Fatigue compensation during FES using surface EMG

Muscle fatigue limits the effectiveness of FES when applied to regain functional movements in spinal cord injured (SCI) individuals. The stimulation intensity must be manually increased to provide more force output to compensate for the decreasing muscle force due to fatigue. An artificial neural network (ANN) system was designed to compensate for muscle fatigue during functional electrical stimulation (FES) by maintaining a constant joint angle. Surface electromyography signals (EMG) from electrically stimulated muscles were used to determine when to increase the stimulation intensity when the muscle’s output started to drop.

In two separate experiments on able-bodied subjects seated in hard back chairs, electrical stimulation was continuously applied to fatigue either the biceps (during elbow flexion) or the quadriceps muscle (during leg extension) while recording the surface EMG. An ANN system was created using processed surface EMG as the input, and a discrete fatigue compensation control signal, indicating when to increase the stimulation current, as the output. In order to provide training examples and test the systems’ performance, the stimulation current amplitude was manually increased to maintain constant joint angles. Manual stimulation amplitude increases were required upon observing a significant decrease in the joint angle. The goal of the ANN system was to generate fatigue compensation control signals in an attempt to maintain a constant joint angle.

On average, the systems could correctly predict 78.5% of the instances at which a stimulation increase was required to maintain the joint angle. The performance of these ANN systems demonstrates the feasibility of using surface EMG feedback in an FES control system.     

Force dynamic response of tibialis anterior-ankle joint unit in humans.

The aim of this study was to estimate the dynamic response of a human muscle joint unit by means of the analysis of the torque signal recorded during electrical stimulation of the tibialis anterior (TA). Ten subjects (age: 23-50 years, 7 males, 3 females) volunteered for the study. The leg was fixed in an ergometer designed for isometric contraction of the ankle dorsiflexors and the detection of the generated torque. The amplitude of a 30 Hz stimulation train administered at the TA motor point was varied sinusoidally, thus changing the number of the recruited motor units, and hence the tension at the tendon, in the same fashion. A sequence of 14 frequencies (0.4, 0.6, 0.8, 1.0, 1.2, 1.4, 1.6, 1.8, 2.0, 2.5, 3.0, 4.0, 5.0, and 6.0 Hz) was administered. RESULTS: (a) at the 14 frequencies the sinusoidal responses presented distortions always below 2%; (b) from the Bode plots reporting the average gain attenuation and phase shift at each of the 14 input frequencies, it was possible to model the force dynamic response as the one of a critically damped II order system with two real coincident poles (at 2.04 Hz) and a pure time delay (15.6 ms). The possibility to obtain, by means of the system input-output transfer function, data regarding the in vivo mechanics of the muscle-joint unit may represent a novel tool to investigate the functional features of different muscle groups. It may be useful for designing functional electrical stimulation programs as well as training and rehabilitation procedures.     

Activation of Multimodal Areas in the Human Cerebral Cortex in Response to Biological Motion Sounds

Functional magnetic resonance imaging (fMRI) was used to investigate activation of the multimodal areas in the cerebral cortex–supramarginal and angular gyri, precuneus, and middle temporal visual cortex (MT/V5)–in response to motion of biologically significant sounds (human footsteps). The subjects listened to approaching or receding footstep sounds during 45 s, and such stimulation was supposed to evoke auditory adaptation to biological motion. Listening conditions alternated with stimulation-free control. To reveal activity in the regions of interest, the periods before and during stimulation were compared. Most stable and voluminous activation was detected in the supramarginal and angular gyri, being registered for all footstep sound types–approaching, receding and steps in place. Listening to human approaching steps activated the precuneus area, with the volume of activation clusters varying considerably between subjects. In the MT/V5 area, activation was revealed in 5 of 21 subjects. The involvement of the tested multimodal cortical areas in analyzing biological motion is discussed.     

Stimulation of physiological functions in cooled rats without rewarming after introducing ethylenediaminetetraacetate into lateral ventricles of the brain

On cooling the animals to the rectum temperature from approximately 37 to 24-28 degrees C the decreases were shown to occur in the frequency and amplitude of respiration motions, in the intensity of muscle electrical activity (thermoregulation muscle tone and cold muscle shivering), in the frequency of heart contractions. In 3-8 min after introducing ethylenediaminetetraacetate into a lateral ventricle of the rat brain the frequency and the amplitude of respiration motions increased statistically reliable and so did the intensity of thermoregulation muscle tone and cold muscle shivering (judging from the total muscle electrical activity). The doses of EDTA, which caused this effect, were by a factor of 30 - 100 less than the doses, which caused a similar stimulation of the functions in cooled animals after introduction into the blood.     

Biomechanics of vibration reception in the bullfrog,Rana catesbeiana

The opercularis system (OPS) of amphibians consists of an opercularis muscle that connects the shoulder girdle skeleton to the operculum, a movable element in the oval window of the otic capsule. The role of the OPS in reception of vibrations was examined in bullfrogs (Rana catesbeiana) tested in various postures that manipulated differential motion between the shoulder girdle (the origin of the opercularis muscle) and skull (including the inner ear). Amplitude and phase relationship of motions of the suprascapular cartilage of the shoulder girdle and the posterior skull were also measured during these tests. 1. Microphonic responses to vertical vibrations from 25-200 Hz were typically highest when frogs were in a normal, sitting posture with the head held off the vibrating platform. Responses from animals in which the head directly contacted the platform were often less (by up to 10 dB at certain frequencies). Responses from all test positions were highest at lower frequencies, especially between 50-100 Hz. 2. Suprascapular accelerations were typically highest in the normal, sitting posture, and at lower frequencies (50-75 Hz) were often greater than that of the vibrating platform by up to 8 dB. The shoulder girdle skeleton of the bullfrog is therefore readily affected by vertical substrate motion. 3. The amplitude of microphonic responses in the different test postures did not correspond well with head acceleration. Rather, response amplitude corresponded best with the absolute difference between shoulder and head motion. For example, in the normal posture, suprascapular motion was much greater than head motion, and responses were relatively high. If only the head was vibrated, head motion was high and shoulder motion low, and responses also were relatively high. If the head and body were vibrated together, their motions were similar, and responses to the same platform accelerations were often reduced. Phase differences between shoulder and head motions were small at the frequencies examined and may be of little functional significance. The importance of differences in shoulder and head motion suggests that the resulting differential motion of the operculum and inner ear fluids can produce waves that stimulate appropriate end organs (such as the saccule). 4. Removal of the opercularis muscle reduced responses up to 18 dB at certain frequencies in some of the test postures. The most significant reductions were observed in those postures with a significant difference between shoulder and head motion (such as the normal posture).(ABSTRACT TRUNCATED AT 400 WORDS)     

Biomimetic Design and Optimal Swing of a Hexapod Robot Leg

Biological inspiration has spawned a wealth of solutions to both mechanical design and control schemes in the efforts to develop agile legged machines. This paper presents a compliant leg mechanism for a small six-legged robot, HITCR-ll, based on abstracted anatomy from insect legs. Kinematic structure, relative proportion of leg segment lengths and actuation system were analyzed in consideration of anatomical structure as well as muscle system of insect legs and desired mobility. A spring based passive compliance mechanism inspired by musculoskeletal structures of biological systems was integrated into distal segment of the leg to soften foot impact on touchdown. In addition, an efficient locomotion planner capable of generating natural movements for the legs during swing phase was proposed. The problem of leg swing was formulated as an optimal control procedure that satisfies a series of locomotion task terms while minimizing a biologically-based objective function, which was solved by a Gauss Pseudospectral Method （GPM） based numerical technique. We applied this swing generation algorithm to both a simulation platform and a robot prototype. Results show that the proposed leg structure and swing planner are able to successfully perform effective swing movements on rugged terrains.     

Present state and prospects in the design of multichannel FES stimulators for gait correction in paretic patients.

Use of multichannel electrical stimulators (MES) for the rehabilitation of patients with plegic or paretic extremity muscles in one of the most promising trends in rehabilitation. Two clinically oriented therapeutic stimulators are described. The aim and the realization of walking rate dependent functioning, gradually modulated stimulation sequences, mini-computer and hardware closed-loop control of stimulation amplitude are described. The difficulties arising from the poor interface between the technical and biological part of the system prevent the described stimulators from being used as orthotic devices. Experiments with three types of electrodes are given, and the problem of an excessive mounting time for most clinical environments is also stressed.     

Motion control of the ankle joint with a multiple contact nerve cuff electrode: a simulation study

The flat interface nerve electrode (FINE) has demonstrated significant capability for fascicular and subfascicular stimulation selectivity. However, due to the inherent complexity of the neuromuscular skeletal systems and nerve–electrode interface, a trajectory tracking motion control algorithm of musculoskeletal systems for functional electrical stimulation using a multiple contact nerve cuff electrode such as FINE has not yet been developed. In our previous study, a control system was developed for multiple-input multiple-output (MIMO) musculoskeletal systems with little prior knowledge of the system. In this study, more realistic computational ankle/subtalar joint model including a finite element model of the sciatic nerve was developed. The control system was tested to control the motion of ankle/subtalar joint angles by modulating the pulse amplitude of each contact of a FINE placed on the sciatic nerve. The simulation results showed that the control strategy based on the separation of steady state and dynamic properties of the system resulted in small output tracking errors for different reference trajectories such as sinusoidal and filtered random signals. The proposed control method also demonstrated robustness against external disturbances and system parameter variations such as muscle fatigue. These simulation results under various circumstances indicate that it is possible to take advantage of multiple contact nerve electrodes with spatial selectivity for the control of limb motion by peripheral nerve stimulation even with limited individual muscle selectivity. This technology could be useful to restore neural function in patients with paralysis.     

Spring-like leg behaviour, musculoskeletal mechanics and control in maximum and submaximum height human hopping

The purpose of this study was to understand how humans regulate their 'leg stiffness' in hopping, and to determine whether this regulation is intended to minimize energy expenditure. 'Leg stiffness' is the slope of the relationship between ground reaction force and displacement of the centre of mass (CM). Variations in leg stiffness were achieved in six subjects by having them hop at maximum and submaximum heights at a frequency of 1.7 Hz. Kinematics, ground reaction forces and electromyograms were measured. Leg stiffness decreased with hopping height, from 350 N m(-1) kg(-1) at 26 cm to 150 N m(-1) kg(-1) at 14 cm. Subjects reduced hopping height primarily by reducing the amplitude of muscle activation. Experimental results were reproduced with a model of the musculoskeletal system comprising four body segments and nine Hill-type muscles, with muscle stimulation STIM(t) as only input. Correspondence between simulated hops and experimental hops was poor when STIM(t) was optimized to minimize mechanical energy expenditure, but good when an objective function was used that penalized jerk of CM motion, suggesting that hopping subjects are not minimizing energy expenditure. Instead, we speculated, subjects are using a simple control strategy that results in smooth movements and a decrease in leg stiffness with hopping height.     

Failure of neuromuscular propagation during human maximal voluntary contraction

The mechanism for fatigue of the adductor pollicis was studied in normal subjects during maximal voluntary contractions (MVC) sustained for 90-100 s, by comparing the force and electrical response of this muscle to voluntary motor drive with that obtainable with artificial stimulation of the ulnar nerve. The adequacy of nerve stimulation was checked by recording simultaneously the electrical response of a nonfatiguing muscle, the abductor of the small finger. The decrease in force and in the natural electrical activity with fatigue was accompanied by a parallel decrease in the amplitude of synchronous muscle action potentials (M waves) evoked by artificial stimulation of the ulnar nerve at different frequencies. The decline in M-wave amplitude in the adductor pollicis was not due to a submaximal nerve stimulation, since the amplitudes recorded simultaneously from the nonfatiguing abductor digiti minimi remained unchanged. The force and the electrical responses from the adductor pollicis recovered in parallel with a half time of approximately 1 min. These results suggest that the loss of force of the adductor pollicis with fatigue and its subsequent recovery are largely determined by the extent of neuromuscular propagation failure. The slow recovery of the M-wave amplitude during repetitive stimulation suggests that it may be related to some aspect of muscle metabolism.     

Mathematical model that predicts lower leg motion in response to electrical stimulation

Electrical stimulation of skeletal muscles of patients with upper motor neuron lesions can be used to restore functional movements such as standing or walking. Mathematical muscle models can assist in designing stimulation patterns that will enable patients to perform particular tasks more efficiently. In this study we extend our previous model to allow us to predict changes in knee joint angle in response to electrical stimulation of the human quadriceps femoris muscle. The model was tested both with and without inertial loads placed around the ankle joints of healthy subjects. Results showed that the model predicted the knee extensions with a RMS angle error that was generally 相似文献   

Induction of Oxidatively Modified Proteins in Skeletal Muscle by Electrical Stimulation and Its Suppression by Dietary Supplementation of (-)-Epigallocatechin Gallate

The oxidative stress produced by electrical stimulation-induced muscle contraction was examined in the skeletal muscle proteins of rats that had been fed on the dietary flavonoid, (-)-epigallocatechin gallate (EGCg). Electrical stimulation of the rat leg muscle every second day for a two-week period resulted in an increased (p<0.05) muscle weight and accumulation of oxidatively induced modified proteins. Similar stimulation conducted every day for only one week had no effect on the muscle weight or protein oxidation, although the rate of protein degradation increased. Rats fed on a 20% casein diet supplemented with 0.1% EGCg for 2 weeks responded to the electrical stimulation of muscle contraction by reducing the increased muscle protein carbonyl content when compared to their counterparts fed on a control diet. There was no change in activity of antioxidative enzymes in muscle tissue of the EGCg-fed rats receiving electrical stimulation. The results of this study show that the antioxidative property of EGCg was effective for suppressing oxidative modification of the skeletal muscle protein induced by electrical stimulation. This finding demonstrates that EGCg has a beneficial effect in vivo on the free radical-mediated oxidative damage to muscle proteins.     

Loss of control biomechanics of the human arm-elbow system

An experimental study was conducted to determine whether external disturbance oscillations, such as those that could be created by hand held tools, alter the dynamic response characteristics of the human arm-muscle system. A special arm-test frame was used to induce external sinusoidal torque oscillations of various amplitudes and frequencies, while the reaction force and angular displacement were monitored. Two different output variable frequency responses were determined using input/output cross-spectrum analysis. The angular displacement of the test frame and a component of hand reaction force were the output variables used, while the test frame torque was the input. Test results from one subject are presented in this paper. Changes in the magnitude and phase angle of the frequency responses were observed for different frequencies of the disturbance torque. These changes indicate that the stability margin and response amplitude of the human arm-muscle system do change as a function of the frequency and amplitude of external disturbance oscillations. This suggests that at certain operating frequencies hand held tools can induce large reaction amplitudes or even loss of control.     

Induction of oxidatively modified proteins in skeletal muscle by electrical stimulation and its suppression by dietary supplementation of (-)-epigallocatechin gallate

The oxidative stress produced by electrical stimulation-induced muscle contraction was examined in the skeletal muscle proteins of rats that had been fed on the dietary flavonoid, (-)-epigallocatechin gallate (EGCg). Electrical stimulation of the rat leg muscle every second day for a two-week period resulted in an increased (p < 0.05) muscle weight and accumulation of oxidatively induced modified proteins. Similar stimulation conducted every day for only one week had no effect on the muscle weight or protein oxidation, although the rate of protein degradation increased. Rats fed on a 20% casein diet supplemented with 0.1% EGCg for 2 weeks responded to the electrical stimulation of muscle contraction by reducing the increased muscle protein carbonyl content when compared to their counterparts fed on a control diet. There was no change in activity of antioxidative enzymes in muscle tissue of the EGCg-fed rats receiving electrical stimulation. The results of this study show that the antioxidative property of EGCg was effective for suppressing oxidative modification of the skeletal muscle protein induced by electrical stimulation. This finding demonstrates that EGCg has a beneficial effect in vivo on the free radical-mediated oxidative damage to muscle proteins.     

Cross-education after one session of unilateral surface electrical stimulation of the rectus femoris

Thirty-six adult men were randomly assigned to a remote stimulation group (RS; n = 18) or control group (CTL; n = 18). The RS group unilaterally performed a 10-minute surface electrical stimulation program (frequency 100 Hz, impulse 300 micros, 10 seconds on/10 seconds off) on the rectus femoris of the non-dominant leg. The subjects of the CTL group relaxed for 10 minutes without performing any training. Immediately before and after the surface electrical stimulation program, the isometric strength and the electromyographic (EMG) and mechanomyographic (MMG) response of the dominant leg was measured for all subjects. The dominant leg of the RS group showed a significant increase in the isometric force (5.11%; P < 0.001) and EMG activity of the agonist muscle (4.67%; P < 0.05), whereas a decrease in EMG activity of the antagonist muscles was observed (-10.27%; P < 0.05). The MMG activity did not show any alteration. No significant changes were observed for the CTL group. These results indicate that one unilateral surface electrical stimulation session on the rectus femoris improves the efficiency of the inactive leg. At a practical level, the results open a new way to rehabilitate muscle-skeletal injuries, especially weak members that cannot do any physical work. In this case, the muscle strength (and physical efficiency) can be improved by passive electrostimulation training on the healthy member.     

Modulation of tension production by proctolin in the dorsal longitudinal muscles of the cricket,Teleogryllus oceanicus

High-frequency electrical stimulation (～20 Hz) of the lateral nerve in abdominal segments of the cricket, Teleogryllus oceanicus, caused an increase in tonus of the abdominal dorsal longitudinal muscle (DLM). This effect persisted for 1–5 min following stimulation. Application of the pentapeptide proctolin (threshold 1–10 nM) mimicked the increase in muscle tonus produced by electrical stimulation. Individual twitches were unaffected or slightly reduced by proctolin. Low-frequency electrical stimulation (<7 Hz) of the lateral nerve counteracted a previously induced increase in muscle tonus, apparently by activation of an inhibitory motoneuron. γ-Aminobutyric acid (GABA) mimicked the effect of low-frequency stimulation and reduced muscle tonus. Octopamine, in concentrations of ≤0.1 mM, was inactive on the abdominal DLM when stimulated at low frequencies (0.5–2 Hz). Application of proctolin to the metathoracic DLM caused an increase in twitch amplitude but had little effect on basal tonus. In conjunction with the previously described responses of the metathoracic DLM to octopamine, these results show that the serially homologous abdominal and metathoracic DLMs have dissimilar responses to the modulators proctolin and octopamine.     

Reliability of leg muscle electromyography in vertical jumping

In this study we aimed to determine the reliability of the surface electromyography (EMG) of leg muscles during vertical jumping between two test sessions, held 2 weeks apart. Fifteen females performed three maximal vertical jumps with countermovement. The displacement of the body centre of mass (BCM), duration of propulsion phase (time), range of motion (ROM) and angular velocity of the knee and surface EMG of four leg muscles (rectus femoris, vastus medialis. biceps femoris and gastrocnemius) were recorded during the jumps. All variables were analysed throughout the propulsion and mid-propulsion phases. Intraclass correlation coefficients (ICC) for the rectus femoris, vastus medialis, biceps femoris and gastrocnemius were calculated to be 0.88, 0.70, 0.24 and 0.01, respectively. BCM, ROM and time values all indicated ICC values greater than 0.90, and the mean knee angular velocity was slightly lower, at 0.75. ICCs between displacement of the BCM and integrated EMG (IEMG) of the muscles studied were less than 0.50. The angular velocity of the knee did not correlate well with muscle activity. Factors that may have affected reliability were variations in the position of electrode replacement, skin resistance, cross-talk between muscles and jump mechanics. The results of this study suggest that while kinematic variables are reproducible over successive vertical jumps, the degree of repeatability of an IEMG signal is dependent upon the muscle studied.     

Virtual Constraint Based Control of Bounding Gait of Quadruped Robots

This paper presents a control approach for bounding gait of quadruped robots by applying the concept of Virtual Constraints (VCs).A VC is a relative motion relation between two related joints imposed to the robots in terms of a specified gait,which can drive the robot to run with desired gait.To determine VCs for highly dynamic bounding gait,the limit cycle motions of the passive dynamic model of bounding gait are analyzed.The leg length and hip/shoulder angle trajectories corresponding to the limit cycles are parameterized by leg angles using 4 th-order polynomials.In order to track the calculated periodic motions,the polynomials are imposed on the robot as virtual motion constraints by a high-level state machine controller.A bounding speed feedback strategy is introduced to stabilize the robot running speed and enhance the stability.The control approach was applied to a newly designed lightweight bioinspired quadruped robot,AgiDog.The experimental results demonstrate that the robot can bound at a frequency up to 5 Hz and bound at a maximum speed of 1.2 m·s-1 in sagittal plane with a Froude number approximating to 1.     

The accuracy of measuring the kinematics of rising from a chair with accelerometers and gyroscopes

The purpose of this study was to assess the accuracy of measuring angle and angular velocity of the upper body and upper leg during rising from a chair with accelerometers, using low-pass filtering of the accelerometer signal. Also, the improvement in accuracy of the measurement with additional use of high-pass filtered gyroscopes was assessed. Two uni-axial accelerometers and one gyroscope (DynaPort) per segment were used to measure angles and angular velocities of upper body and upper leg. Calculated angles and angular velocities were compared to a high-quality optical motion analysis system (Optotrak), using root mean squared error (RMS) and correlation coefficient (r) as parameters. The results for the sensors showed that two uni-axial accelerometers give a reasonable accurate measurement of the kinematics of rising from a chair (RMS = 2.9, 3.5, and 2.6 degrees for angle and RMS = 9.4, 18.4, and 11.5 degrees /s for angular velocity for thorax, pelvis, and upper leg, respectively). Additional use of gyroscopes improved the accuracy significantly (RMS = 0.8, 1.1, and 1.7 degrees for angle and RMS = 2.6, 4.0 and 4.9 degrees /s for angular velocity for thorax, pelvis and upper leg, respectively). The low-pass Butterworth filter had optimal cut-off frequencies of 1.05, 1.3, and 1.05 for thorax, pelvis, and upper leg, respectively. For the combined signal, the optimal cut-off frequencies were 0.18, 0.2, and 0,38 for thorax, pelvis and upper leg, respectively. The filters showed no subject specificity. This study provides an accurate, inexpensive and simple method to measure the kinematics of movements similar to rising from a chair.     

Bio-Inspired Controller for a Robot Cheetah with a Neural Mechanism Controlling Leg Muscles

The realization of a high-speed running robot is one of the most challenging problems in developing legged robots.The excellent performance of cheetahs provides inspiration for the control and mechanical design of such robots.This paper presents a three-dimensional model of a cheetah that predicts the locomotory behaviors of a running cheetah.Applying biological knowledge of the neural mechanism,we control the muscle flexion and extension during the stance phase,and control the positions of the joints in the flight phase via a PD controller to minimize complexity.The proposed control strategy is shown to achieve similar locomotion of a real cheetah.The simulation realizes good biological properties,such as the leg retraction,ground reaction force,and spring-like leg behavior.The stable bounding results show the promise of the controller in high-speed locomotion.The model can reach 2.7 m·s- 1 as the highest speed,and can accelerate from 0 to 1.5 m·s -1 in one stride cycle.A mechanical structure based on this simulation is designed to demonstrate the control approach,and the most recently developed hindlimb controlled by the proposed controller is presented in swinging-leg experiments and jump-force experiments.