Proprioception: clinical relevance and neurophysiology

Anisotropic Electrical Transport in Mechanically Responsive Silver-Coated Microparticle-Gel Composites for Flowable Semiconducting Materials

Soft materials with reversible electrical and mechanical properties are critical for the development of advanced bioelectronics that can distinguish between different rates of applied strain and eliminate performance degradation over many cycles. However, the current paradigm in mechano-electronic devices involves measuring changes in electrical current based on the accumulation of strain within a conductive material that alters the geometry through which electrons flow. Attempts have been made to incorporate soft materials like liquid metals and concentrated solutions of conjugated polymers and salts to overcome materials degradation but are limited in their ability to detect changes in the rate of the applied strain. Herein, the anisotropic electrical performance of a soft semiconducting composite prepared with silver-coated microspheres dispersed within a swollen copolymer gel is demonstrated. This composite exhibits an electrical response proportional to the magnitude of the applied shear force to enable a rate-of-strain dependent conductivity. Furthermore, a 100-fold increase in the conductivity of the composite is observed when the electric field is oriented parallel to the flow direction. This improvement in the electrical response can be attributed to the enhanced alignment of microspheres in viscoelastic media and can be leveraged in the development of mechanically responsive electronic devices.

Adaptive walking performance is related to the hip joint position sense during active hip flexion rather than during passive hip flexion

The purpose of this study was to investigate the relationship between hip joint position sense during active or passive hip flexion and adaptive walking performance across obstacles. After screening, 30 young men with the right dominant leg (age, 21 ± 2 years) participated in the experiment. To measure adaptive walking performance on the first day, the participants stepped over an obstacle underfoot with the left leg just high enough to avoid touching the obstacle. The difference between the height of the knee joint at the moment of crossing the obstacle and the height of the obstacle was normalized to the lower limb length and used to evaluate performance. To measure hip joint position sense on the second day, the participants adjusted their left hip joint angle to the target angle (range of joint motion: 80° of hip flexion) by active or passive hip flexion using a dynamometer. Although the absolute error in hip joint position sense during active hip flexion (6.3° ± 4.4°) significantly correlated with that during passive hip flexion (23.2° ± 11.0°) (r = 0.507, P < 0.001), a notable difference was observed between the two (P < 0.001). The normalized knee joint height was significantly correlated with the absolute error of hip joint position sense during active hip flexion (r = 0.477, P < 0.001) but not during passive hip flexion. The results of this study suggest a strong association between hip joint position sense under conditions that closely resemble actual walking behavior and adaptive walking performance, such as crossing over obstacles.

Closed-Loop Force Control by Biorealistic Hand Prosthesis With Visual and Tactile Sensory Feedback

The ability of a novel biorealistic hand prosthesis for grasp force control reveals improved neural compatibility between the human-prosthetic interaction. The primary purpose here was to validate a virtual training platform for amputee subjects and evaluate the respective roles of visual and tactile information in fundamental force control tasks. We developed a digital twin of tendon-driven prosthetic hand in the MuJoCo environment. Biorealistic controllers emulated a pair of antagonistic muscles controlling the index finger of the virtual hand by surface electromyographic (sEMG) signals from amputees' residual forearm muscles. Grasp force information was transmitted to amputees through evoked tactile sensation (ETS) feedback. Six forearm amputees participated in force tracking and holding tasks under different feedback conditions or using their intact hands. Test results showed that visual feedback played a predominant role than ETS feedback in force tracking and holding tasks. However, in the absence of visual feedback during the force holding task, ETS feedback significantly enhanced motor performance compared to feedforward control alone. Thus, ETS feedback still supplied reliable sensory information to facilitate amputee's ability of stable grasp force control. The effects of tactile and visual feedback on force control were subject-specific when both types of feedback were provided simultaneously. Amputees were able to integrate visual and tactile information to the biorealistic controllers and achieve a good sensorimotor performance in grasp force regulation. The virtual platform may provide a training paradigm for amputees to adapt the biorealistic hand controller and ETS feedback optimally.

Velocity dependence of sensory reweighting in human balance control

The relative contributions of proprioceptive, vestibular, and visual sensory cues to balance control change depending on their availability and reliability. This sensory reweighting is classically supported by nonlinear sway responses to increasing visual surround and/or surface tilt amplitudes. However, recent evidence indicates that visual cues are reweighted based on visual tilt velocity rather than tilt amplitude. Therefore, we designed a study to specifically test the hypothesized velocity dependence of reweighting while expanding on earlier findings for visual reweighting by testing proprioceptive reweighting for standing balance on a tilting surface. Twenty healthy young adults stood with their eyes closed on a toes-up/-down tilting platform. We designed four pseudorandom tilt sequences with either a slow (S) or a fast (F) tilt velocity and different peak-to-peak amplitudes. We used model-based interpretations of measured sway characteristics to estimate the proprioceptive sensory weight (Wprop) within each trial. In addition, root-mean-square values of measured body center of mass sway amplitude (RMS) and velocity (RMSv) were calculated for each tilt sequence. Wprop, RMS, and RMSv values varied depending on the stimulus velocity, exhibiting large effects (all Cohen's d >1.10). In contrast, we observed no significant differences across stimulus amplitudes for Wprop (Cohen's d: 0.02-0.16) and, compared with the differences in velocity, there were much smaller changes in RMS and RMSv values (Cohen's d: 0.05-0.91). These results confirmed the hypothesized velocity, rather than amplitude, dependence of sensory reweighting.NEW & NOTEWORTHY This novel study examined the velocity dependence of sensory reweighting for human balance control using support surface tilt stimuli with independently varied amplitude and velocity. Estimates of the proprioceptive contribution to standing balance, derived from model-based interpretations of sway characteristics, showed greater sensitivity to changes in surface tilt velocity than surface tilt amplitude. These results support a velocity-based mechanism underlying sensory reweighting for human balance control.

A Novel Wrist Device for Characterizing the Components of Proprioceptive Acuity

Proprioception is important in human motor control but can be impaired by neurological disease. Unfortunately, our understanding of proprioceptive deficit is very limited, especially for important joints such as the wrist. To address this gap, we have constructed a robotic testbed designed to measure different aspects of proprioceptive acuity at the human wrist during pronation/supination. Utilizing the testbed, we conducted a battery of psychometric tests with N = 11 neurologically-intact individuals to validate the robot's ability to quantify position, velocity, and torque sensing capabilities, both actively and passively. Overall, our findings demonstrate that the testbed can capture different acuity metrics in healthy participants, and that passive and active velocity senses are different in healthy individuals. In the future, we plan to expand the device to test other wrist degrees of freedom, and we plan to implement the testbed for individuals living with stroke to help better inform personalized treatment for faster recovery.

Effects of proprioceptive neuromuscular facilitation and both sides up ball exercise on pain level, range of motion, muscle function after total knee arthroplasty

Knee osteoarthritis (OA) is a degenerative joint disease caused tearing and progressive wear of articular cartilage, and total knee arthroplasty (TKA) is recommended to patients with OA. The purpose of this study was to investigate the effect of proprioceptive neuromuscular facilitation (PNF) and both sides up ball (BOSU) exercises on pain, range of motion (ROM), and muscle function in patients following TKA. Ten participants who have limitation of the knee joint from TKA were divided into two groups: the continuous passive motion (CPM)+PNF exercise group (n=5) and the CPM+BOUS exercise group (n=5). Exercise rehabilitation program consisted of PNF and BOSU exercises, and both exercises were performed twice a day for 2 weeks. To examine effect of exercise rehabilitation, visual analogue scale (VAS), sit and reach flexibility, knee ROM, and Timed Up and Go test (TUG) were measured before and after exercise intervention. A two-way repeated analysis of variance was used to confirm the main effect. If there was a significant interaction effect, an independent t-test between groups or a paired t-test between times was applied. VAS, sit and reach flexibility, knee ROM and TUG did not show interaction between the PNF and BOSU exercise groups, but all measured variables showed significant differences over time. Present findings provide information that PNF and BOSU exercise rehabilitation after TKA might be an important part of ensuring successful surgical outcomes as they have a positive impact on reducing pain, increasing ROM, improving muscle strength, and enhancing daily life movements.

Intrafusal cross-bridge dynamics shape history-dependent muscle spindle responses to stretch

Computational models can be critical to linking complex properties of muscle spindle organs to the sensory information that they encode during behaviours such as postural sway and locomotion where few muscle spindle recordings exist. Here, we augment a biophysical muscle spindle model to predict the muscle spindle sensory signal. Muscle spindles comprise several intrafusal muscle fibres with varied myosin expression and are innervated by sensory neurons that fire during muscle stretch. We demonstrate how cross-bridge dynamics from thick and thin filament interactions affect the sensory receptor potential at the spike initiating region. Equivalent to the Ia afferent's instantaneous firing rate, the receptor potential is modelled as a linear sum of the force and rate change of force (yank) of a dynamic bag1 fibre and the force of a static bag2/chain fibre. We show the importance of inter-filament interactions in (i) generating large changes in force at stretch onset that drive initial bursts and (ii) faster recovery of bag fibre force and receptor potential following a shortening. We show how myosin attachment and detachment rates qualitatively alter the receptor potential. Finally, we show the effect of faster recovery of receptor potential on cyclic stretch-shorten cycles. Specifically, the model predicts history-dependence in muscle spindle receptor potentials as a function of inter-stretch interval (ISI), pre-stretch amplitude and the amplitude of sinusoidal stretches. This model provides a computational platform for predicting muscle spindle response in behaviourally relevant stretches and can link myosin expression seen in healthy and diseased intrafusal muscle fibres to muscle spindle function.

Pelvic Floor Muscle Training for Urinary Incontinence After Radical Prostatectomy: A Narrative Review

Rehabilitative treatment of urinary incontinence after prostatectomy has showed, on the basis of recent published evidence, encouraging results. At first, clinician applied evaluation and treatment approach suggested based on the studies and rationale of female stress urinary incontinence, but although long term literature suggested no evidence of benefits. Recent studies that have shown the real control mechanisms in male continence through the use of trans-perineal ultrasound, demonstrated that it is not appropriate to transfer the rehabilitation techniques applied in female stress incontinence to male incontinence after prostatectomy. Even that pathophysiology of urinary incontinence after prostatectomy is not fully understood, it's in part attributable to a urethral or bladder source. In particular, however, urethral sphincter dysfunction is predominant, secondary to surgical damage and to the partly organic and partly functional dysfunction of the external urethral sphincter; complementary action of all the muscles capable of contributing to the maintenance of urethral resistance is therefore important. As for rehabilitative approach to post-prostatectomy incontinence, the primary objective is to quantify the residual capacity of the muscular function that must replace the sphincter function, often compromised by surgery. Than a multimodal approach, comprising exercise and instrumental therapies, is needed. The present paper's aim was to overview current urinary dysfunction knowledge for male with radical prostatectomy, and to describe practical issue of evaluation and conservative treatment.

Robotically quantifying finger and ankle proprioception: Role of range, speed, anticipatory errors, and learning

Proprioception plays a key role in motor control and stroke recovery. Robotic devices are increasingly being used to improve proprioceptive assessments, but there is a lack of knowledge about how programmable factors such as testing range, speed, and prior exposure affect tests. From a physiological standpoint, such factors may regulate the sensitivity of limb proprioceptors, thereby influencing assessment results when not controlled for. To determine the relative influence of such factors, we studied the Crisscross proprioceptive assessment, a recently developed robotic assessment that requires participants to indicate when two joints pass by each other as they are moved passively by the robot. We implemented Crisscross with novel robots for the fingers and ankles and tested young unimpaired participants in single sessions (N = 16) and longitudinally (N = 5, across 15-30 sessions over 3-10 weeks). In single-session testing, we found that proprioceptive acuity was better for the fingers than the ankle (p < 0.01). For both limbs, acuity improved near the ends of the range of motion, which may be due to greater involvement of load and joint receptors. Acuity was poorer for slower movements due to greater anticipatory errors. These results show how the range and speed selected for a proprioceptive test affect proprioceptive acuity and highlight the heightened role of anticipatory errors at slow speeds. Improvements in proprioceptive acuity were not detectable in a single session, but acuity improved across multiple testing sessions (p < 0.01). This result shows that multiple prior exposure over at least several days can affect acuity.Clinical Relevance- Proprioceptive assessments should account for range and speed, which could be enabled by leveraging robotics technology. Proprioceptive acuity can be improved through repeated testing, an observation that is relevant to proprioceptive rehabilitation as well.

Somatosensory Information in Skilled Motor Performance: A Narrative Review

Historically, research aimed at improving motor performance has largely focused on the neural processes involved in motor execution due to their role in muscle activation. However, accompanying somatosensory and proprioceptive sensory information is also vitally involved in performing motor skills. Here we review research from interdisciplinary fields to provide a description for how somatosensation informs the successful performance of motor skills as well as emphasize the need for careful selection of study methods to isolate the neural processes involved in somatosensory perception. We also discuss upcoming strategies of intervention that have been used to improve performance via somatosensory targets. We believe that a greater appreciation for somatosensation's role in motor learning and control will enable researchers and practitioners to develop and apply methods for the enhancement of human performance that will benefit clinical, healthy, and elite populations alike.

Top-down control of human motor thalamic neuronal activity during the auditory oddball task

The neurophysiology of selective attention in visual and auditory systems has been studied in animal models but not with single unit recordings in human. Here, we recorded neuronal activity in the ventral intermediate nucleus as well as the ventral oral anterior, and posterior nuclei of the motor thalamus in 25 patients with parkinsonian (n = 6) and non-parkinsonian tremors (n = 19) prior to insertion of deep brain stimulation electrodes while they performed an auditory oddball task. In this task, patients were requested to attend and count the randomly occurring odd or "deviant" tones, ignore the frequent standard tones and report the number of deviant tones at trial completion. The neuronal firing rate decreased compared to baseline during the oddball task. Inhibition was specific to auditory attention as incorrect counting or wrist flicking to the deviant tones did not produce such inhibition. Local field potential analysis showed beta (13-35 Hz) desynchronization in response to deviant tones. Parkinson's disease patients off medications had more beta power than the essential tremor group but less neuronal modulation of beta power to the attended tones, suggesting that dopamine modulates thalamic beta oscillations for selective attention. The current study demonstrated that ascending information to the motor thalamus can be suppressed during auditory attending tasks, providing indirect evidence for the searchlight hypothesis in humans. These results taken together implicate the ventral intermediate nucleus in non-motor cognitive functions, which has implications for the brain circuitry for attention and the pathophysiology of Parkinson's disease.

Muscle spindles and their role in maintaining robust locomotion

Muscle spindles, one of the two main classes of proprioceptors together with Golgi tendon organs, are sensory structures that keep the central nervous system updated about the position and movement of body parts. Although they were discovered more than 150 years ago, their function during movement is not yet fully understood. Here, we summarize the morphology and known functions of muscle spindles, with a particular focus on locomotion. Although certain properties such as the sensitivity to dynamic and static muscle stretch are long known, recent advances in molecular biology have allowed the characterization of the molecular mechanisms for signal transduction in muscle spindles. Building upon classic literature showing that a lack of sensory feedback is deleterious to locomotion, we bring to the discussion more recent findings that support a pivotal role of muscle spindles in maintaining murine and human locomotor robustness, defined as the ability to cope with perturbations. Yet, more research is needed to expand the existing mechanistic understanding of how muscle spindles contribute to the production of robust, functional locomotion in real world settings. Future investigations should focus on combining different animal models to identify, in health and disease, those peripheral, spinal and brain proprioceptive structures involved in the fine tuning of motor control when locomotion happens in challenging conditions.

A Biorealistic Computational Model Unfolds Human-Like Compliant Properties for Control of Hand Prosthesis

Objective: Human neuromuscular reflex control provides a biological model for a compliant hand prosthesis. Here we present a computational approach to understanding the emerging human-like compliance, force and position control, and stiffness adaptation in a prosthetic hand with a replica of human neuromuscular reflex. Methods: A virtual twin of prosthetic hand was constructed in the MuJoCo environment with a tendon-driven anthropomorphic hand structure. Biorealistic mathematic models of muscle, spindle, spiking-neurons and monosynaptic reflex were implemented in neuromorphic chips to drive the virtual hand for real-time control. Results: Simulation showed that the virtual hand acquired human-like ability to control fingertip position, force and stiffness for grasp, as well as the capacity to interact with soft objects by adaptively adjusting hand stiffness. Conclusion: The biorealistic neuromorphic reflex model restores human-like neuromuscular properties for hand prosthesis to interact with soft objects.

Biorealistic Control of Hand Prosthesis Augments Functional Performance of Individuals With Amputation

The human hand has compliant properties arising from muscle biomechanics and neural reflexes, which are absent in conventional prosthetic hands. We recently proved the feasibility to restore neuromuscular reflex control (NRC) to prosthetic hands using real-time computing neuromorphic chips. Here we show that restored NRC augments the ability of individuals with forearm amputation to complete grasping tasks, including standard Box and Blocks Test (BBT), Golf Balls Test (GBT), and Potato Chips Test (PCT). The latter two were more challenging, but novel to prosthesis tests. Performance of a biorealistic controller (BC) with restored NRC was compared to that of a proportional linear feedback (PLF) controller. Eleven individuals with forearm amputation were divided into two groups: one with experience of myocontrol of a prosthetic hand and another without any. Controller performances were evaluated by success rate, failure (drop/break) rate in each grasping task. In controller property tests, biorealistic control achieved a better compliant property with a 23.2% wider range of stiffness adjustment than that of PLF control. In functional grasping tests, participants could control prosthetic hands more rapidly and steadily with neuromuscular reflex. For participants with myocontrol experience, biorealistic control yielded 20.4, 39.4, and 195.2% improvements in BBT, GBT, and PCT, respectively, compared to PLF control. Interestingly, greater improvements were achieved by participants without any myocontrol experience for BBT, GBT, and PCT at 27.4, 48.9, and 344.3%, respectively. The functional gain of biorealistic control over conventional control was more dramatic in more difficult grasp tasks of GBT and PCT, demonstrating the advantage of NRC. Results support the hypothesis that restoring neuromuscular reflex in hand prosthesis can improve neural motor compatibility to human sensorimotor system, hence enabling individuals with amputation to perform delicate grasps that are not tested with conventional prosthetic hands.

Precision control for a flexible body representation

Adaptive body representation requires the continuous integration of multisensory inputs within a flexible 'body model' in the brain. The present review evaluates the idea that this flexibility is augmented by the contextual modulation of sensory processing 'top-down'; which can be described as precision control within predictive coding formulations of Bayesian inference. Specifically, I focus on the proposal that an attenuation of proprioception may facilitate the integration of conflicting visual and proprioceptive bodily cues. Firstly, I review empirical work suggesting that the processing of visual vs proprioceptive body position information can be contextualised 'top-down'; for instance, by adopting specific attentional task sets. Building up on this, I review research showing a similar contextualisation of visual vs proprioceptive information processing in the rubber hand illusion and in visuomotor adaptation. Together, the reviewed literature suggests that proprioception, despite its indisputable importance for body perception and action control, can be attenuated top-down (through precision control) to facilitate the contextual adaptation of the brain's body model to novel visual feedback.

Does proprioceptive acuity influence the extent of implicit sensorimotor adaptation in young and older adults?

The ability to adjust movements to changes in the environment declines with aging. This age-related decline is caused by the decline of explicit adjustments. However, implicit adaptation remains intact and might even be increased with aging. Since proprioceptive information has been linked to implicit adaptation, it might well be that an age-related decline in proprioceptive acuity might be linked to the performance of older adults in implicit adaptation tasks. Indeed, age-related proprioceptive deficits could lead to altered sensory integration with an increased weighting of the visual sensory-prediction error. Another possibility is that reduced proprioceptive acuity results in an increased reliance on predicted sensory consequences of the movement. Both these explanations led to our preregistered hypothesis: we expected a relation between the decline of proprioception and the amount of implicit adaptation across ages. However, we failed to support this hypothesis. Our results question the existence of reliability-based integration of visual and proprioceptive signals during motor adaptation.