Lateral balance control for robotic gait training

Risk-of-falling related outcomes improved in community-dwelling older adults after a 6-week sideways walking intervention: a feasibility and pilot study

BACKGROUND

Aging increases fall risk and alters gait mechanics and control. Our previous work has identified sideways walking as a potential training regimen to decrease fall risk by improving frontal plane control in older adults' gait. The purposes of this pilot study were to test the feasibility of sideways walking as an exercise intervention and to explore its preliminary effects on risk-of-falling related outcomes.

METHODS

We conducted a 6-week single-arm intervention pilot study. Participants were community-dwelling older adults ≥ 65 years old with walking ability. Key exclusion criteria were neuromusculoskeletal and cardiovascular disorders that affect gait. Because initial recruitment rate through University of Nebraska at Omaha and Omaha community was slower than expected (3 participants∙week- 1), we expanded the recruitment pool through the Mind & Brain Health Labs registry of the University of Nebraska Medical Center. Individualized sideways walking intervention carried out under close supervision in a 200 m indoor walking track (3 days∙week- 1). Recruitment and retention capability, safety, and fidelity of intervention delivery were recorded. We also collected (open-label) walking speed, gait variability, self-reported and performance-based functional measures to assess participants' risk-of-falling at baseline and post-intervention: immediate, and 6 weeks after the completion of the intervention.

RESULTS

Over a 7-month period, 42 individuals expressed interest, 21 assessed for eligibility (21/42), and 15 consented to participate (15/21). Most of the potential participants were reluctant to commit to a 6-week intervention. Desired recruitment rate was achieved after revising the recruitment strategy. One participant dropped out (1/15). Remaining participants demonstrated excellent adherence to the protocol. Participants improved on most outcomes and the effects remained at follow-up. No serious adverse events were recorded during the intervention.

CONCLUSIONS

Our 6-week sideways walking training was feasible to deliver and demonstrated strong potential as an exercise intervention to improve risk-of-falling outcomes in community-dwelling older adults. In a future trial, alternative clinical tools should be considered to minimize the presence of ceiling/floor effects. A future large trial is needed to confirm sideways walking as a fall prevention intervention.

TRIAL REGISTRATION

ClinicalTrials.gov identifier: NCT04505527 . Retrospectively registered 10 August 2020.

An Increase in Kinematic Freedom in the Lokomat Is Related to the Ability to Elicit a Physiological Muscle Activity Pattern: A Secondary Data Analysis Investigating Differences Between Guidance Force, Path Control, and FreeD

Background: Robot-assisted gait therapy is a fast-growing field in pediatric neuro-rehabilitation. Understanding how these constantly developing technologies work is a prerequisite for shaping clinical application. For the Lokomat, two new features are supposed to increase patients' movement variability and should enable a more physiological gait pattern: Path Control and FreeD. This work provides a secondary data analysis of a previously published study, and looks at surface electromyography (sEMG) during Guidance Force walking and six sub-conditions of Path Control and FreeD. Objective: The aim was to evaluate different levels of kinematic freedom on the gait pattern of pediatric patients by modulating settings of Path Control and FreeD. Methods: Fifteen patients (mean age 16 ± 2 years) with neurological gait disorders completed the measurements. We analyzed sEMG amplitudes and the correlation of sEMG patterns with normative data of five leg muscles during walking conditions with increasing kinematic freedom in the Lokomat. The new outcome measure of inter-step similarity is introduced as a proxy for walking task complexity. Results: Within Path Control, sub-conditions showed significantly higher sEMG amplitudes in a majority of muscles with increasing kinematic freedom, and correlations with the norm pattern increased with increasing kinematic freedom. FreeD sub-conditions generally showed low or even negative correlations with the norm pattern and a lower inter-step similarity compared to Guidance Force. Conclusions: In general, this work highlights that the new hard- and software approaches of the Lokomat influence muscle activity differently. An increase of kinematic freedom of the walking condition led to an increase in muscular effort (Path Control) or to a higher step variability (FreeD) which can be interpreted as an increased task complexity of this condition. The inter-step similarity could be a helpful tool for the therapist to estimate the patient's state of strain.

A Postural Model for Tracking the Base of Support

Mobility impairment is a major challenge for the healthcare systems of developed countries. Balance deterio-ration is a physiological consequence of the ageing process, which makes it an endemic problem in ageing societies. Despite the importance of this issue, the development of appropriate therapies and protocols is challenging due to our limited understanding of human locomotion and equilibrium. This paper presents a technique that can track the BoS geometry from the feet' posture and its validation with healthy subjects. The proposed model uses a posture dependent reference frame called Saddle Space, which is aligned to the principal direction of the potential energy surface. The target application for the model described in this paper is the development of sensors for the evaluation of balance during activity of daily living. However, the proposed methodology can also be applied to bipedal robots, and the saddle space can also be employed to describe other posture dependent variables.

The FreeD module for the Lokomat facilitates a physiological movement pattern in healthy people - a proof of concept study

BACKGROUND

A contralateral pelvic drop, a transverse rotation and a lateral translation of the pelvis are essential features of normal human gait. These motions are often restricted in robot-assisted gait devices. The optional FreeD module of the driven gait orthosis Lokomat (Hocoma AG, Switzerland) incorporates guided lateral translation and transverse rotation of the pelvis. It consequently should support weight shifting during walking. This study aimed to investigate the influence of the FreeD module on trunk kinematics and hip and trunk muscle activity.

METHODS

Thirty- one healthy adults participated. A video analysis of their trunk movements was performed to investigate the lateral chest and pelvis displacement within the Lokomat (with and without FreeD), and this was compared to treadmill walking. Furthermore, surface electromyography (sEMG) signals from eight muscles were collected during walking in the Lokomat (with and without FreeD), on the treadmill, and overground. To compare the similarity of the sEMG patterns, Spearman's correlation analyses were applied.

RESULTS

Walking with FreeD elicited a significantly higher lateral pelvis displacement and a lower lateral chest displacement (relative to the pelvis) compared to walking with a fixated pelvis. No significant differences in the sEMG patterns were found for the Lokomat conditions (with and without FreeD) when comparing it to treadmill or overground walking.

CONCLUSIONS

The differences in pelvis displacement act as a proof of concept of the FreeD module. The reduction of relative lateral chest movement corresponds to a decrease in compensatory trunk movements and has its origin in allowing weight shifting through the FreeD module. Both Lokomat conditions showed very similar muscle activity patterns of the trunk and hip compared to overground and treadmill walking. This indicates that the Lokomat allows a physiological muscle activity of the trunk and hip during gait.

Can Lokomat therapy with children and adolescents be improved? An adaptive clinical pilot trial comparing Guidance force, Path control, and FreeD

Background

Robot-assisted gait therapy is increasingly being used in pediatric neurorehabilitation to complement conventional physical therapy. The robotic device applied in this study, the Lokomat (Hocoma AG, Switzerland), uses a position control mode (Guidance Force), where exact positions of the knee and hip joints throughout the gait cycle are stipulated. Such a mode has two disadvantages: Movement variability is restricted, and patients tend to walk passively. Kinematic variability and active participation, however, are crucial for motor learning. Recently, two new control modes were introduced. The Path Control mode allows the patient to walk within a virtual tunnel surrounding the ideal movement trajectory. The FreeD was developed to support weight shifting through mediolaterally moveable pelvis and leg cuffs. The aims of this study were twofold: 1) To present an overview of the currently available control modes of the Lokomat. 2) To evaluate if an increase in kinematic variability as provided by the new control modes influenced leg muscle activation patterns and intensity, as well as heart rate while walking in the Lokomat.

Methods

In 15 adolescents with neurological gait disorders who walked in the Lokomat, 3 conditions were compared: Guidance Force, Path Control, and FreeD. We analyzed surface electromyographic (sEMG) activity from 5 leg muscles of the more affected leg and heart rate. Muscle activation patterns were compared with norm curves.

Results

Several muscles, as well as heart rate, demonstrated tendencies towards a higher activation during conditions with more kinematic freedom. sEMG activation patterns of the M.rectus femoris and M.vastus medialis showed the highest similarity to over-ground walking under Path Control, whereas walking under FreeD led to unphysiological muscle activation in the tested sample.

Conclusions

Results indicate that especially Path Control seems promising for adolescent patients undergoing neurorehabilitation, as it increases proximal leg muscle activity while facilitating a physiological muscle activation. Therefore, this may be a solution to increase kinematic variability and patients’ active participation in robot-assisted gait training.

Electronic supplementary material

The online version of this article (doi:10.1186/s12984-017-0287-1) contains supplementary material, which is available to authorized users.