Effects of periodic sensory perturbations during electrical stimulation on gait cycle period

Adapting spatiotemporal gait symmetry to functional electrical stimulation during treadmill walking

Individuals with neurological impairments often exhibit asymmetrical gait patterns. This study explored the potential of using functional electrical stimulation (FES) as a perturbation method during treadmill walking to promote gait symmetry adaptation by investigating whether the FES perturbation could induce gait adaptation concerning spatial and temporal gait symmetry in healthy subjects. In the FES perturbation, both legs received electrical pulses at the same period as the subjects' initial stride duration, and the temporal gap between the two pulses for each leg was manipulated over a 7-min period. Following this, subjects continued to walk for another 5 minutes without FES. Subjects participated in two trials: implicit and explicit. In the implicit trial, they walked comfortably during FES perturbation without consciously adjusting their gait. In the explicit trial, they voluntarily synchronized their toe-off phase to the stimulation timing. To examine the effects of the FES perturbation, we measured step length and stance time and then analyzed changes in step length and stance time symmetries alongside their subsequent aftereffects. During the explicit trial, subjects adapted their gait patterns to the electrical pulses, resulting in a directional change in stance time (temporal) symmetry, with the left stance becoming shorter than the right. The stance time asymmetry induced by FES perturbation showed a slight residual effect. In the implicit trial, the directional change trend was slightly observed but not statistically significant. No consistent trend in step length (spatial) symmetry changes was observed in either condition, indicating that subjects may adapt their spatial gait patterns independently of their temporal patterns. Our findings suggest that the applied FES perturbation strategy under explicit condition can induce adaptations in subjects' temporal gait asymmetry, particularly in stance. The implicit condition showed a similar slight trend but was not statistically significant. Further experiments would provide deeper understanding into the mechanism behind subjects' response to FES perturbations, as well as the long-term effects of these perturbations on the spatial and temporal aspects of gait symmetry.

Human Gait Entrainment to Soft Robotic Hip Perturbation During Simulated Overground Walking

Entraining human gait with a periodic mechanical perturbation has been proposed as a potentially effective strategy for gait rehabilitation, but the related studies have mostly depended on the use of a fixed-speed treadmill (FST) due to various practical constraints. However, imposing a constant treadmill speed on participants becomes a critical problem because this speed constraint prohibits the participants from adjusting the gait speed, resulting in significant alterations in natural biomechanics as the entrainment alters the stride frequency. In this study, we hypothesized that the use of a variable-speed treadmill (VST), which enables the participants to continuously adjust their speed, can improve the success rate of gait entrainment and preserve natural gait biomechanics. To test this hypothesis, we recruited 15 young and healthy adults and let them walk on a conventional FST and a self-paced VST while wearing a soft robotic hip exosuit, which applied hip flexion perturbations at various frequencies, ranging from the preferred walking frequency to a 30% increased value. Kinematics and kinetics of the participants' walking under the two treadmill conditions were measured on two separate days. Experimental results demonstrated a higher success rate of entrainment during VST walking compared to FST walking, particularly at faster perturbation frequencies. Furthermore, walking on VST facilitated the maintenance of natural biomechanics, such as stride length and normalized propulsive impulse, better than walking on FST. The observed improvement, primarily attributed to allowing an increase in walking speed following the increase in the perturbation frequency, suggests that using a self-paced VST is a viable method for exploiting the potentially beneficial therapeutic effects of entrainment in gait rehabilitation.

Gait Entrainment to Torque Pulses from a Hip Exoskeleton Robot

Robot-aided locomotor rehabilitation has proven challenging. To facilitate progress, it is important to first understand the neuro-mechanical dynamics and control of unimpaired human locomotion. Our previous studies found that human gait entrained to periodic torque pulses at the ankle when the pulse period was close to preferred stride duration. Moreover, synchronized gait exhibited constant phase relation with the pulses so that the robot provided mechanical assistance. To test the generality of mechanical gait entrainment, this study characterized unimpaired human subjects' responses to periodic torque pulses during overground walking. The intervention was applied by a hip exoskeleton robot, Samsung GEMS-H. Gait entrainment was assessed based on the time-course of the phase at which torque pulses occurred within each stride. Experiments were conducted for two consecutive days to evaluate whether the second day elicited more entrainment. Whether entrainment was affected by the difference between pulse period and preferred stride duration was also assessed. Results indicated that the intervention evoked gait entrainment that occurred more often when the period of perturbation was closer to subjects' preferred stride duration, but the difference between consecutive days was insignificant. Entrainment was accompanied by convergence of pulse phase to a similar value across all conditions, where the robot maximized mechanical assistance. Clear evidence of motor adaptation indicated the potential of the intervention for rehabilitation. This study quantified important aspects of the nonlinear neuro-mechanical dynamics underlying unimpaired human walking, which will inform the development of effective approaches to robot-aided locomotor rehabilitation, exploiting natural dynamics in a minimally-encumbering way.

Mechanisms of gait phase entrainment in healthy subjects during rhythmic electrical stimulation of the medial gastrocnemius

Studies have shown that human gait entrains to rhythmic bursts of ankle torque for perturbation intervals both slightly shorter and slightly longer than the natural stride period while walking on a treadmill and during overground walking, with phase alignment such that the torque adds to ankle push-off. This study investigated whether human gait also entrains to align the phase of rhythmic electrical stimulation of the gastrocnemius muscle with the timing of ankle push-off. In addition, this study investigated the muscle response to electrical stimulation at different phases of the gait cycle. We found that for both treadmill and overground walking entrainment was observed with phasing that aligned the stimuli with ankle push-off or just before foot contact. Achilles tendon wave speed measurements showed a significant difference (increase) in tendon load when electrical stimulation was applied just after foot contact and during swing phase, with a greater increase for higher amplitudes of electrical stimulation. However, stimulation did not increase tendon load when the timing coincided with push-off. Stride period measurements also suggest the effect of electrical stimulation is sensitive to the gait phase it is applied. These results confirmed that timing aligned with push-off is an attractor for electrical stimulation-induced perturbations of the medial gastrocnemius, and that the muscle response to stimulation is sensitive to timing and amplitude. Future research should investigate other muscles and timings and separate sensory vs. motor contributions to these phenomena.