Neck movement speed in cervical dystonia

Humanoid Head Camera Stabilization Using a Soft Robotic Neck and a Robust Fractional Order Controller

In this paper, a new approach for head camera stabilization of a humanoid robot head is proposed, based on a bio-inspired soft neck. During walking, the sensors located on the humanoid's head (cameras or inertial measurement units) show disturbances caused by the torso inclination changes inherent to this process. This is currently solved by a software correction of the measurement, or by a mechanical correction by motion cancellation. Instead, we propose a novel mechanical correction, based on strategies observed in different animals, by means of a soft neck, which is used to provide more natural and compliant head movements. Since the neck presents a complex kinematic model and nonlinear behavior due to its soft nature, the approach requires a robust control solution. Two different control approaches are addressed: a classical PID controller and a fractional order controller. For the validation of the control approaches, an extensive set of experiments is performed, including real movements of the humanoid, different head loading conditions or transient disturbances. The results show the superiority of the fractional order control approach, which provides higher robustness and performance.

Cervical motion alterations and brain functional connectivity in cervical dystonia

INTRODUCTION

Evaluating the neural correlates of sensorimotor control deficits in cervical dystonia (CD) is fundamental to plan the best treatment. This study aims to assess kinematic and resting-state functional connectivity (RS-FC) characteristics in CD patients relative to healthy controls.

METHODS

Seventeen CD patients and 14 age-/sex-matched healthy controls were recruited. Electromagnetic sensors were used to evaluate dystonic pattern, mean/maximal cervical movement amplitude and joint position error with eyes open and closed, and movement quality during target reaching with the head. RS-fMRI was acquired to compare the FC of brain sensorimotor regions between patients and controls. In patients, correlations between motion analysis and FC data were assessed.

RESULTS

CD patients relative to controls showed reduced mean and maximal cervical range of motion (RoM) in rotation both towards and against dystonia pattern and reduced total RoM in rotation both with eyes open and closed. They had less severe dystonia pattern with eyes open vs eyes closed. CD patients showed an altered movement quality and sensorimotor control during target reaching and a higher joint position error. Compared to controls, CD patients showed reduced FC between supplementary motor area (SMA), occipital and cerebellar areas, which correlated with lower cervical RoM in rotation both with eyes open and closed and with worse movement quality during target reaching.

CONCLUSIONS

FC alterations between SMA and occipital and cerebellar areas may represent the neural basis of cervical sensorimotor control deficits in CD patients. Electromagnetic sensors and RS-fMRI might be promising tools to monitor CD and assess the efficacy of rehabilitative interventions.

Smoothness of movement in idiopathic cervical dystonia

Smoothness (i.e. non-intermittency) of movement is a clinically important property of the voluntary movement with accuracy and proper speed. Resting head position and head voluntary movements are impaired in cervical dystonia. The current work aims to evaluate if the smoothness of voluntary head rotations is reduced in this disease. Twenty-six cervical dystonia patients and 26 controls completed rightward and leftward head rotations. Patients’ movements were differentiated into “towards-dystonia” (rotation accentuated the torticollis) and “away-dystonia”. Smoothness was quantified by the angular jerk and arc length of the spectrum of angular speed (i.e. SPARC, arbitrary units). Movement amplitude (mean, 95% CI) on the horizontal plane was larger in controls (63.8°, 58.3°–69.2°) than patients when moving towards-dystonia (52.8°, 46.3°–59.4°; P = 0.006). Controls’ movements (49.4°/s, 41.9–56.9°/s) were faster than movements towards-dystonia (31.6°/s, 25.2–37.9°/s; P < 0.001) and away-dystonia (29.2°/s, 22.9–35.5°/s; P < 0.001). After taking into account the different amplitude and speed, SPARC-derived (but not jerk-derived) indices showed reduced smoothness in patients rotating away-dystonia (1.48, 1.35–1.61) compared to controls (1.88, 1.72–2.03; P < 0.001). Poor smoothness is a motor disturbance independent of movement amplitude and speed in cervical dystonia. Therefore, it should be assessed when evaluating this disease, its progression, and treatments.

A graphical tuning method for fractional order controllers based on iso-slope phase curves

Fractional order controllers are widely used in the robust control field. As a generalization of the ubiquitous PID controllers, fractional order controllers are able to reach design specifications their integer counterparts cannot, and as a result they outperform them at particular situations. Their main drawback is that generalization of the design tools is not always evident, and therefore tuning this kind of controller is always a new and different challenge. Existing methods often use numerical computation to find the controller parameters that fit the specifications. This paper describes a graphical solution for fractional order controllers, which avoids the solution by nonlinear equations and helps designer to solve the control problem in a very intuitive way. This approach is tested in the servomotors of a real bio-inspired soft neck and results are compared with those obtained from other control strategies. The experiments show that the controller tuned by this method works as expected from a robust controller and that this approach is very competitive compared to other state of the art methods, while offering a more simplified and direct tuning process.

Tactile and proprioceptive dysfunction differentiates cervical dystonia with and without tremor

Objective

To determine whether different phenotypes of cervical dystonia (CD) express different types and levels of somatosensory impairment.

Methods

We assessed somatosensory function in patients with CD with and without tremor (n = 12 each) and in healthy age-matched controls (n = 22) by measuring tactile temporal discrimination thresholds of the nondystonic forearm and proprioceptive acuity in both the dystonic (head/neck) and nondystonic body segments (forearm/hand) using a joint position‐matching task. The head or the wrist was passively displaced along different axes to distinct joint positions by the experimenter or through a robotic exoskeleton. Participants actively reproduced the experienced joint position, and the absolute joint position‐matching error between the target and the reproduced positions served as a marker of proprioceptive acuity.

Results

Tactile temporal discrimination thresholds were significantly elevated in both CD subgroups compared to controls. Proprioceptive acuity of both the dystonic and nondystonic body segments was elevated in patients with CD and tremor with respect to both healthy controls and patients with CD without tremor. That is, tactile abnormalities were a shared dysfunction of both CD phenotypes, while proprioceptive dysfunction was observed in patients with CD with tremor.

Conclusions

Our findings suggest that the pathophysiology in CD can be characterized by 2 abnormal neural processes: a dysfunctional somatosensory gating mechanism involving the basal ganglia that triggers involuntary muscle spasms and abnormal processing of proprioceptive information within a defective corticocerebellar loop, likely affecting the feedback and feedforward control of head positioning. This dysfunction is expressed mainly in CD with tremor.

Soft Material-Enabled, Active Wireless, Thin-Film Bioelectronics for Quantitative Diagnostics of Cervical Dystonia

Recent advances in flexible materials, nanomanufacturing, and system integration have provided a great opportunity to develop wearable flexible hybrid electronics for human healthcare, diagnostics, and therapeutics. However, existing medical devices still rely on rigid electronics with many wires and separate components, which hinders wireless, comfortable, continuous monitoring of health-related human motions. Here, we introduce advanced materials and system integration technologies that enable a soft, active wireless, thin-film bioelectronics. The low-modulus, highly flexible wearable electronic system incorporates a nanomembrane wireless circuit and functional chip components, enclosed by a soft elastomeric membrane. The bioelectronic system offers a gentle, seamless mounting on the skin, while offering a comfortable, highly sensitive and accurate detection of head movements. We utilize the wireless wearable hybrid system for quantitative diagnostics of cervical dystonia (CD) that is characterized by involuntary abnormal head postures and repetitive head movements, sometimes with neck muscle pain. A set of analytical and experimental studies shows a soft system packaging, hard-soft materials integration, and quantitative assessment of physiological signals detected by the SKINTRONICS. In vivo demonstration, involving ten human subjects, captures the device feasibility for use in CD measurement.

Cervical Rotator Muscle Activity With Eye Movement at Different Speeds is Distorted in Whiplash

BACKGROUND

People with whiplash-associated disorders (WADs) report difficulty with quick head movements and cervicoocular dysfunction. Changes in coordination between eye movement and neck muscle activity may be involved.

OBJECTIVE

To examine whether activity of superficial and deep neck muscles increases with eye movement when the head is held in a fixed position, whether this differs between directions and speed of eye movement, and whether this is modified in WAD.

DESIGN

Convenience case series with unmatched controls.

SETTING

Research laboratory.

PARTICIPANTS

Nine individuals with chronic WAD grade II and 11 pain-free controls.

METHODS

Electromyography (EMG) was recorded from muscles that could act to rotate the neck to the right (right obliquus capitis inferior [OI], multifidus [MF], splenius capitis [SC], and left sternocleidomastoid [SCM]) with intramuscular or surface electrodes in 9 WAD participants and 11 pain-free controls. Eyes were rotated without head movement to track slow and medium-speed targets to the right or left, and as fast as possible (FP).

MAIN OUTCOME MEASUREMENTS

Amplitude of EMG.

RESULTS

In controls, SCM and SC EMG increased with right gaze (all P's < .03). EMG of the deep OI muscle increased in both directions (P < .001). WAD involved counterintuitive greater activity of SCM with left rotation across speeds of eye movement (SC with slow movement, P < .036), decreased OI EMG with gaze left (P < .019), and no change in MF EMG (P < .6) in either gaze direction. For FP tasks, EMG of all muscles was greater than slower speeds in controls (all P's < .0001), but not WAD (all P's > .33).

CONCLUSIONS

Coordination between neck muscle activity and eye movements with increasing speed is modified in WAD. Contrasting changes are present in deep and superficial neck muscles with implications for neck function that may explain some common WAD symptoms.

LEVEL OF EVIDENCE

IV.

An Objective Functional Characterisation of Head Movement Impairment in Individuals with Neck Muscle Weakness Due to Amyotrophic Lateral Sclerosis

Background

Neck muscle weakness and head drop are well recognised in patients with Amyotrophic lateral sclerosis (ALS), but an objective characterisation of the consequent head movement impairment is lacking. The aim of this study was to quantitatively characterise head movements in ALS compared to aged matched controls.

Methods

We evaluated two groups, one of thirteen patients with ALS and one of thirteen age-matched controls, during the execution of a series of controlled head movements, performed while wearing two inertial sensors attached on the forehead and sternum, respectively. We quantified the differences between the two groups from the sensor data using indices of velocity, smoothness and movement coupling (intended as a measure of undesired out of plane movements).

Findings

Results confirmed a general limitation in the ability of the ALS patients to perform and control head movements. High inter-patient variability was observed due to a wide range of observed functional impairment levels. The ability to extend the head backward and flex it laterally were the most compromised, with significantly lower angular velocity (P < 0.05, Cohen’s d > 0.8), reduced smoothness and greater presence of coupled movements with respect to the controls. A significant reduction of angular velocity (P < 0.05, Cohen’s d > 0.8) in extension, axial rotation and lateral flexion was observed when patients were asked to perform the movements as fast as possible.

Interpretation

This pilot study is the first study providing a functional objective quantification of head movements in ALS. Further work involving different body areas and correlation with existing methods of evaluating neuromuscular function, such as dynamometry and EMG, is needed to explore the use of this approach as a marker of disease progression in ALS.

Parieto-motor cortical dysfunction in primary cervical dystonia

BACKGROUND

Dystonia is considered as a motor network disorder involving the dysfunction of the posterior parietal cortex, a region involved in preparing and executing reaching movements.

OBJECTIVE/HYPOTHESIS

We used transcranial magnetic stimulation to test the hypothesis that cervical dystonic patients may have a disrupted parieto-motor connectivity.

METHODS

We enrolled 14 patients with primary cervical dystonia and 14 controls. A paired-pulse transcranial magnetic stimulation protocol was applied over the right posterior parietal cortex and the right primary motor area. Changes in the amplitudes of motor evoked potential were analyzed as an index of parieto-motor effective connectivity. Patients and healthy subjects were also evaluated with a reaching task. Reaction and movement times were measured.

RESULTS

In healthy subjects, but not in dystonic patients, there was a facilitation of motor evoked potential amplitudes when the conditioning parietal stimulus preceded the test stimulus applied over the primary motor area by 4 ms. Reaction and movement times were significantly slower in patients than in controls. In dystonic patients, the relative strength of parieto-motor connectivity correlated with movement times.

CONCLUSIONS

Parieto-motor cortical connectivity is impaired in cervical dystonic patients. This neurophysiological trait is associated with slower reaching movements.

Influence of movement speed on cervical range of motion

PURPOSE

Cervical range of motion (RoM) has been the subject of many studies. However, only very few of these studies have considered the influence of movement execution speed on the cervical kinematics. The aim of this study is to evaluate the influence of movement speed on cervical RoM.

METHOD

Cervical RoM was recorded using an optoelectronic system; 32 healthy subjects performed movements in two modes: the best possible and as fast as possible.

OUTCOME MEASURES

The primary movements (flexion-extension, lateral bending, axial rotation) and coupled movements were studied. Paired Student's tests were performed to compare the two modes of movement.

RESULTS

The results showed that cervical RoM differed significantly between movement speeds. Amplitudes were higher for each movement (p < 0.001 for flexion-extension, p < 0.001 for lateral flexion, p = 0.008 for axial rotations) when movements were performed as quickly as possible. The range of movements carried out the best possible reached only 95% of those during movements carried out as fast as possible. Concerning coupled movements, an increase in rotational movements coupled to lateral flexion during fast movements was observed.

CONCLUSION

The range of motion reported in the literature corresponds to movement carried out in a mode resembling the best possible of our study. Movements made as quickly as possible can display larger motion ranges.

A wearable inertial system to assess the cervical spine mobility: comparison with an optoelectronic-based motion capture evaluation

In clinical settings, the cervical range of motion (ROM) is commonly used to assess cervical spine function. This study aimed at assessing cervical spine mobility based on head and thorax kinematics measured with a wearable inertial system (WS). Sequences of imposed active head movements (lateral bending, axial rotation and flexion-extension) were recorded in ten controls and 13 patients who had undergone an arthrodesis. Orientation of the head relative to the thorax was computed in terms of 3D helical angles and compared with the values obtained using an optoelectronic reference system (RS). Movement patterns from WS and RS showed excellent concurrent validity (CMC up to 1.00), but presented slight differences of bias (mean bias<2.5°) and dispersion (mean dispersion<4.2°). ROM obtained using WS also showed some differences compared to RS (mean difference<5.7°), within the range of those reported in literature. WS enabled the observation of the same significant differences between controls and patients as RS. Moreover, ROM from WS presented good test-retest repeatability (ICC between 0.63 and 0.99 and SEM<6.2°). In conclusion, WS can provide angles and ROM comparable to those obtained with RS and relevant for the cervical assessment after treatment.

Movement coordination and differential kinematics of the cervical and thoracic spines in people with chronic neck pain

BACKGROUND

Research on the kinematics and inter-regional coordination of movements between the cervical and thoracic spines in motion adds to our understanding of the performance and interplay of these spinal regions. The purpose of this study was to examine the effects of chronic neck pain on the three-dimensional kinematics and coordination of the cervical and thoracic spines during active movements of the neck.

METHODS

Three-dimensional spinal kinematics and movement coordination between the cervical, upper thoracic, and lower thoracic spines were examined by electromagnetic motion sensors in thirty-four individuals with chronic neck pain and thirty-four age- and gender-matched asymptomatic subjects. All subjects performed a set of free active neck movements in three anatomical planes in sitting position and at their own pace. Spinal kinematic variables (angular displacement, velocity, and acceleration) of the three defined regions, and movement coordination between regions were determined and compared between the two groups.

FINDINGS

Subjects with chronic neck pain exhibited significantly decreased cervical angular velocity and acceleration of neck movement. Cross-correlation analysis revealed consistently lower degrees of coordination between the cervical and upper thoracic spines in the neck pain group. The loss of coordination was most apparent in angular velocity and acceleration of the spine.

INTERPRETATION

Assessment of the range of motion of the neck is not sufficient to reveal movement dysfunctions in chronic neck pain subjects. Evaluation of angular velocity and acceleration and movement coordination should be included to help develop clinical intervention strategies to promote restoration of differential kinematics and movement coordination.

Trunk bradykinesia and foveation delays during whole-body turns in spasmodic torticollis

We have investigated how the abnormal head posture and motility in spasmodic torticollis interferes with ecological movements such as combined eye-to-foot whole-body reorientations to visual targets. Eight mildly affected patients and 10 controls voluntarily rotated eyes and body in response to illuminated targets of eccentricities up to ±180°. The experimental protocol allowed separate evaluation of the effects of target location, visibility and predictability on movement parameters. Patients’ latencies of eye, head, trunk and foot motion were prolonged but showed a normal modification pattern when target location was predictable. Peak head-on-trunk displacement and velocity were reduced both ipsi- and contralaterally with respect to the direction of torticollis. Surprisingly, peak trunk velocity was also reduced, even more than in previously studied patients with Parkinson’s disease. As a consequence, patients made short, hypometric gaze saccades and only exceptionally foveated initially nonvisible targets with a single large gaze shift (4 % of predictable trials as opposed to 30 % in controls). Foveation of distant targets was massively delayed by more than half a second on average. Spontaneous dystonic head movements did not interfere with the execution of voluntary gaze shifts. The results show that neck dystonia does not arise from gaze (head-eye) motor centres but the eye-to-foot turning synergy is seriously compromised. For the first time we identify significant ‘secondary’ complications of torticollis such as trunk bradykinesia and foveation delays, likely to cause additional disability in patients. Eye movements per se are intact and compensate for the reduced head/trunk performance in an adaptive manner.

Objective evaluation of cervical spine mobility after surgery during free-living activity

BACKGROUND

Evaluation of cervical spine mobility after surgery is mainly based on the measurement of the range of motion during imposed movements. It can thus be questionable if this assessment represents the mobility experienced during daily life. The goal of this study was to propose a new evaluation tool based on the monitoring of cervical spine movement during daily activities.

METHODS

The detection of cervical movement and the determination of primary motion component (lateral bending, axial rotation or flexion-extension), using two inertial sensors, were first validated in laboratory settings. Fifteen patients who underwent a cervical arthrodesis and nine healthy control subjects were monitored during their daily activity for half a day. The frequency of cervical movement was quantified according to posture, i.e. static and walking periods. The amplitude and velocity of cervical movement were evaluated using the median and cumulative distribution function.

FINDINGS

The movement detection and classification showed an excellent performance (sensitivity and specificity>94%). For the daily monitoring, the patients presented a movement frequency similar to controls, whereas the amplitude and velocity in patients were lower than in controls (P<0.05). The differences between patients and controls were larger for the velocity parameters (effect sizes>0.37 and >0.54 for static and walking periods respectively) than for the amplitude parameters.

INTERPRETATION

Body-worn inertial sensors enable the quantitative evaluation of global cervical movement. The movement amplitude and velocity during free-living conditions can be used as objective parameters to evaluate the cervical spine mobility after treatment.