain exercises both improved the balance of the subjects. The closed kinetic chain exercise was more effective at improving the dynamic balance of young healthy women than the open kinetic chain exercise.

Characterizing differential poststroke corticomotor drive to the dorsi- and plantarflexor muscles during resting and volitional muscle activation

Imbalance of corticomotor excitability between the paretic and nonparetic limbs has been associated with the extent of upper extremity motor recovery poststroke, is greatly influenced by specific testing conditions such as the presence or absence of volitional muscle activation, and may vary across muscle groups. However, despite its clinical importance, poststroke corticomotor drive to lower extremity muscles has not been thoroughly investigated. Additionally, whereas conventional gait rehabilitation strategies for stroke survivors focus on paretic limb foot drop and dorsiflexion impairments, most contemporary literature has indicated that paretic limb propulsion and plantarflexion impairments are the most significant limiters to poststroke walking function. The purpose of this study was to compare corticomotor excitability of the dorsi- and plantarflexor muscles during resting and active conditions in individuals with good and poor poststroke walking recovery and in neurologically intact controls. We found that plantarflexor muscles showed reduced corticomotor symmetry between paretic and nonparetic limbs compared with dorsiflexor muscles in individuals with poor poststroke walking recovery during active muscle contraction but not during rest. Reduced plantarflexor corticomotor symmetry during active muscle contraction was a result of reduced corticomotor drive to the paretic muscles and enhanced corticomotor drive to the nonparetic muscles compared with the neurologically intact controls. These results demonstrate that atypical corticomotor drive exists in both the paretic and nonparetic lower limbs and implicate greater severity of corticomotor impairments to plantarflexor vs. dorsiflexor muscles during muscle activation in stroke survivors with poor walking recovery.NEW & NOTEWORTHY The present study observed that lower-limb corticomotor asymmetry resulted from both reduced paretic and enhanced nonparetic limb corticomotor excitability compared with neurologically intact controls. The most asymmetrical corticomotor drive was observed in the plantarflexor muscles of individuals with poor poststroke walking recovery. This suggests that neural function of dorsi- and plantarflexor muscles in both paretic and nonparetic limbs may play a role in poststroke walking function, which may have important implications when developing targeted poststroke rehabilitation programs to improve walking ability.

Muscle contributions to frontal plane angular momentum during walking

The regulation of whole-body angular momentum is important for maintaining dynamic balance during human walking, which is particularly challenging in the frontal plane. Whole-body angular momentum is actively regulated by individual muscle forces. Thus, understanding which muscles contribute to frontal plane angular momentum will further our understanding of mediolateral balance control and has the potential to help diagnose and treat balance disorders. The purpose of this study was to identify how individual muscles and gravity contribute to whole-body angular momentum in the frontal plane using a muscle-actuated forward dynamics simulation analysis. A three-dimensional simulation was developed that emulated the average walking mechanics of a group of young healthy adults (n=10). The results showed that a finite set of muscles are the primary contributors to frontal plane balance and that these contributions vary throughout the gait cycle. In early stance, the vasti, adductor magnus and gravity acted to rotate the body towards the contralateral leg while the gluteus medius acted to rotate the body towards the ipsilateral leg. In late stance, the gluteus medius continued to rotate the body towards the ipsilateral leg while the soleus and gastrocnemius acted to rotate the body towards the contralateral leg. These results highlight those muscles that are critical to maintaining dynamic balance in the frontal plane during walking and may provide targets for locomotor therapies aimed at treating balance disorders.

Balance and recovery on coronally-uneven and unpredictable terrain

Stepping on coronally-uneven and unpredictable terrain is a common gait disturbance that can lead to injurious falls. This study identified the biomechanical response to a step on coronally-uneven and unpredictable terrain through observation of participants traversing a walkway with a middle step that could be blinded to participants, and positioned either 15° inverted, 15° everted, or flush. The isolated disturbance was intended to simulate stepping on a rock, object, or other transient coronal disturbance and allow for observation of the subsequent balance recovery. Gait balance was affected by the disturbance, and was measured by the range of coronal whole-body angular momentum, which compared to unblinded flush, increased during blinded eversion, and decreased during blinded inversion. Analysis of external coronal moments applied to the body about the center-of-mass by the disturbed and recovery legs suggested the disturbed leg contributed more to differences in the range of coronal angular momentum, and thus more to balance recovery. The stepping strategy for the disturbed and recovery steps was measured by mediolateral foot position, and appeared to have been mostly affected by anticipatory actions taken by participants before stepping on the blinded terrain, and not by the terrain angle. In contrast, on the disturbed step, distinct differences between blinded inversion and eversion in the coronal moments of the hip and ankle suggested the hip and ankle joint moment strategies were important for adapting to the terrain angle. A clinical implication of this result was interventions that augment these moments may improve gait balance control on coronally-uneven and unpredictable terrain.

Immediate effects of unilateral restricted ankle motion on gait kinematics in healthy subjects

Correcting a pathological toe walking gait pattern can be achieved by restricting excessive plantarflexion during the swing phase of gait. A common conservative treatment measure is providing the patient with an ankle-foot-orthosis on the affected lower leg. This study examined the lower body gait kinematics and temporal-spatial parameters of fifteen healthy adults when walking freely and with unilateral restricted ankle motion. The latter was achieved by fitting an ankle-foot-orthosis. Specific hip and knee kinematic parameters and temporal-spatial parameters were investigated. Differences between the two conditions were calculated by paired Student's t-tests and 95% confidence intervals. Unilateral restricted ankle motion influenced kinematics mainly in the swing phase. Hip and knee peak flexion in the swing phase were increased on the restricted side (hip: 49.2° (SD 4.2°), knee: 75.9° (SD 6.1°)) compared to walking freely (hip: 43.3° (SD 4.5°), knee: 66.7° (SD 5.3°)). Peak hip flexion occurred earlier in the swing phase in the restricted condition (85% (SD 2%)) compared to the free-walking condition (96% (SD 5%)). For these parameters, the confidence intervals were different, indicating clinical relevance. Walking with unilateral restricted ankle motion had a negative effect on walking velocity, cadence, step time, and step length. The confidence intervals, however, overlapped. These results might be a reaction to unusual sensory feedback from the feet with the ankle-foot-orthosis or due to increased hip flexor activity compensating for the reduced function of the plantarflexors. The evaluation of the immediate changes in unilateral restricted ankle motion in individuals with healthy gaits can contribute to a more complete understanding on this topic.

Long-Term Follow-up to a Randomized Controlled Trial Comparing Peroneal Nerve Functional Electrical Stimulation to an Ankle Foot Orthosis for Patients With Chronic Stroke

Background. Evidence supports peroneal nerve functional electrical stimulation (FES) as an effective alternative to ankle foot orthoses (AFO) for treatment of foot drop poststroke, but few long-term, randomized controlled comparisons exist. Objective. Compare changes in gait quality and function between FES and AFOs in individuals with foot drop poststroke over a 12-month period. Methods. Follow-up analysis of an unblinded randomized controlled trial (ClinicalTrials.gov #NCT01087957) conducted at 30 rehabilitation centers comparing FES to AFOs over 6 months. Subjects continued to wear their randomized device for another 6 months to final 12-month assessments. Subjects used study devices for all home and community ambulation. Multiply imputed intention-to-treat analyses were utilized; primary endpoints were tested for noninferiority and secondary endpoints for superiority. Primary endpoints: 10 Meter Walk Test (10MWT) and device-related serious adverse event rate. Secondary endpoints: 6-Minute Walk Test (6MWT), GaitRite Functional Ambulation Profile, and Modified Emory Functional Ambulation Profile (mEFAP). Results. A total of 495 subjects were randomized, and 384 completed the 12-month follow-up. FES proved noninferior to AFOs for all primary endpoints. Both FES and AFO groups showed statistically and clinically significant improvement for 10MWT compared with initial measurement. No statistically significant between-group differences were found for primary or secondary endpoints. The FES group demonstrated statistically significant improvements for 6MWT and mEFAP Stair-time subscore. Conclusions. At 12 months, both FES and AFOs continue to demonstrate equivalent gains in gait speed. Results suggest that long-term FES use may lead to additional improvements in walking endurance and functional ambulation; further research is needed to confirm these findings.