The efficiency of mechanical orthoses in affecting parameters associated with daily living in spinal cord injury patients: a literature review

Improvement of quality of life after 2-month exoskeleton training in patients with chronic spinal cord injury

OBJECTIVE

To examine changes in quality of life (QoL) after an eight-week period of robotic exoskeleton training in a homogeneous group of patients with chronic complete spinal cord injury (SCI).

DESIGN

Prospective single-group pre-post study.

SETTING

Rehabilitation center.

PARTICIPANTS

Patients with a chronic (>6 months) motor complete SCI (T1-L1).

INTERVENTION

Twenty-four training sessions with the ReWalk exoskeleton over an eight-week period.

MAIN OUTCOME MEASURE

QoL, assessed with the sum score of the Short Form-36 with Walk Wheel modification (SF-36ww). Secondary outcome measures were the eight SF-36ww subdomains, satisfaction with bladder and bowel management, lower extremity joint passive range of motion (pROM), and lower extremity spasticity.

RESULTS

Twenty-one participants completed the training. QoL significantly improved after the training period (average SF-36 sum score 621 ± 90) compared to baseline (571 ± 133) (t(20)=-2.5, P=.02). Improvements were seen on the SF-36ww subdomains for pain (P=.003), social functioning (P=.03), mental health (P=.02), and general health perception (P=.01). Satisfaction with bladder management (range 1-5) improved from median 3 at baseline to 4 after exoskeleton training (P=0.01). No changes in satisfaction with bowel management (P=.11), pROM (hip-extension (P=.49), knee-extension (P=.36), ankle dorsiflexion (P=.69)), or spasticity (P=.94) were found.

CONCLUSION

Even in patients with chronic motor complete SCI and a relatively high level of QoL at baseline, a short-term exoskeleton training improved their QoL, pain and satisfaction with bladder management; findings that warrant further controlled studies in this specific SCI population.

Kinematic and electromyography analysis of paraplegic gait with the assistance of mechanical orthosis and walker

Objective: To investigate the kinematics, functional sub-tasks, and excitation levels of the trunk and upper extremity muscles of paraplegic subjects during walker-assisted locomotion. Design: Retrospective cross-sectional study. Setting: Gait analysis laboratory. Participants: Eight individuals with spinal cord injury at T12, lower extremity motor score less than 4, and capable of walking independently with the assistance of ankle-foot orthosis and walker. Main Outcome Measures: Kinematics of pelvis, trunk, shoulder and elbow; trajectory of center of mass; and electromyography (EMG) activity of trunk and upper extremity muscles during gait. Results: Four subtasks were characterized for each locomotion step, based on the kinetics and kinematics data: (1) balance adjustment, (2) walker propulsion, (3) leg raising, and (4) leg swing. The latter two involved large lateral maneuvres by the trunk and pelvis and appeared to be the most skill- and muscle activity-demanding subtasks. The main muscles contributing into these subtasks were the ipsilateral paraspinal and abdominal muscles, as well as the contralateral scapulothoracic and shoulder girdle muscles, with EMG intensities significantly higher than their minimum mean intensities (P < 0.05) and those of the contralateral side (P < 0.05). Conclusions: Our results provide more insight into the functional sub-tasks and muscular demands of walker-assisted paraplegic gait that can help to design appropriate muscle strengthening programs, as well as developing more effective gait orthoses.

The safety and feasibility of a new rehabilitation robotic exoskeleton for assisting individuals with lower extremity motor complete lesions following spinal cord injury (SCI): an observational study

STUDY DESIGN

A pre-post observational study.

OBJECTIVES

To evaluate the safety and feasibility of a new rehabilitation robotic device for assisting individuals with lower extremity motor complete lesions following spinal cord injury (SCI).

SETTING

Three hospitals in Sichuan Province, China.

METHODS

Individuals aged 15-75 years with an SCI between vertebrae six (T6) and lumbar 1 (L1) and complete motor paralysis participated in an exoskeletal-assisted walking (EAW) programme (2 weeks, 5 days/week, 30 min/day). Data were collected pre-, mid- (week 1) and post-intervention (week 2).

RESULTS

Twenty-eight individuals (mean age = 41.3, 71% males) participated in the EAW programme. The distance walked during the 6-min walking test (6MWT) increased relative to that at baseline, during week 1 (13.0 ± 5.3 m) and week 2 (16.2 ± 5.3 m) when wearing the exoskeleton. The walking speed during the 10-m walking test (10MWT) increased from 0.039 ± 0.016 to 0.045 ± 0.016 m/s. The Hoffer walking ability grade, the Spinal Cord Independence Measure (SCIM), and the Walking Index for SCI II (WISCI II) changed after 2 weeks of EAW. No improvement in lower extremity motor score (LEMS) was observed. The rates of adverse events and serious adverse events were 21% and 4%, respectively.

CONCLUSIONS

The EAW programme with the new robotic exoskeleton provided potential meaningful improvements in mobility for individuals with SCI and had few adverse events.

Public Transportation Environment and Medical Choice for Chronic Disease: A Case Study of Gaoyou, China

Current research on the built environment and medical choice focuses mainly on the construction and optimization of medical service systems from the perspective of supply. There is a lack of in-depth research on medical choice from the perspective of patient demand. Based on the medical choice behaviour of patients with chronic diseases, this article identifies the spatial distribution and heterogeneity characteristics of medical choice and evaluates the balance between medical supply and demand in each block. On this basis, we explored the mechanism of patient preferences for different levels of medical facilities by considering the patient’s socioeconomic background, medical resource evaluation, and other built environment features of the neighbourhood by referring to patient questionnaires. In addition to socioeconomic characteristics, the results show that public transportation convenience, medical accessibility, and medical institution conditions also have significant influences on patient preferences, and the impact on low-income patients is more remarkable. The conclusions of the study provide a reference for the promotion and optimization of the functions of urban medical resources and the guidance of relevant public health policies.

Role and Significance of Trunk and Upper Extremity Muscles in Walker-Assisted Paraplegic Gait: A Case Study

Background and Purpose: Understanding the role and significance of trunk and upper extremity muscles in paraplegic gait can help in designing more effective assistive devices for these patients and also provides valuable information for improving muscle strengthening programs. Methods: In a patient with a spinal cord injury (SCI) who could walk independently (rating scale of ambulatory capacity, 9) with the aid of bilateral ankle-foot orthosis and a walker, the kinematics, kinetics and electromyographic (EMG) activities of 16 muscles from the trunk and upper and lower extremities were recorded during gait. The onset, cessation, and duration of the EMG signal were associated with the 4 phases of each step, distinguished based on the kinematics results. Results: It was found that the reciprocating activation pattern of the quadratus lumborum, latissimus dorsi, pectoralis major, and lower trapezius is responsible for trunk extension during the balance adjustment phase, leg unload and foot clearance creation during the leg raising phase, and propulsion force generation during the leg swing phase. Conclusion: The continuous activation of the rectus abdominis and erector spinae within the gait cycle helps stabilize the thorax and acts in reverse, that is, fixes the proximal joint and moves the distal limb. The shoulder girdle muscles contribute to the leg's unloading and then smooth landing during leg raising and leg swing phases, respectively.

Influence of Reciprocating Link When Using an Isocentric Reciprocating Gait Orthosis (IRGO) on Walking in Patients with Spinal Cord Injury: A Pilot Study

Background: Studies collectively imply that the reciprocal link has no effect on walking when using reciprocating gait orthoses (RGOs). There may be differences between the 2 configurations of the RGO (eg, isocentric reciprocating gait orthosis [IRGO] and IRGO without reciprocating link), but the specific benefits and problems encountered in their use must be understood. Purpose: To highlight more evidence for the mechanical function of the reciprocal link in RGOs used for walking by individuals with spinal cord injury (SCI). Methods: Nine people with SCI participated in this study. Gait analysis was performed in 2 conditions (walking with IRGO and walking with IRGO without reciprocating link) in a random order. The Vicon digital capture system was used to obtain kinematic data. Results: There were significant differences between each orthotic configuration in terms of speed of walking (p = .029), step length (p = .048), hip joint range of motion (ROM) (p ≤ .001), and lateral and vertical compensatory motions (p ≤ .001). There was no significant difference between each orthotic configuration in cadence (p = .162). Conclusion: The reciprocating link in IRGO improved the walking parameters in SCI patients.

The influence of new medial linkage orthosis on walking and independence in spinal cord injury patients: a pilot study

In an effort to overcome the disadvantages of reciprocating gait orthoses (RGOs) and medial linkage orthoses (MLOs), a new design of MLO was developed. Therefore the aim of this study was comparison effect of a new reciprocating MLO and traditional isocentric RGO on gait parameters and functional independence (orthosis donning and doffing time) in spinal cord injury (SCI) subjects to provide more evidence of its efficacy. Four people with motor incomplete SCI participated in this study. Each participant was fitted with an MLO and isocentric reciprocating gait orthosis (IRGO) to enable a comparison of walking speed, cadence and endurance to be performed. There were no statistically significant differences demonstrated in temporal-spatial parameters between the orthotic walking conditions in this study, but walking with the MLO improved the stride length and speed of walking by 28.57 and 40.9% compared with walking with an IRGO as a control condition. Hip flexion occurred predominantly during single-support phases, with negligible motion during double-support phases. The first and second Subjects had hip kinematic pattern more near normal when they walked with medial linkage reciprocal gait orthosis (MLRGO) in comparison with IRGO. There was significant difference between donning and doffing in two conditions (P=0.046) but there was not significant difference between two conditions in standing and sitting although these two conditions improved by new MLO. The new MLO provided a quicker and more independent gait compared with IRGO, in addition the new MLO made it easier for subjects to get from sitting to standing and from standing to sitting.

The effect of trunk extension on physiological cost index in spinal cord injury patients when using the advanced reciprocating gait orthosis: A pilot study

BACKGROUND

People with spinal cord injury walk with a flexed trunk when using reciprocating gait orthoses for walking. Reduction in trunk flexion during ambulation has been shown to improve gait parameters for reciprocating gait orthosis users.

OBJECTIVE

The aim of this study was to investigate the effect on energy expenditure when spinal cord injury patients ambulate with an advanced reciprocating gait orthosis while wearing a thoracolumbosacral orthosis to provide trunk extension.

STUDY DESIGN

Quasi experimental study.

METHODS

Four patients with spinal cord injury were fitted with an advanced reciprocating gait orthosis after completing a specific gait training program. Patients walked along a flat walkway using the advanced reciprocating gait orthosis as a control condition and also while additionally wearing a thoracolumbosacral orthosis at their self-selected walking speed. A stopwatch and a polar heart rate monitor were used to measure walking speed and heart rate.

RESULTS

Walking speed, the distance walked, and the physiological cost index all improved when walking with the advanced reciprocating gait orthosis/thoracolumbosacral orthosis test condition compared to walking with no thoracolumbosacral orthosis in situ.

CONCLUSION

Spinal cord injury patients can improve their walking speed, walking distance, and physiological cost index when wearing a thoracolumbosacral orthosis in conjunction with an advanced reciprocating gait orthosis, which may be attributed to the trunk extension provided by the thoracolumbosacral orthosis.

CLINICAL RELEVANCE

It is concluded that wearing thoracolumbosacral orthosis in association with an advanced reciprocating gait orthosis could be an effective alternative in rehabilitation for thoracic level of paraplegic patients to promote their health and well-being.

The influence of orthosis options on walking parameters in spinal cord-injured patients: a literature review

OBJECTIVE

Orthoses for various joints sections are considered to greatly influence the gait function and energy expenditure in spinal cord-injured (SCI) patients. The aim of this review was to determine the influence of orthoses characteristics and options on the improvement of walking in patients with SCI.

METHODS

A search was performed using the Population Intervention Comparison Outcome (PICO) method, based on selected keywords; studies were identified electronically in the Science Direct, Google Scholar, Scopus, Web of Knowledge and PubMed databases. The Preferred Reporting Items for Systematic Reviews and Meta-Analyses (PRISMA) method was used to report the results. Assessment of the quality of all articles was performed based on the Physiotherapy Evidence Database (PEDro scale).

RESULTS

Twelve studies evaluated the effects of different hip joint options on walking parameters and energy expenditure. Five studies investigated the role of knee joint options on gait parameters and compensatory trunk motion. Only five studies analyzed modified ankle joints on gait parameters in SCI patients. Nine studies analyzed gait parameters in SCI patients as powered orthoses and exoskeleton. These studies had a low level of evidence according to the PEDro score (2/10).

CONCLUSION

The various joint types of orthoses appear to be critical in the improvement of walking in patients with SCI. In particular, 'user friendly' orthoses that support the related structure such as the hip joint with a reciprocating mechanism, activated knee joint and movable ankle joint with dorsiflexion assist enable SCI patients to optimize their walking pattern when wearing an orthoses system.

The influence of new reciprocating link medial linkage orthosis on walking and independence in a spinal cord injury patient

OBJECTIVES

The purpose of this paper is to describe the development and evaluation of a new medial linkage reciprocating gait orthosis (MLRGO) that incorporates a reciprocal mechanism and is sensitive to pelvic motion to potentially assist paraplegic patients to walk and provide functional independence.

CASE DESCRIPTION AND METHODS

The new orthosis was constructed and tested by a 20-year-old female paraplegic subject with transverse myelitis at T10 level, who was 4 years post injury and had also been an isocentric reciprocating gait orthosis (IRGO) user for 2 years. She received gait training for 12 weeks before undertaking gait analysis, and also completed a questionnaire that was designed to assess the perceived functionality of the new MLRGO when compared with an IRGO.

RESULTS

The results demonstrated improvements in gait velocity, step length and cadence, and also improvement in functional independence with the new orthosis compared with an IRGO.

CONCLUSION

The results demonstrated that this new MLRGO could be used for paraplegic patients who would like an improvement in functional independence and ambulation.

Comparison of new medial linkage reciprocating gait orthosis and isocentric reciprocating gait orthosis on energy consumption in paraplegic patients: a case series

OBJECTIVES

As energy consumption during orthotics walking has main role in rehabilitation of walking in individuals with spinal cord injury (SCI), the aim of this study was comparison between new medial linkage orthosis (new MLO) and isocentric reciprocating gait orthosis (IRGO) on energy consumption in paraplegic patients.

METHODS

Four people with motor incomplete SCI (mean age 34.5 years, mass 73 kg and height 175 cm with injury levels ranging from T8-T12) participated in this study. Gait evaluation was performed using new MLO compared with using conventional IRGO. Walking speed and heart rate were measured to calculate the physiological cost index (PCI) to estimate metabolic energy consumption.

RESULTS

Reductions in energy consumption were observed using new MLO compared with using IRGO, but the difference was not statistically significant. However, walking distance and walking speed also improved, but not significantly.

CONCLUSION

All subjects had faster speeds of walking, walked longer distances and had lower PCI when using new MLO compared to walking with IRGO. Consequently, this orthosis should be examined and considered with larger sample size.

The effect of ankle joint mobility when using an isocentric reciprocating gait orthosis (IRGO) on energy consumption in people with spinal cord injury: preliminary results

OBJECTIVES

The aim of this study was to evaluate the effect of walking with isocentric reciprocating gait orthoses (IRGOs) utilizing two designs of ankle foot orthoses (AFOs) on specific outcome measures in people with spinal cord injury (SCI).

METHODS

Four volunteer SCI subjects participated in this study, and were fitted with an IRGO equipped with either solid or dorsiflexion-assisted AFOs in a randomized order. Subjects walked at their self-selected speed along a flat walkway to enable a comparison of walking speed, endurance and the resulting physiological cost index (PCI) to be performed.

RESULTS

Increased walking speed, increased distance walked and less PCI were demonstrated in walking with the IRGO incorporating dorsiflexion-assisted AFOs as compared to walking with an IRGO plus solid AFO as a control condition.

CONCLUSION

This study demonstrated that people with SCI could walk at relatively higher speeds and with greater endurance and a reduced PCI when utilizing an IRGO with dorsiflexion-assisted AFO components compared to solid ones. It is therefore concluded that the IRGO incorporating dorsiflexion-assisted AFOs may be an effective alternative in helping to reduce the energy consumption experienced by people with SCI.

Validation of Inter-Subject Training for Hidden Markov Models Applied to Gait Phase Detection in Children with Cerebral Palsy

Gait-phase recognition is a necessary functionality to drive robotic rehabilitation devices for lower limbs. Hidden Markov Models (HMMs) represent a viable solution, but they need subject-specific training, making data processing very time-consuming. Here, we validated an inter-subject procedure to avoid the intra-subject one in two, four and six gait-phase models in pediatric subjects. The inter-subject procedure consists in the identification of a standardized parameter set to adapt the model to measurements. We tested the inter-subject procedure both on scalar and distributed classifiers. Ten healthy children and ten hemiplegic children, each equipped with two Inertial Measurement Units placed on shank and foot, were recruited. The sagittal component of angular velocity was recorded by gyroscopes while subjects performed four walking trials on a treadmill. The goodness of classifiers was evaluated with the Receiver Operating Characteristic. The results provided a goodness from good to optimum for all examined classifiers (0 < G < 0.6), with the best performance for the distributed classifier in two-phase recognition (G = 0.02). Differences were found among gait partitioning models, while no differences were found between training procedures with the exception of the shank classifier. Our results raise the possibility of avoiding subject-specific training in HMM for gait-phase recognition and its implementation to control exoskeletons for the pediatric population.

The efficiency of orthotic interventions on energy consumption in paraplegic patients: a literature review

Study design:This is a systematic literature review.Objectives:Different types of orthoses have been developed to enable and facilitate ambulation in individuals with paraplegia. However, their effect on energy consumption while ambulating is not clear. The objective of this review was to compare the energy expenditure required to walk with these devices.Methods:Using the Preferred Reporting Items for Systematic Reviews and Meta-Analyses (PRISMA) method, and based on selected keywords and their composition according to the Population Intervention Comparison Outcome (PICO) method, a search was performed in Science Direct, Google Scholar, Scopus, Web of Knowledge and PubMed databases. The searches were restricted to papers published in the English language and were conducted during February 2014; the last access to the database was on 25 February 2014. A total of 24 articles were chosen for final evaluation.Results:Hybrid orthoses reduce energy consumption compared with mechanical orthoses when used for walking by paraplegic patients. The isocentric reciprocating gait orthosis has been shown to be more effective than other reciprocating orthoses in reducing energy consumption. Energy consumption when walking with powered orthoses (PO) and hybrid orthoses was also reduced compared with when walking with conventional orthoses.Conclusions:The hybrid orthoses and PO could be effective alternatives in rehabilitation for spinal cord injury patients to help improve the energy consumption.Spinal Cord advance online publication, 20 January 2015; doi:10.1038/sc.2014.227.

Design and analysis of a new medial reciprocal linkage using a lower limb paralysis simulator

STUDY DESIGN

A feasibility study on the effect of a new reciprocating orthosis on specific gait parameters for use by people with spinal cord injury.

OBJECTIVES

The aim of this study was to design and develop a new medial linkage orthosis (MLO) mechanism incorporating a reciprocating motion and to determine its efficacy in improving specific spatiotemporal, kinematic and kinetic parameters while ambulating when worn by healthy subjects. This was achieved via the use of a lower limb paralysis simulator (LLPS).

METHODS

A reciprocating joint with a remote center of motion was designed for use as an MLO. A prototype was fabricated and incorporated into an orthosis and equipped with a saddle to make the reciprocating motion possible. The efficacy of the orthosis was evaluated on four able-bodied healthy subjects who were trained to walk with the MLO attached to the LLPS.

RESULTS

Mean walking speed, stride length, stride time and cadence was 0.09±0.007 m s(-1), 0.42±0.01 m, 4.89±0.45 s and 29.54±4.32 steps min(-1), respectively, when healthy subjects walked with the new orthosis. The mean hip joint torque produced was 0.36±0.13 Nm.

CONCLUSION

In this study a new MLO was designed and fabricated that provided a reciprocating mechanism using a four-bar mechanism to set the virtual axis of the mechanism in a more proximal position than hinge-type joints. Further investigation is currently underway to assess its effect on gait parameters and energy expenditure in paraplegic patients.