Effect of changing visual condition and frequency of horizontal oscillations on postural balance of standing healthy subjects

Effects of Visual Input Absence on Balance Recovery Responses to Lateral Standing Surface Perturbations in Older and Younger Adults

Although the ability to recover balance in the lateral direction has important implications with regard to fall risk in older adults, the effect of visual input on balance recovery in response to lateral perturbation and the effect of age are not well studied. We investigated the effect of visual input on balance recovery response to unpredictable lateral surface perturbations and its age-related changes. Ten younger and 10 older healthy adults were compared during balance recovery trials performed with the eyes open and eyes closed (EC). Compared with younger adults, older adults showed increased electromyography (EMG) peak amplitude of the soleus and gluteus medius, reduced EMG burst duration of the gluteus maximus and medius, and increased body sway (SD of the body's center of mass acceleration) in EC. In addition, older adults exhibited a smaller % increase (EC-eyes open) of the ankle eversion angle, hip abduction torque, EMG burst duration of the fibularis longus, and a greater % increase of body sway. All kinematics, kinetics, and EMG variables were greater in EC compared with eyes open in both groups. In conclusion, the absence of visual input negatively affects the balance recovery mechanism more in older adults compared with younger adults.

Feasibility and Application of the B.E.A.T. Testbed for Assessing the Effects of Lower Limb Exoskeletons on Human Balance

Assessing the performance of exoskeletons in assisting human balance is important for their design process. This study proposes a novel testbed, the B.E.A.T (Balance Evaluation Automated Testbed) to address this aim. We applied the B.E.A.T to evaluate how the presence of a lower limb exoskeleton influenced human balance. The B.E.A.T. consists of a robotic platform, standardized protocols, and performance indicators. Fifteen healthy subjects were enrolled and subjected to repeatable step-type ground perturbations in different directions using the multi-axis robotic platform. Each participant performed three trials, both with and without the exoskeleton (EXO and No-EXO conditions). Nine performance indicators, divided into kinematic and body stability indicators, were computed. The reliability of performance indicators was assessed by computing the Inter Class Correlation (ICC). The indicators showed good (0.60 ≤ ICC < 0.75) to excellent (ICC ≥ 0.75) reliability. The comparison between the EXO and No-EXO conditions revealed a significant increase in the joint range of motion and the center of pressure displacement while wearing the exoskeleton. The main differences between the EXO and No-EXO conditions were found in the range of motion of the knee joints, with an increment up to 17° in the sagittal plane.

A Lifespan Approach to Balance in Static and Dynamic Conditions: The Effect of Age on Balance Abilities

Postural control is a complex sensorimotor skill that is fundamental to our daily life. The abilities to maintain and recover balance degrade with age. However, the time decay of balance performance with age is not well understood. In this study, we aim at quantifying the age-dependent changes in standing balance under static and dynamic conditions. We tested 272 healthy subjects with ages ranging from 20 to 90. Subjects maintained the upright posture while standing on the robotic platform hunova®. In the evaluation of static balance, subjects stood on the fixed platform both with eyes open (EO) and eyes closed (EC). In the dynamic condition, subjects stood with eyes open on the moving foot platform that provided three different perturbations: (i) an inclination proportional to the center of pressure displacements, (ii) a pre-defined predictable motion, and (iii) an unpredictable and unexpected tilt. During all these tests, hunova® measured the inclination of the platform and the displacement of the center of pressure, while the trunk movements were recorded with an accelerometer placed on the sternum. To quantify balance performance, we computed spatio-temporal parameters typically used in clinical environments from the acceleration measures: mean velocity, variability of trunk motion, and trunk sway area. All subjects successfully completed all the proposed exercises. Their motor performance in the dynamic balance tasks quadratically changed with age. Also, we found that the reliance on visual feedback is not age-dependent in static conditions. All subjects well-tolerated the proposed protocol independently of their age without experiencing fatigue as we chose the timing of the evaluations based on clinical needs and routines. Thus, this study is a starting point for the definition of robot-based assessment protocols aiming at detecting the onset of age-related standing balance deficits and allowing the planning of tailored rehabilitation protocols to prevent falls in older adults.

Early balance impairment in Parkinson's Disease: Evidence from Robot-assisted axial rotations

OBJECTIVE

Early postural instability (PI) is a red flag for the diagnosis of Parkinson's disease (PD). Several patients, however, fall within the first three years of disease, particularly when turning. We investigated whether PD patients, without clinically overt PI, manifest abnormal reactive postural responses to ecological perturbations resembling turning.

METHODS

Fifteen healthy subjects and 20 patients without clinically overt PI, under and not under L-Dopa, underwent dynamic posturography during axial rotations around the longitudinal axis, provided by a robotic mechatronic platform. We measured reactive postural responses, including body displacement and reciprocal movements of the head, trunk, and pelvis, by using a network of three wearable inertial sensors.

RESULTS

Patients showed higher body displacement of the head, trunk and pelvis, and lower joint movements at the lumbo-sacral junction than controls. Conversely, movements at the cranio-cervical junction were normal in PD. L-Dopa left reactive postural responses unchanged.

CONCLUSIONS

Patients with PD without clinically overt PI manifest abnormal reactive postural responses to axial rotations, unresponsive to L-Dopa. The biomechanical model resulting from our experimental approach supports novel pathophysiological hypotheses of abnormal axial rotations in PD.

SIGNIFICANCE

PD patients without clinically overt PI present subclinical balance impairment during axial rotations, unresponsive to L-Dopa.

Measurement of Human Walking Movements by Using a Mobile Health App: Motion Sensor Data Analysis

Background

This study presents a new approach to measure and analyze the walking balance of humans by collecting motion sensor data in a smartphone.

Objective

We aimed to develop a mobile health (mHealth) app that can measure the walking movements of human individuals and analyze the differences in the walking movements of different individuals based on their health conditions. A smartphone’s motion sensors were used to measure the walking movements and analyze the rotation matrix data by calculating the variation of each xyz rotation, which shows the variables in walking-related movement data over time.

Methods

Data were collected from 3 participants, that is, 2 healthy individuals (1 female and 1 male) and 1 male with back pain. The participant with back pain injured his back during strenuous exercise but he did not have any issues in walking. The participants wore the smartphone in the middle of their waistline (as the center of gravity) while walking. They were instructed to walk straight at their own pace in an indoor hallway of a building. The walked a distance of approximately 400 feet. They walked for 2-3 minutes in a straight line and then returned to the starting location. A rotation vector in the smartphone, calculated by the rotation matrix, was used to measure the pitch, roll, and yaw angles of the human body while walking. Each xyz-rotation vector datum was recalculated to find the variation in each participant’s walking movement.

Results

The male participant with back pain showed a diminished level of walking balance with a wider range of xyz-axis variations in the rotations compared to those of the healthy participants. The standard deviation in the xyz-axis of the male participant with back pain was larger than that of the healthy male participant. Moreover, the participant with back pain had the widest combined range of right-to-left and forward-to-backward motions. The healthy male participant showed smaller standard deviation while walking than the male participant with back pain and the female healthy participant, indicating that the healthy male participant had a well-balanced walking movement. The walking movement of the female healthy participant showed symmetry in the left-to-right (x-axis) and up-to-down (y-axis) motions in the x-y variations of rotation vectors, indicating that she had lesser bias in gait than the others.

Conclusions

This study shows that our mHealth app based on smartphone sensors and rotation vectors can measure the variations in the walking movements of different individuals. Further studies are needed to measure and compare walking movements by age, gender, as well as types of health problems or disease. This app can help in finding differences in gait in people with diseases that affect gait.

The effects of visual feedback balance training on the pain and physical function of patients with chronic degenerative knee arthritis

[Purpose] This study aimed to investigate the effects of visual feedback balance training on the pain and dysfunction of patients with chronic degenerative knee arthritis. [Participants and Methods] Twenty-six patients with chronic degenerative knee arthritis participated in this study; the control group (n=13) performed muscle strength training and the experimental group (n=13) performed visual feedback balance training. General physical therapy was applied to both groups three times a week for eight weeks. The visual analog scale was used to measure the patient's pain scale, and the K-WOMAC (Korean Western Ontario and McMaster Universities Osteoarthritis Index) was used as a tool to evaluate their physical function. [Results] In the intra-group comparisons, significant decreases in the visual analog scale and the K-WOMAC were observed for the control group and the experimental group. No significant difference was found in the inter-group comparisons after treatment. [Conclusion] Visual feedback balance training is considered to be an effective intervention method for improving pain and dysfunction in patients with chronic degenerative knee arthritis.

Fifteen Years of Wireless Sensors for Balance Assessment in Neurological Disorders

Balance impairment is a major mechanism behind falling along with environmental hazards. Under physiological conditions, ageing leads to a progressive decline in balance control per se. Moreover, various neurological disorders further increase the risk of falls by deteriorating specific nervous system functions contributing to balance. Over the last 15 years, significant advancements in technology have provided wearable solutions for balance evaluation and the management of postural instability in patients with neurological disorders. This narrative review aims to address the topic of balance and wireless sensors in several neurological disorders, including Alzheimer’s disease, Parkinson’s disease, multiple sclerosis, stroke, and other neurodegenerative and acute clinical syndromes. The review discusses the physiological and pathophysiological bases of balance in neurological disorders as well as the traditional and innovative instruments currently available for balance assessment. The technical and clinical perspectives of wearable technologies, as well as current challenges in the field of teleneurology, are also examined.

Reactive Postural Responses to Continuous Yaw Perturbations in Healthy Humans: The Effect of Aging

Maintaining balance stability while turning in a quasi-static stance and/or in dynamic motion requires proper recovery mechanisms to manage sudden center-of-mass displacement. Furthermore, falls during turning are among the main concerns of community-dwelling elderly population. This study investigates the effect of aging on reactive postural responses to continuous yaw perturbations on a cohort of 10 young adults (mean age 28 ± 3 years old) and 10 older adults (mean age 61 ± 4 years old). Subjects underwent external continuous yaw perturbations provided by the RotoBit^1D platform. Different conditions of visual feedback (eyes opened and eyes closed) and perturbation intensity, i.e., sinusoidal rotations on the horizontal plane at different frequencies (0.2 Hz and 0.3 Hz), were applied. Kinematics of axial body segments was gathered using three inertial measurement units. In order to measure reactive postural responses, we measured body-absolute and joint absolute rotations, center-of-mass displacement, body sway, and inter-joint coordination. Older adults showed significant reduction in horizontal rotations of body segments and joints, as well as in center-of-mass displacement. Furthermore, older adults manifested a greater variability in reactive postural responses than younger adults. The abnormal reactive postural responses observed in older adults might contribute to the well-known age-related difficulty in dealing with balance control during turning.

Regulation of dynamic postural control to attend manual steadiness constraints

In daily living activities, performance of spatially accurate manual movements in upright stance depends on postural stability. In the present investigation, we aimed to evaluate the effect of the required manual steadiness (task constraint) on the regulation of dynamic postural control. A single group of young participants ( n = 20) were evaluated in the performance of a dual posturo-manual task of balancing on a platform oscillating in sinusoidal translations at 0.4-Hz (low) or 1-Hz (high) frequencies while stabilizing a cylinder on a handheld tray. Manual task constraint was manipulated by comparing the conditions of keeping the cylinder stationary on its flat or round side, corresponding to low and high manual task constraints, respectively. Results showed that in the low oscillation frequency the high manual task constraint led to lower oscillation amplitudes of the head, center of mass, and tray, in addition to higher relative phase values between ankle/hip-shoulder oscillatory rotations and between center of mass/center of pressure-feet oscillations as compared with values observed in the low manual task constraint. Further analyses showed that the high manual task constraint also affected variables related to both postural (increased amplitudes of center of pressure oscillation) and manual (increased amplitude of shoulder rotations) task components in the high oscillation frequency. These results suggest that control of a dynamic posturo-manual task is modulated in distinct parameters to attend the required manual steadiness in a complex and flexible way.

NEW & NOTEWORTHY We evaluated dynamic postural control on a platform oscillating in sinusoidal translations at different frequencies while performing a manual task with low or high steadiness constraints. Results showed that high manual task constraint led to modulation of metric and coordination variables associated with greater postural stability. Our findings suggest that motor control is regulated in an integrative mode at the posturo-manual task level, with reciprocal interplay between the postural and manual components.

In Memoriam: Paolo Cappa

Prof. Paolo Cappa passed away on 26 August 2016, at the age of 59, after a long and courageous fight against cancer. Paolo Cappa was a Professor in Mechanical and Thermal Measurements and Experimental Biomechanics in the Department of Mechanical and Aerospace Engineering of Sapienza University of Rome, where he had also served as the Head of the Department, and a Research Professor in the Department of Mechanical and Aerospace Engineering of New York University Tandon School of Engineering. During his intense, yet short, career, he made several significant scientific contributions within the discipline of Mechanical and Thermal Measurements, pioneering fundamental applications to Biomechanics. He co-founded the Motion Analysis and Robotics Laboratory (MARLab) within the Neurorehabilitation Division of IRCCS Pediatric Hospital “Bambino Gesu”, in Rome, to fuel transitional research from the laboratory to clinical practice. Through collaboration with neurologists and physiatrists at MARLab, Prof. Cappa led the development of a powerful array of novel mechanical solutions to wearable robotics for pediatric patients, addressing dramatic needs for children’s health and contributing to the training of an entire generation of Mechanical Engineering students.

Devices and tasks involved in the objective assessment of standing dynamic balancing - A systematic literature review

BACKGROUND

Static balancing assessment is often complemented with dynamic balancing tasks. Numerous dynamic balancing assessment methods have been developed in recent decades with their corresponding balancing devices and tasks.

OBJECTIVE

The aim of this systematic literature review is to identify and categorize existing objective methods of standing dynamic balancing ability assessment with an emphasis on the balancing devices and tasks being used.

DATA SOURCES

Three major scientific literature databases (Science Direct, Web of Science, PLoS ONE) and additional sources were used.

STUDY SELECTION

Studies had to use a dynamic balancing device and a task described in detail. Evaluation had to be based on objectively measureable parameters. Functional tests without instrumentation evaluated exclusively by a clinician were excluded. A total of 63 articles were included.

DATA EXTRACTION

The data extracted during full-text assessment were: author and date; the balancing device with the balancing task and the measured parameters; the health conditions, size, age and sex of participant groups; and follow-up measurements.

DATA SYNTHESIS

A variety of dynamic balancing assessment devices were identified and categorized as 1) Solid ground, 2) Balance board, 3) Rotating platform, 4) Horizontal translational platform, 5) Treadmill, 6) Computerized Dynamic Posturography, and 7) Other devices. The group discrimination ability of the methods was explored and the conclusions of the studies were briefly summarized.

LIMITATIONS

Due to the wide scope of this search, it provides an overview of balancing devices and do not represent the state-of-the-art of any single method.

CONCLUSIONS

The identified dynamic balancing assessment methods are offered as a catalogue of candidate methods to complement static assessments used in studies involving postural control.

Quantification of postural stability in minimally disabled multiple sclerosis patients by means of dynamic posturography: an observational study

BACKGROUND

Multiple Sclerosis (MS) is a widespread progressive neurologic disease with consequent impairments in daily activities. Disorders of balance are frequent and equilibrium tests are potentially useful to quantify disability and to verify treatment effectiveness. The fair sensitivity of the widely used not-perturbed tests to detect balance disturbances in MS patients have prompted the development of mechatronic systems capable to impose known equilibrium perturbations, in order to challenge the balance control and, consequently, to better assess the level of impairment. We sought to clarify whether the proposed perturbed-test is capable to discriminate healthy subjects from patients with MS, even in mild or in the absence of clinically evident balance disturbances.

METHODS

We assessed balance performances of 17 adults with MS and 13 age-matched healthy controls (HC) using both perturbed (PT) and not-perturbed (NPT) postural tests by means of a 3 Degree Of Freedom (DOF) rotational mechatronic platform. Participants stood barefoot on the platform in standing position and their center of pressure (CoP) was gathered by using a pressure matrix. Each trial lasted 30 s and was carried out with and without visual stimuli. Several postural indices were computed for each trial. Correlations between postural indices and clinical scales were analyzed.

RESULTS

No significant differences were found between groups for all indices when subjects performed NPTs. Conversely, significant differences in postural indices between MS and HC emerged during PTs. Additionally, PTs revealed significant differences between patients without any cerebellar impairment (cerebellar EDSS subscore equal to 0) and HC. The discrimination capability of PTs was confirmed by the ROC analysis. No significant change of the selected metrics occurred in HC when NPTs were performed with eyes closed, while indices presented a significant worsening in MS subjects.

CONCLUSIONS

Not-perturbed tests showed lower sensitivity than perturbed ones in the identification of equilibrium impairments in minimally disabled MS patients. However, not-perturbed tests allow to better evaluate the influence of visual flow disturbances on balance control in MS. In conclusion, our findings proved that the use of the novel tests based on a 3DOF mechatronic device represents an effective tool to investigate early balance disturbances in MS.

Calibration of the Leg Muscle Responses Elicited by Predictable Perturbations of Stance and the Effect of Vision

Motor adaptation due to task practice implies a gradual shift from deliberate control of behavior to automatic processing, which is less resource- and effort-demanding. This is true both for deliberate aiming movements and for more stereotyped movements such as locomotion and equilibrium maintenance. Balance control under persisting critical conditions would require large conscious and motor effort in the absence of gradual modification of the behavior. We defined time-course of kinematic and muscle features of the process of adaptation to repeated, predictable perturbations of balance eliciting both reflex and anticipatory responses. Fifty-nine sinusoidal (10 cm, 0.6 Hz) platform displacement cycles were administered to 10 subjects eyes-closed (EC) and eyes-open (EO). Head and Center of Mass (CoM) position, ankle angle and Tibialis Anterior (TA) and Soleus (Sol) EMG were assessed. EMG bursts were classified as reflex or anticipatory based on the relationship between burst amplitude and ankle angular velocity. Muscle activity decreased over time, to a much larger extent for TA than Sol. The attenuation was larger for the reflex than the anticipatory responses. Regardless of muscle activity attenuation, latency of muscle bursts and peak-to-peak CoM displacement did not change across perturbation cycles. Vision more than doubled speed and the amount of EMG adaptation particularly for TA activity, rapidly enhanced body segment coordination, and crucially reduced head displacement. The findings give new insight on the mode of amplitude- and time-modulation of motor output during adaptation in a balancing task, advocate a protocol for assessing flexibility of balance strategies, and provide a reference for addressing balance problems in patients with movement disorders.

Multilevel Upper Body Movement Control during Gait in Children with Cerebral Palsy

Upper body movements during walking provide information about balance control and gait stability. Typically developing (TD) children normally present a progressive decrease of accelerations from the pelvis to the head, whereas children with cerebral palsy (CP) exhibit a general increase of upper body accelerations. However, the literature describing how they are transmitted from the pelvis to the head is lacking. This study proposes a multilevel motion sensor approach to characterize upper body accelerations and how they propagate from pelvis to head in children with CP, comparing with their TD peers. Two age- and gender-matched groups of 20 children performed a 10m walking test at self-selected speed while wearing three magneto-inertial sensors located at pelvis, sternum, and head levels. The root mean square value of the accelerations at each level was computed in a local anatomical frame and its variation from lower to upper levels was described using attenuation coefficients. Between-group differences were assessed performing an ANCOVA, while the mutual dependence between acceleration components and the relationship between biomechanical parameters and typical clinical scores were investigated using Regression Analysis and Spearman’s Correlation, respectively (α = 0.05). New insights were obtained on how the CP group managed the transmission of accelerations through the upper body. Despite a significant reduction of the acceleration from pelvis to sternum, children with CP do not compensate for large accelerations, which are greater than in TD children. Furthermore, those with CP showed negative sternum-to-head attenuations, in agreement with the documented rigidity of the head-trunk system observed in this population. In addition, the estimated parameters proved to correlate with the scores used in daily clinical practice. The proposed multilevel approach was fruitful in highlighting CP-TD gait differences, supported the in-field quantitative gait assessment in children with CP and might prove beneficial to designing innovative intervention protocols based on pelvis stabilization.

The effects of the length of rain boots on balance during treadmill walking

[Purpose] Effects of muscle fatigue on lower-extremity balance were evaluated in 12 healthy young women in their 20s while they walked on a treadmill wearing rain boots of different lengths. [Methods] The rain boots were divided into three groups based on the shaft length (Long, Middle, Short). Romberg's test was applied and limits of stability were measured before and after treadmill walking. [Results] Romberg's test showed a significant main effect for time. There were significant differences between the center of gravity area, length, and velocity when the eyes were open and the center of gravity length, velocity, and length/cm(2) when the eyes were closed. Changes in the limits of stability also showed a significant main effect of time. There were significant differences in pre-test and post-test values in the left, right, forward, and total directions. [Conclusion] It was found that muscle fatigue in the lower extremities generated by walking in rain boots affected the joints and the adjuster muscles, depending on shaft lengths. Compensation due to visual feedback and the length of the boot shaft affected movement of the distal joints, resulting in a reduced ability to balance.

Upper body balance control strategy during continuous 3D postural perturbation in young adults

We explored how changes in vision and perturbation frequency impacted upright postural control in healthy adults exposed to continuous multiaxial support-surface perturbation. Ten subjects were asked to maintain equilibrium in standing stance with eyes open (EO) and eyes closed (EC) during sinusoidal 3D rotations at 0.25 (L) and 0.50 Hz (H). We measured upper-body kinematics--head, trunk, and pelvis--and analyzed differences in horizontal displacements and roll, pitch, and yaw sways. The presence of vision significantly decreased upper-body displacements in the horizontal plane, especially at the head level, while in EC the head was the most unstable segment. H trials produced a greater segment stabilization compared to L ones in EO and EC. Analysis of sways showed that in EO participants stabilized their posture by reducing the variability of trunk angles; in H trials a sway decrease for the examined segments was observed in the yaw plane and, for the pelvis only, in the pitch plane. Our results suggest that, during continuous multiaxial perturbations, visual information induced: (i) in L condition, a continuous reconfiguration of multi-body-segments orientation to follow the perturbation; (ii) in H condition, a compensation for the ongoing perturbation. These findings were not confirmed in EC where the same strategy--that is, the use of the pelvis as a reference frame for the body balance was adopted both in L and H.

Compensation to whole body active rotation perturbation

The aim of the present study is the exploration of the compensation mechanisms in healthy adults elicited by superimposing a horizontal perturbation, through a rotation of the support base, during a whole body active rotation around the participant's own vertical body axis. Eight healthy participants stood on a rotating platform while executing 90° whole body rotations under three conditions: no concurrent platform rotation (NP), support surface rotation of ± 45° in the same (45-S) and opposite (45-O) directions. Participants' kinematics and CoP displacements were analyzed with an optoelectronic system and a force platform. In both 45-S and 45-O conditions, there was a tendency for the head to be affected by the external perturbation and to be the last and least perturbed segment while the pelvis was the most perturbed. The observed reduced head perturbation in 45-S and 45-O trials is consistent with a goal-oriented strategy mediated by vision and vestibular information, whereas the tuning of lumbar rotation is consistent with control mechanisms mediated by somato-sensory information.

Spatial rotational orientation ability in standing children with cerebral palsy

This study quantified perception and reorientation ability after passive horizontal rotations in thirteen children with cerebral palsy (CP). They stood barefoot on a platform in front of a fixed reference point (static posture task, SPT) and were then blindfolded and passively rotated with six velocity profiles (maximum angular velocity: 57°/s; rotation amplitudes: ±90°, ±180° and ±360°). After the perturbation, the blindfolded children were asked to point to the fixed reference point with their preferred hand (pointing task, PT) and to step back to the initial position on the stationary platform (reorientation task, RT). In order to gain further insight into rotational attitude, the results were comparatively examined with body segment rotations determined using standardized gait analysis (gait task, GT). The kinematic evaluations were conducted using an optoelectronic system: for SPT, PT and RT we confined the analysis, in the horizontal plane, to the head and upper pointing arm of the subject and to the platform; for GT a full body analysis was performed. When CP children were passively rotated towards their more affected side, they overestimated the imposed angle in PT but under-reproduced it in RT. A higher variability emerged in left-hemiplegic children, confirming that the spatial disorganization is predominantly related to right brain lesion. Patients tended to rotate in GT towards the more affected side while in RT they showed an opposite trend.

Postural responses to yaw rotation of support surface

The purposes of this study were to investigate EMG and kinematic responses to yaw rotation of a support surface. Twenty people participated in four conditions, i.e., two velocities (240°/s, 120°/s) and two amplitudes (30°, 15°). Longer latency and smaller muscle responses were induced for yaw rotation, and distal ankle and knee muscles were activated earlier than trunk and neck muscles. Joint kinematics demonstrated larger angular displacements in axial rotation. Velocity and amplitude did not affect onset latency or magnitude of muscle activation but had significant effects on joint movements and COM displacements. Preliminary information about normative data of healthy subjects was obtained, and questions were generated about optimal velocity and amplitude test protocols that require further investigation.

Adaptation to continuous perturbation of balance: progressive reduction of postural muscle activity with invariant or increasing oscillations of the center of mass depending on perturbation frequency and vision conditions

We investigated the adaptation of balancing behavior during a continuous, predictable perturbation of stance consisting of 3-min backward and forward horizontal sinusoidal oscillations of the support base. Two visual conditions (eyes-open, EO; eyes-closed, EC) and two oscillation frequencies (LF, 0.2 Hz; HF, 0.6 Hz) were used. Center of Mass (CoM) and Center of Pressure (CoP) oscillations and EMG of Soleus (Sol) and Tibialis Anterior (TA) were recorded. The time course of each variable was estimated through an exponential model. An adaptation index allowed comparison of the degree of adaptation of different variables. Muscle activity pattern was initially prominent under the more challenging conditions (HF, EC and EO; LF, EC) and diminished progressively to reach a steady state. At HF, the behavior of CoM and CoP was almost invariant. The time-constant of EMG adaptation was shorter for TA than for Sol. With EC, the adaptation index showed a larger decay in the TA than Sol activity at the end of the balancing trial, pointing to a different role of the two muscles in the adaptation process. At LF, CoM and CoP oscillations increased during the balancing trial to match the platform translations. This occurred regardless of the different EMG patterns under EO and EC. Contrary to CoM and CoP, the adaptation of the muscle activities had a similar time-course at both HF and LF, in spite of the two frequencies implying a different number of oscillation cycles. During adaptation, under critical balancing conditions (HF), postural muscle activity is tuned to that sufficient for keeping CoM within narrow limits. On the contrary, at LF, when vision permits, a similar decreasing pattern of muscle activity parallels a progressive increase in CoM oscillation amplitude, and the adaptive balancing behavior shifts from the initially reactive behavior to one of passive riding the platform. Adaptive balance control would rely on on-line computation of risk of falling and sensory inflow, while minimizing balance challenge and muscle effort. The results from this study contribute to the understanding of plasticity of the balance control mechanisms under posture-challenging conditions.

A 3-DOF parallel robot with spherical motion for the rehabilitation and evaluation of balance performance

In this paper a novel electrically actuated parallel robot with three degrees-of-freedom (3 DOF) for dynamic postural studies is presented. The design has been described, the solution to the inverse kinematics has been found, and a numerical solution for the direct kinematics has been proposed. The workspace of the implemented robot is characterized by an angular range of motion of about ±10° for roll and pitch when yaw is in the range ±15°. The robot was constructed and the orientation accuracy was tested by means of an optoelectronic system and by imposing a sinusoidal input, with a frequency of 1 Hz and amplitude of 10°, along the three axes, in sequence. The collected data indicated a phase delay of 1° and an amplitude error of 0.5%-1.5%; similar values were observed for cross-axis sensitivity errors. We also conducted a clinical application on a group of normal subjects, who were standing in equilibrium on the robot base with eyes open (EO) and eyes closed (EC), which was rotated with a tri-axial sinusoidal trajectory with a frequency of 0.5 Hz and amplitude 5° for roll and pitch and 10° for the yaw. The postural configuration of the subjects was recorded with an optoelectronic system. However, due to the mainly technical nature of this paper, only initial validation outcomes are reported here. The clinical application showed that only the tilt and displacement on the sagittal pane of head, trunk, and pelvis in the trials conducted with eyes closed were affected by drift and that the reduction of the yaw rotation and of the mediolateral translation was not a controlled parameter, as happened, instead, for the other anatomical directions.

Moment measurement accuracy of a parallel spherical robot for dynamic posturography

This paper characterizes the moment measurement accuracy for a novel parallel spherical robot (SR) for dynamic posturography, controllable by position or impedance. The SR consists of three linear motors placed on a support base, a moving base, and three passive arms equipped with uniaxial load cells permitting impedance controlled perturbations. To evaluate the accuracy, a subject stood still on the SR, set in position control mode, while selected sinusoidal trajectories were applied. The moments computed by the load cells were compared to the value measured by a six-component force platform, placed on top of the rotating base. For the intended application of the SR, the errors were negligible with the worse case of only 4 Nm in a total of 15 trials (five conditions, three repetitions). The observed moment error was related mainly to the intrinsic accuracy of the sensors, equal to about 7 N. To demonstrate clinical applicability, the platform was set to impedance control mode and a protocol was tested with a 12-year-old girl with brain injury and a group of four healthy subjects. In total, 24 trials (eight conditions, three repetitions) were recorded for each subject. The results of this pilot study identified distinctive postural behaviors and therefore showed that the SR can be considered as an effective tool for dynamic posturography.