Lower limb angular velocity during walking at various speeds

Muscle Torque-Velocity Relationships and Fatigue With Reduced Knee Joint Range of Motion in Young and Older Adults

The purpose of this study was to evaluate the influence of knee joint range of motion (RoM) on the torque-velocity relationship and fatigue in the knee extensor muscles of 7 young (median = 26 y) and 7 older (68 y) adults. Each leg was assigned a RoM (35° or 75°) over which to perform a torque-velocity protocol (maximal isokinetic contractions, 60-300°·s-1) and a fatigue protocol (120 maximal contractions at 120°·s-1, 0.5 Hz). Six older participants were unable to reach 300°·s-1 over 35°. Therefore, the velocity eliciting 75% of peak torque at 60°·s-1 (V75, °·s-1) was calculated for each RoM from a fit of individual torque-velocity curves (60-240°·s-1), and ΔV75 (35°-75°) was determined. Fatigue (final torque/initial torque) was used to calculate Δfatigue (35°-75°). ΔV75 was not different from 0 in young (-28.3°·s-1 [-158.6 to 55.7], median [range], P = .091) or older (-18.5°·s-1 [-95.0 to 23.9], P = .128), with no difference by age (P = .710). In contrast, fatigue was greater for 75° in young (Δfatigue = 25.9% [17.5-30.3], P = .018) and older (17.2% [11.9-52.9], P = .018), with no effect of age (P = .710). These data indicate that, regardless of age, RoM did not alter the torque-velocity relationship between 60 and 240°·s-1, and fatigue was greater with a larger RoM.

Relationship between metabolic cost, muscle moments and co-contraction during walking and running

BACKGROUND

The metabolic cost of locomotion is a key factor in walking and running performance. It has been studied by analysing the activation and co-activation of the muscles of the lower limbs. However, these measures do not comprehensively address muscle mechanics, in contrast to approaches using muscle moments and co-contraction.

RESEARCH QUESTION

What is the effect of speed and type of locomotion on muscle moments and co-contraction, and their relationship with metabolic cost during walking and running?

METHODS

Eleven recreational athletes (60.5 ± 7.1 kg; 169.0 ± 6.6 cm; 23.6 ± 3.3 years) walked and ran on a treadmill at different speeds, including a similar speed of 1.75 m.s-1. Metabolic cost was estimated from gas exchange measurements. Muscle moments and co-contraction of ankle and knee flexors and extensors during the stance and swing phases were estimated using an electromyographic-driven model.

RESULTS

Both the slowest and fastest walking speeds had significantly higher metabolic costs than intermediate ones (p < 0.05). The metabolic cost of walking was correlated with plantarflexors moment during swing phase (r = 0.62 at 0.5 m.s-1, r = 0.67 at 1,25 m.s-1), dorsiflexors moment during stance phase (r = 0.65 at 1.25 m.s-1, r = 0.67 at 1.5 and 1.75 m.s-1), and ankle co-contraction during the stance phase (r = 0.63 at 1.25 and 1.75 m.s-1). The metabolic cost of running at 3.25 m.s-1 during the swing phase was correlated with the dorsiflexors moment (r = 0.63), plantarflexors moment (r = 0.61) and ankle co-contraction (r = 0.60).

DISCUSSION AND CONCLUSION

Fluctuations in metabolic cost of walking and running could be explained, at least in part, by increased ankle antagonist moments and co-contraction.

Reliability and validity of estimated angles information assessed using inertial measurement unit-based motion sensors

BACKGROUND

Inertial measurement unit (IMU)-based motion sensors are affordable, and their use is appropriate for rehabilitation. However, regarding the accuracy of estimated angle information obtained from this sensor, it is reported that it is likely affected by velocity.

OBJECTIVE

The present study investigated the reliability and validity of the angle information obtained using IMU-based sensors compared with a three-dimensional (3D) motion analyzer.

METHODS

The Euler angle obtained using the 3D motion analyzer and the angle obtained using the IMU-based sensor (IMU angle) were compared. Reliability was assessed by comparing the Bland-Altman analysis, intra-class correlation coefficient (ICC) (1,1), and cross-correlation function. The root mean square (RMS) error, ICC (2,1), and cross-correlation function were used to compare data on the Euler and IMU angles to evaluate the validity.

RESULTS

Regarding reliability, the Bland-Atman analysis indicated no fixed or proportional bias in the angle measurements. The measurement errors ranged from 0.2° to 3.2°. In the validity, the RMS error ranged from 0.3° to 2.2°. The ICCs (2,1) were 0.9. The cross-correlation functions were >0.9, which indicated a high degree of agreement.

CONCLUSION

The IMU-based sensor had a high reliability and validity. The IMU angle may be used in rehabilitation.

E-BDL: Enhanced Band-Dependent Learning Framework for Augmented Radar Sensing

Radar sensors, leveraging the Doppler effect, enable the nonintrusive capture of kinetic and physiological motions while preserving privacy. Deep learning (DL) facilitates radar sensing for healthcare applications such as gait recognition and vital-sign measurement. However, band-dependent patterns, indicating variations in patterns and power scales associated with frequencies in time-frequency representation (TFR), challenge radar sensing applications using DL. Frequency-dependent characteristics and features with lower power scales may be overlooked during representation learning. This paper proposes an Enhanced Band-Dependent Learning framework (E-BDL) comprising an adaptive sub-band filtering module, a representation learning module, and a sub-view contrastive module to fully detect band-dependent features in sub-frequency bands and leverage them for classification. Experimental validation is conducted on two radar datasets, including gait abnormality recognition for Alzheimer's disease (AD) and AD-related dementia (ADRD) risk evaluation and vital-sign monitoring for hemodynamics scenario classification. For hemodynamics scenario classification, E-BDL-ResNet achieves competitive performance in overall accuracy and class-wise evaluations compared to recent methods. For ADRD risk evaluation, the results demonstrate E-BDL-ResNet's superior performance across all candidate models, highlighting its potential as a clinical tool. E-BDL effectively detects salient sub-bands in TFRs, enhancing representation learning and improving the performance and interpretability of DL-based models.

Inter-joint coordination with and without dopaminergic medication in Parkinson's disease: a case-control study

BACKGROUND

How the joints exactly move and interact and how this reflects PD-related gait abnormalities and the response to dopaminergic treatment is poorly understood. A detailed understanding of these kinematics can inform clinical management and treatment decisions. The aim of the study was to investigate the influence of different gait speeds and medication on/off conditions on inter-joint coordination, as well as kinematic differences throughout the whole gait cycle in well characterized pwPD.

METHODS

29 controls and 29 PD patients during medication on, 8 of them also during medication off walked a straight walking path in slow, preferred and fast walking speeds. Gait data was collected using optical motion capture system. Kinematics of the hip and knee and coordinated hip-knee kinematics were evaluated using Statistical Parametric Mapping (SPM) and cyclograms (angle-angle plots). Values derived from cyclograms were compared using repeated-measures ANOVA for within group, and ttest for between group comparisons.

RESULTS

PD gait differed from controls mainly by lower knee range of motion (ROM). Adaptation to gait speed in PD was mainly achieved by increasing hip ROM. Regularity of gait was worse in PD but only during preferred speed. The ratios of different speed cyclograms were smaller in the PD groups. SPM analyses revealed that PD participants had smaller hip and knee angles during the swing phase, and PD participants reached peak hip flexion later than controls. Withdrawal of medication showed an exacerbation of only a few parameters.

CONCLUSIONS

Our findings demonstrate the potential of granular kinematic analyses, including > 1 joint, for disease and treatment monitoring in PD. Our approach can be extended to further mobility-limiting conditions and other joint combinations.

TRIAL REGISTRATION

The study is registered in the German Clinical Trials Register (DRKS00022998, registered on 04 Sep 2020).

Selective voluntary motor control influences knee joint torque, work and power in children with spastic cerebral palsy

BACKGROUND

Children with spastic cerebral palsy (CP) have damage to the corticospinal tracts that are responsible for selective motor control (SMC). Force, velocity and timing of joint movement are related biomechanical features controlled by the corticospinal tracts (CSTs) that are important for skilled movement.

RESEARCH QUESTION

Does SMC influence knee joint biomechanics in spastic CP?

METHODS

In this prospective study, relationships between SMC and knee biomechanics (peak torque, total work, average power) across a range of velocities (0-300 deg/s) were assessed using an isokinetic dynamometer in 23 children with spastic CP. SMC was assessed using Selective Control Assessment of the Lower Extremity (SCALE). Logistic and linear regression models were used to evaluate relationships between SCALE and biomechanical measures.

RESULTS

The ability to produce knee torque diminished with increasing velocity for both Low (0-4 points) and High (5-10 points) SCALE limb score groups (p < 0.01). More knees in the High group produced extension torque at 300 deg/s (p < 0.05) and flexion torque at 30, 90,180, 240 and 300 deg/s (p < 0.05). The ability to produce torque markedly decreased above 180 deg/s for Low group flexion. For knees that produced torque, significant positive correlations between SCALE limb scores and joint torque (0 and 120 deg/s), work (120 deg/s) and power (120 deg/s) were found (p < 0.05). Greater knee torque, work and power for the High group was found for the extensors at most velocities and the flexors for up to 120 deg/s (p < 0.05). Few Low group participants generated knee flexor torque above 120 deg/s limiting comparisons.

SIGNIFICANCE

Biomechanical impairments found for children with low SMC are concerning as skilled movements during gait, play and sport activities occur at high velocities. Differences in SMC should be considered when designing individualized assessments and interventions.

A biomechanics and energetics dataset of neurotypical adults walking with and without kinematic constraints

Numerous studies have explored the biomechanics and energetics of human walking, offering valuable insights into how we walk. However, prior studies focused on changing external factors (e.g., walking speed) and examined group averages and trends rather than individual adaptations in the presence of internal constraints (e.g., injury-related muscle weakness). To address this gap, this paper presents an open dataset of human walking biomechanics and energetics collected from 21 neurotypical young adults. To investigate the effects of internal constraints (reduced joint range of motion), the participants are both the control group (free walking) and the intervention group (constrained walking - left knee fully extended using a passive orthosis). Each subject walked on a dual-belt treadmill at three speeds (0.4, 0.8, and 1.1 m/s) and five step frequencies ( - 10% to 20% of their preferred frequency) for a total of 30 test conditions. The dataset includes raw and segmented data featuring ground reaction forces, joint motion, muscle activity, and metabolic data. Additionally, a sample code is provided for basic data manipulation and visualisation.

High Velocity Passive Stretching Mimics Eccentric Exercise in Cerebral Palsy and May Be Used to Increase Spastic Muscle Fascicle Length

Muscle fascicles are shorter and stiffer than normal in spastic Cerebral Palsy (CP). Increasing fascicle length (FL) has been attempted in CP, the outcomes of which have been unsatisfactory. In healthy muscles, FL can be increased using eccentric exercise at high velocities (ECC). Three conditions are possibly met during such ECC: muscle micro-damage, positive fascicle strain, and momentary muscle deactivation during lengthening. Participants with and without CP underwent a single bout of passive stretching at (appropriately) high velocities using isokinetic dynamometry, during which we examined muscle and fascicle behaviour. Vastus lateralis (VL) FL change was measured using ultrasonography and showed positive fascicle strain. Measures of muscle creatine kinase were used to establish whether micro-damage occurred in response to stretching, but the results did not confirm damage in either group. Vastus medialis (VM) and biceps femoris muscle activity were measured using electromyography in those with CP. Results supported momentary spastic muscle deactivation during lengthening: all participants experienced at least one epoch (60 ms) of increased activation followed by activation inhibition/deactivation of the VM during knee flexion. We argue that high-velocity passive stretching in CP provides a movement context which mimics ECC and could be used to increase spastic FL with training.

Gait signature changes with walking speed are similar among able-bodied young adults despite persistent individual-specific differences

Understanding individuals' distinct movement patterns is crucial for health, rehabilitation, and sports. Recently, we developed a machine learning-based framework to show that "gait signatures" describing the neuromechanical dynamics governing able-bodied and post-stroke gait kinematics remain individual-specific across speeds. However, we only evaluated gait signatures within a limited speed range and number of participants, using only sagittal plane (i.e., 2D) joint angles. Here we characterized changes in gait signatures across a wide range of speeds, from very slow (0.3 m/s) to exceptionally fast (above the walk-to-run transition speed) in 17 able-bodied young adults. We further assessed whether 3D kinematic and/or kinetic (ground reaction forces, joint moments, and powers) data would improve the discrimination of gait signatures. Our study showed that gait signatures remained individual-specific across walking speeds: Notably, 3D kinematic signatures achieved exceptional accuracy (99.8%, confidence interval (CI): 99.1-100%) in classifying individuals, surpassing both 2D kinematics and 3D kinetics. Moreover, participants exhibited consistent, predictable linear changes in their gait signatures across the entire speed range. These changes were associated with participants' preferred walking speeds, balance ability, cadence, and step length. These findings support gait signatures as a tool to characterize individual differences in gait and predict speed-induced changes in gait dynamics.

Société de Biomécanique young investigator award 2022: Effects of applying functional electrical stimulation to ankle plantarflexor muscles on forward propulsion during walking in young healthy adults

The triceps surae muscle, composed of the gastrocnemius and soleus muscles, plays a major role in forward propulsion during walking. By generating positive ankle power during the push-off phase, these muscles produce the propulsive force required for forward progression. This study aimed to test the hypothesis that applying functional electrical stimulation (FES) to these muscles (soleus, gastrocnemius or the combination of the two) during the push-off phase would increase the ankle power generation and, consequently, enhance forward propulsion during walking in able-bodied adults. Fifteen young adults walked at their self-selected speed under four conditions: no stimulation, with bilateral stimulation of the soleus, gastrocnemius, and both muscles simultaneously. Muscles were stimulated just below the discomfort threshold during push-off, i.e., from heel-off to toe-off. FES significantly increased ankle power (+22 to 28 % depending on conditions), propulsive force (+15 to 18 %) and forward progression parameters such as walking speed (+14 to 20 %). Furthermore, walking speed was significantly higher (+5%) for combined soleus and gastrocnemius stimulation compared with gastrocnemius stimulation alone, with no further effect on other gait parameters. In conclusion, our results demonstrate that applying FES to the gastrocnemius and soleus, separately or simultaneously during the push-off phase, enhanced ankle power generation and, consequently, forward propulsion during walking in able-bodied adults. Combined stimulation of the soleus and gastrocnemius provided the greatest walking speed enhancement, without affecting other propulsion parameters. These findings could be useful for designing FES-based solutions for improving gait in healthy people with propulsion impairment, such as the elderly.

Gait characteristics in patients with distal radius fracture using an in-shoe inertial measurement system at various gait speeds

BACKGROUND

Distal radius fractures (DRF) commonly occur in early postmenopausal females as the first fragility fracture. Although the incidence of DRF in this set of patients may be related to a lower ability to control their balance and gait, the detailed gait characteristics of DRF patients have not been examined.

RESEARCH QUESTION

Is it possible to identify the physical and gait features of DRF patients using in-shoe inertial measurement unit (IMU) sensors at various gait speeds and to develop a machine learning (ML) algorithm to estimate patients with DRF using gait?

METHODS

In this cross-sectional case control study, we recruited 28 postmenopausal females with DRF as their first fragility fracture and 32 age-matched females without a history of fragility fractures. The participants underwent several physical and gait tests. In the gait performance test, the participants walked 16 m with the in-shoe IMU sensor at slower, preferred, and faster speeds. The gait parameters were calculated by the IMU, and we applied the ML technique using the extreme gradient boosting (XGBoost) algorithm to predict the presence of DRF.

RESULTS

The fracture group showed lower hand grip strength and lower ability to change gait speed. The difference in gait parameters was mainly observed at faster speeds. The amplitude of the change in the parameters was small in the fracture group. The XGBoost model demonstrated reasonable accuracy in predicting DRFs (area under the curve: 0.740), and the most relevant variable was the stance time at a faster speed.

SIGNIFICANCE

Gait analysis using in-shoe IMU sensors at different speeds is useful for evaluating the characteristics of DRFs. The obtained gait parameters allow the prediction of fractures using the XGBoost algorithm.

Hamstring spasticity assessment: does the hip flexion angle impact outcomes?

PURPOSE

Hamstring spasticity is prevalent following neurological injury. The standardized assessment involves passive knee extension, in a position of 90° hip flexion. This creates passive insufficiency of the muscle and lacks ecological validity for walking, whereby the hip typically flexes to a maximum of 40° during swing phase, while the knee extends. This study compared assessment outcomes when completed in 40° and 90° hip flexion.

METHODS

The Modified Ashworth Scale and Modified Tardieu Scale, were performed on 35 adults with a neurological condition. Each participant was assessed by three assessors, resulting in 105 trials at 40° and 90°.

RESULTS

There was a significant increase in the proportion of trials rated as spastic using the Modified Ashworth Scale (p=.012, phi=.27), and Modified Tardieu Scale (p<.001, phi=.36), and the severity of spasticity using the Modified Ashworth Scale (p<.001, effect size (ES)=.50), and Modified Tardieu Scale (p<.001 ES=.47), at 90° hip flexion. The angle of reaction occurred 32° earlier at 90° hip flexion (p<.001, ES = 1.61).

CONCLUSIONS

Completing hamstring assessments in 40° hip flexion may reduce the passive insufficiency and improve the ecological validity of assessment, for walking. This may assist in the selection of patients requiring intervention, when their goal relates to walking.

Controlling modified Tardieu scale assessment speeds to match joint angular velocities during walking impacts spasticity assessment outcomes

OBJECTIVE

To investigate whether tailoring the speed of the Modified Tardieu Scale to reflect an individual's joint angular velocity during walking influences spasticity assessment outcomes.

DESIGN

Observational trial.

SETTING

Inpatient and outpatient neurological hospital department.

SUBJECTS

Ninety adults with lower-limb spasticity.

INTERVENTIONS

N/A.

MAIN MEASURES

The Modified Tardieu Scale was used to assess the gastrocnemius, soleus, hamstrings and quadriceps. The V1 (slow) and V3 (fast) movements were completed as per standardised testing. Two additional assessments were completed, reflecting joint angular velocities during walking based on (i) a healthy control database (controlled velocity) and (ii) the individual's real-time joint angular velocities during walking (matched velocity). The agreement was compared using Cohen's and Weighted Kappa statistics, sensitivity and specificity.

RESULTS

There was poor agreement when rating trials as spastic or not spastic at the ankle joint (Cohen's Kappa = 0.01-0.17). Trials were classified as spastic during V3 and not spastic during the controlled conditions in 81.6-85.1% of trials when compared to stance phase dorsiflexion angular velocities and 48.0-56.4% when compared to swing phase dorsiflexion angular velocities. The severity of muscle reaction demonstrated poor agreement at the ankle (Weighted Kappa = 0.01-0.28). At the knee, there was a moderate-excellent agreement between the V3 and controlled conditions when rating a trial as spastic or not spastic (Cohen's Kappa = 0.66-0.84) and excellent agreement when comparing severity (Weighted Kappa = 0.73-0.94).

CONCLUSION

The speed of assessment impacted spasticity outcomes. It is possible that the standardised protocol may overestimate the impact spasticity has on walking, especially at the ankle.

Effect of Robotic-Assisted Gait at Different Levels of Guidance and Body Weight Support on Lower Limb Joint Kinematics and Coordination

The Lokomat provides task-oriented therapy for patients with gait disorders. This robotic technology drives the lower limbs in the sagittal plane. However, normative gait also involves motions in the coronal and transverse planes. This study aimed to compare the Lokomat with Treadmill gait through three-dimensional (3D)-joint kinematics and inter-joint coordination. Lower limb kinematics was recorded in 18 healthy participants who walked at 3 km/h on a Treadmill or in a Lokomat with nine combinations of Guidance (30%, 50%, 70%) and bodyweight support (30%, 50%, 70%). Compared to the Treadmill, the Lokomat altered pelvic rotation, decreased pelvis obliquity and hip adduction, and increased ankle rotation. Moreover, the Lokomat resulted in significantly slower velocity at the hip, knee, and ankle flexion compared to the treadmill condition. Moderate to strong correlations were observed between the Treadmill and Lokomat conditions in terms of inter-joint coordination between hip-knee (r = 0.67-0.91), hip-ankle (r = 0.66-0.85), and knee-ankle (r = 0.90-0.95). This study showed that some gait determinants, such as pelvis obliquity, rotation, and hip adduction, are altered when walking with Lokomat in comparison to a Treadmill. Kinematic deviations induced by the Lokomat were most prominent at high levels of bodyweight support. Interestingly, different levels of Guidance did not affect gait kinematics. The present results can help therapists to adequately select settings during Lokomat therapy.

Control of a Back-Support Exoskeleton to Assist Carrying Activities

Back-support exoskeletons are commonly used in the workplace to reduce low back pain risk for workers performing demanding activities. However, for the assistance of tasks differing from lifting, back-support exoskeletons potential has not been exploited extensively. This work focuses on the use of an active back-support exoskeleton to assist carrying. A control strategy is designed that modulates the exoskeleton torques to comply with the task assistance requirements. In particular, two gait phase detection frameworks are exploited to adapt the exoskeleton assistance according to the legs' motion. The control strategy is assessed through an experimental analysis on ten subjects. Carrying task is performed without and with the exoskeleton assistance. Results prove the potential of the presented control in assisting the task without hindering the gait movement and improving the usability experienced by users. Moreover, the exoskeleton assistance significantly reduces the lumbar load associated with the task, demonstrating its promising use for risk mitigation in the workplace.

Increased Barefoot Stride Variability Might Be Predictor Rather than Risk Factor for Overuse Injury in the Military

Footwear usage could be a promising focus in reducing musculoskeletal injury risk in lower extremities commonly observed among the military. The goal of this research was to find potential gait-related risk factors for lower leg overuse injuries. Cases (n = 32) were active-duty infantry soldiers who had suffered an overuse injury in the previous six months of service before enrolling in the study. The control group (n = 32) included infantry soldiers of the same age and gender who did not have a history of lower leg overuse injury. In the gait laboratory, individuals were asked to walk on a 5-m walkway. Rearfoot eversion, ankle plantar/dorsiflexion and stride parameters were evaluated for barefoot and shod conditions. Barefoot walking was associated with higher stride time variability among cases. According to the conditional regression analysis, stride time variability greater than 1.95% (AUC = 0.77, 95% CI (0.648 to 0.883), p < 0.001) during barefoot gait could predict lower leg overuse injury. Increased barefoot gait variability should be considered as a possible predictive factor for lower leg overuse injury in the military, and gait with military boots masked stride-related differences between soldiers with and without lower leg overuse injury.

Effect of power training on rate of torque development and spatiotemporal gait parameters post stroke

BACKGROUND

Maximizing independence and function post-stroke are two common therapy goals. Rate of torque development in lower-extremity muscles was recently reported to be associated with walking speed; however, trainability and subsequent effect on gait is unknown. This study aimed to determine effect of power training on paretic and non-paretic limb torque parameters, spatiotemporal gait parameters, and walking speed in chronic stroke survivors.

METHODS

Individuals with chronic stroke (n = 22; 7 females; 62.7 ± 8.8 yrs) completed 24 progressive power-training sessions over 8 weeks with pre and post assessments. Knee extensor strength was assessed via dynamometry with torque parameters measured from maximal voluntary isometric contractions. Gait speed and spatiotemporal gait parameters were assessed via an instrumented gait mat, and a 6-min walk test was performed.

FINDINGS

Rate of torque development at 200 ms and peak torque improved 58.6% and 14.1%, respectively, in the quadricep of the paretic limb (p < 0.05); conversely the non-paretic limb was unchanged. On average, self-selected walking speed, fastest-comfortable walking speed, and 6-min walk test improved 21.7%, 21.1%, and 19.5%, respectively (all p < 0.05). Change in torque development at 100 ms in the quadricep of the non-paretic limb was positively associated with improvements in self-selected and fastest-comfortable walking speeds (both r = 0.70, p < 0.05) and 6-min walk (r = 0.78, p < 0.001).

INTERPRETATIONS

These findings suggest power training may be an effective intervention for improving torque development in the quadricep of the paretic limb in individuals with chronic stroke. Further research to explore utility and mechanistic aspects of force development for gait function in chronic stroke survivors is warranted.

A mechatronic leg replica to benchmark human-exoskeleton physical interactions

Evaluating human-exoskeleton interaction typically requires experiments with human subjects, which raises safety issues and entails time-consuming testing procedures. This paper presents a mechatronic replica of a human leg, which was designed to quantify physical interaction dynamics between exoskeletons and human limbs without the need for human testing. In the first part of this work, we present the mechanical, electronic, sensory system and software solutions integrated in our leg replica prototype. In the second part, we used the leg replica to test its interaction with two types of commercially available wearable devices, i.e. an active full leg exoskeleton and a passive knee orthosis. We ran basic test examples to demonstrate the functioning and benchmarking potential of the leg replica to assess the effects of joint misalignments on force transmission. The integrated force sensors embedded in the leg replica detected higher interaction forces in the misaligned scenario in comparison to the aligned one, in both active and passive modalities. The small standard deviation of force measurements across cycles demonstrates the potential of the leg replica as a standard test method for reproducible studies of human-exoskeleton physical interaction.

Brace-Free Rehabilitation after Isolated Anterior Cruciate Ligament Reconstruction with Hamstring Tendon Autograft Is Not Inferior to Brace-Based Rehabilitation-A Randomised Controlled Trial

PURPOSE

The postoperative use of a rehabilitative knee brace after isolated primary anterior cruciate ligament (ACL) reconstruction (ACLR) using a hamstring tendon (HT) autograft is controversial. A knee brace may provide subjective safety but can cause damage if applied incorrectly. The aim of this study is to evaluate the effect of a knee brace on clinical outcomes following isolated ACLR using HT autograft.

METHODS

In this prospective randomised trial, 114 adults (32.4 ± 11.5 years, 35.1% women) underwent isolated ACLR using HT autograft after primary ACL rupture. Patients were randomly assigned to wear either a knee brace (n = 58) or no brace (n = 56) for 6 weeks postoperatively. An initial examination was performed preoperatively, and at 6 weeks and 4, 6, and 12 months. The primary endpoint was the subjective International Knee Documentation Committee (IKDC) score to measure participants' subjective perceptions. Secondary endpoints included objective knee function assessed by IKDC, instrumented knee laxity measurements, isokinetic strength tests of the knee extensors and flexors, Lysholm Knee Score, Tegner Activity Score, Anterior Cruciate Ligament-Return to Sport after Injury Score, and quality of life determined by Short Form-36 (SF36).

RESULTS

There were no statistically significant or clinically meaningful differences in IKDC scores between the two study groups (3.29, 95% confidence interval (CI) -1.39 to 7.97, p = 0.03 for evidence of non-inferiority of brace-free compared with brace-based rehabilitation). The difference in Lysholm score was 3.20 (95% CI -2.47 to 8.87); the difference in SF36 physical component score 0.09 (95% CI -1.93 to 3.03). In addition, isokinetic testing did not reveal any clinically relevant differences between the groups (n.s.).

CONCLUSIONS

Brace-free rehabilitation is non-inferior to a brace-based protocol regarding physical recovery 1 year after isolated ACLR using HT autograft. Consequently, the use of a knee brace might be avoided after such a procedure.

LEVEL OF EVIDENCE

Level I, therapeutic study.

Optimal estimation of complex aerial movements using dynamic optimisation

When estimating full-body motion from experimental data, inverse kinematics followed by inverse dynamics does not guarantee dynamical consistency of the resulting motion, especially in movements where the trajectory depends heavily on the initial state, such as in free-fall. Our objective was to estimate dynamically consistent joint kinematics and kinetics of complex aerial movements. A 42-degrees-of-freedom model with 95 markers was personalised for five elite trampoline athletes performing various backward and forward twisting somersaults. Using dynamic optimisation, our algorithm estimated joint angles, velocities and torques by tracking the recorded marker positions. Kinematics, kinetics, angular and linear momenta, and marker tracking difference were compared to results of an Extended Kalman Filter (EKF) followed by inverse dynamics. Angular momentum and horizontal linear momentum were conserved throughout the estimated motion, as per free-fall dynamics. Marker tracking difference went from 17 ± 4 mm for the EKF to 36 ± 11 mm with dynamic optimisation tracking the experimental markers, and to 49 ± 9 mm with dynamic optimisation tracking EKF joint angles. Joint angles from the dynamic optimisations were similar to those of the EKF, and joint torques were smoother. This approach satisfies the dynamics of complex aerial rigid-body movements while remaining close to the experimental 3D marker dataset.

A triple compound pendulum model to analyse the effect of an ankle-foot orthosis on swing phase kinematics

Powered ankle-foot orthoses can be utilised to overcome gait abnormalities such as foot drop; however, normal gait is rarely restored with compensatory gait patterns arising and prevalence of gait asymmetry. Therefore, this study aims to determine the effect of orthosis mass and mass distribution on the swing phase of gait, to understand residual gait asymmetry with orthosis use. Using a triple compound pendulum model, which accounts for mass distribution of the limb and orthosis, the swing phase of gait is simulated in terms of natural dynamics and the effect of an orthosis on kinematic parameters is quantitatively determined. It was found that additional mass causes faster and shorter steps on the affected side due to rapid knee extension and reduced hip flexion, with particular actuator positions and natural cadence causing varying severity of these effects. Our study suggests that this model could be used as a preliminary design tool to identify subject specific optimum orthosis mass distribution of a powered ankle-foot orthosis, without the need for motion data or experimental trials. This optimisation intends to more accurately mimic natural swing phase kinematics, consequently allowing for the reduction in severity of gait asymmetry and the potential to improve rehabilitative outcomes.

Faster triceps surae muscle cyclic contractions alter muscle activity and whole body metabolic rate

Hundred years ago, Fenn demonstrated that when a muscle shortens faster, its energy liberation increases. Fenn's results were the first of many that led to the general understanding that isometric muscle contractions are energetically cheaper than concentric contractions. However, this evidence is still primarily based on single fiber or isolated (ex vivo) muscle studies and it remains unknown whether this translates to whole body metabolic rate. In this study, we specifically changed the contraction velocity of the ankle plantar flexors and quantified the effects on triceps surae muscle activity and whole body metabolic rate during cyclic plantar flexion (PF) contractions. Fifteen participants performed submaximal ankle plantar flexions (∼1/3 s activation and ∼2/3 s relaxation) on a dynamometer at three different ankle angular velocities: isometric (10° PF), isokinetic at 30°/s (5-15° PF), and isokinetic at 60°/s (0-20° PF) while target torque (25% MVC) and cycle frequency were kept constant. In addition, to directly determine the effect of ankle angular velocity on muscle kinematics we collected gastrocnemius medialis muscle fascicle ultrasound data. As expected, increasing ankle angular velocity increased gastrocnemius medialis muscle fascicle contraction velocity and positive mechanical work (P < 0.01), increased mean and peak triceps surae muscle activity (P < 0.01), and considerably increased net whole body metabolic rate (P < 0.01). Interestingly, the increase in triceps surae muscle activity with fast ankle angular velocities was most pronounced in the gastrocnemius lateralis (P < 0.05). Overall, our results support the original findings from Fenn in 1923 and we demonstrated that greater triceps surae muscle contraction velocities translate to increased whole body metabolic rate.NEW & NOTEWORTHY Single muscle fiber studies or research on isolated (ex vivo) muscles demonstrated that faster concentric muscle contractions yield increased energy consumption. Here we translated this knowledge to muscle activation and whole body metabolic rate. Increasing ankle angular velocity increased triceps surae contraction velocity and mechanical work, increasing triceps surae muscle activity and substantially elevating whole body metabolic rate. Additionally, we demonstrated that triceps surae muscle activation strategy depends on the mechanical demands of the task.

Effects of powered ankle-foot orthoses mass distribution on lower limb muscle forces-a simulation study

This simulation study aimed to explore the effects of mass and mass distribution of powered ankle-foot orthoses, on net joint moments and individual muscle forces throughout the lower limb. Using OpenSim inverse kinematics, dynamics, and static optimization tools, the gait cycles of ten subjects were analyzed. The biomechanical models of these subjects were appended with ideal powered ankle-foot orthoses of different masses and actuator positions, as to determine the effect that these design factors had on the subject's kinetics during normal walking. It was found that when the mass of the device was distributed more distally and posteriorly on the leg, both the net joint moments and overall lower limb muscle forces were more negatively impacted. However, individual muscle forces were found to have varying results which were attributed to the flow-on effect of the orthosis, the antagonistic pairing of muscles, and how the activity of individual muscles affect each other. It was found that mass and mass distribution of powered ankle-foot orthoses could be optimized as to more accurately mimic natural kinetics, reducing net joint moments and overall muscle forces of the lower limb, and must consider individual muscles as to reduce potentially detrimental muscle fatigue or muscular disuse. OpenSim modelling method to explore the effect of mass and mass distribution on muscle forces and joint moments, showing potential mass positioning and the effects of these positions, mass, and actuation on the muscle force integral.

Firing behavior of single motor units of the tibialis anterior in human walking as non-invasively revealed by HDsEMG decomposition

Objective.Investigation of the firing behavior of motor units (MUs) provides essential neuromuscular control information because MUs are the smallest organizational component of the neuromuscular system. The MUs activated during human infants' leg movements and rodent locomotion, mainly controlled by the spinal central pattern generator (CPG), show highly synchronous firing. In addition to spinal CPGs, the cerebral cortex is involved in neuromuscular control during walking in human adults. Based on the difference in the neural control mechanisms of locomotion between rodent, human infants and adults, MU firing behavior during adult walking probably has some different features from the other populations. However, so far, the firing activity of MUs in human adult walking has been largely unknown due to technical issues.Approach.Recent technical advances allow noninvasive investigation of MU firing by high-density surface electromyogram (HDsEMG) decomposition. We investigated the MU firing behavior of the tibialis anterior (TA) muscle during walking at a slow speed by HDsEMG decomposition.Main results.We found recruitment threshold modulation of MU between walking and steady isometric contractions. Doublet firings, and gait phase-specific firings were also observed during walking. We also found high MU synchronization during walking over a wide range of frequencies, probably including cortical and spinal CPG-related components. The amount of MU synchronization was modulated between the gait phases and motor tasks. These results suggest that the central nervous system flexibly controls MU firing to generate appropriate force of TA during human walking.Significance.This study revealed the MU behavior during walking at a slow speed and demonstrated the feasibility of noninvasive investigation of MUs during dynamic locomotor tasks, which will open new frontiers for the study of neuromuscular systems in the fields of neuroscience and biomedical engineering.

Human gait-labeling uncertainty and a hybrid model for gait segmentation

Motion capture systems are widely accepted as ground-truth for gait analysis and are used for the validation of other gait analysis systems. To date, their reliability and limitations in manual labeling of gait events have not been studied.

Objectives

Evaluate manual labeling uncertainty and introduce a hybrid stride detection and gait-event estimation model for autonomous, long-term, and remote monitoring.

Methods

Estimate inter-labeler inconsistencies by computing the limits-of-agreement. Develop a hybrid model based on dynamic time warping and convolutional neural network to identify valid strides and eliminate non-stride data in inertial (walking) data collected by a wearable device. Finally, detect gait events within a valid stride region.

Results

The limits of inter-labeler agreement for key gait events heel off, toe off, heel strike, and flat foot are 72, 16, 24, and 80 ms, respectively; The hybrid model's classification accuracy for stride and non-stride are 95.16 and 84.48%, respectively; The mean absolute error for detected heel off, toe off, heel strike, and flat foot are 24, 5, 9, and 13 ms, respectively, when compared to the average human labels.

Conclusions

The results show the inherent labeling uncertainty and the limits of human gait labeling of motion capture data; The proposed hybrid-model's performance is comparable to that of human labelers, and it is a valid model to reliably detect strides and estimate the gait events in human gait data.

Significance

This work establishes the foundation for fully automated human gait analysis systems with performances comparable to human-labelers.

The use of cardiac CT acquisition mode for dynamic musculoskeletal imaging

OBJECTIVES

To quantitatively evaluate the impact of a cardiac acquisition CT mode on motion artifacts in comparison to a conventional cine mode for dynamic musculoskeletal (MSK) imaging.

METHODS

A rotating PMMA phantom with air-filled holes drilled at varying distances from the disk center corresponding to linear hole speeds of 0.75 cm/s, 2.0 cm/s, and 3.6 cm/s was designed. Dynamic scans were obtained in cardiac and cine modes while the phantom was rotating at 48°/s in the CT scanner. An automated workflow to compute the Jaccard distance (JD) was established to quantify degree of motion artifacts in the reconstructed phantom images. JD values between the cardiac and cine scan modes were compared using a paired sample t-test. In addition, three healthy volunteers were scanned with both modes during a cyclic flexion-extension motion of the knee and analysed using the proposed metric.

RESULTS

For all hole sizes and speeds, the cardiac scan mode had significantly lower (p-value <0.001) JD values. (0.39 [0.32-0.46]) i.e less motion artifacts in comparison to the cine mode (0.72 [0.68-0.76]). For both modes, a progressive increase in JD was also observed as the linear speed of the holes increased from 0.75 cm/s to 3.6 cm/s. The dynamic images of the three healthy volunteers showed less artifacts when scanned in cardiac mode compared to cine mode, and this was quantitatively confirmed by the JD values.

CONCLUSIONS

A cardiac scan mode could be used to study dynamic musculoskeletal phenomena especially of fast-moving joints since it significantly minimized motion artifacts.

Maximum knee extension velocity without external load is a stronger determinant of gait function than quadriceps strength in the early postoperative period following total knee arthroplasty

OBJECTIVE

Quadriceps weakness is considered the primary determinant of gait function after total knee arthroplasty (TKA). However, many patients have shown a gap in improvement trends between gait function and quadriceps strength in clinical situations. Factors other than quadriceps strength in the recovery of gait function after TKA may be essential factors. Because muscle power is a more influential determinant of gait function than muscle strength, the maximum knee extension velocity without external load may be a critical parameter of gait function in patients with TKA. This study aimed to identify the importance of knee extension velocity in determining the gait function early after TKA by comparing the quadriceps strength.

METHODS

This prospective observational study was conducted in four acute care hospitals. Patients scheduled for unilateral TKA were recruited (n = 186; age, 75.9 ± 6.6 years; 43 males and 143 females). Knee extension velocity was defined as the angular velocity of knee extension without external load as quickly as possible in a seated position. Bilateral knee function (knee extension velocity and quadriceps strength), lateral knee function (pain and range of motion), and gait function (gait speed and Timed Up and Go test (TUG)) were evaluated before and at 2 and 3 weeks after TKA.

RESULTS

Both bilateral knee extension velocities and bilateral quadriceps strengths were significantly correlated with gait function. The knee extension velocity on the operation side was the strongest predictor of gait function at all time points in multiple regression analysis.

CONCLUSION

These findings identified knee extension velocity on the operation side to be a more influential determinant of gait function than impairments in quadriceps strength. Therefore, training that focuses on knee extension velocity may be recommended as part of the rehabilitation program in the early postoperative period following TKA.

TRIAL REGISTRATION

UMIN Clinical Trials Registry (UMIN-CTR) UMIN000020036.

Rules-Based Real-Time Gait Event Detection Algorithm for Lower-Limb Prosthesis Users during Level-Ground and Ramp Walking

Real-time gait event detection (GED) using inertial sensors is important for applications such as remote gait assessments, intelligent assistive devices including microprocessor-based prostheses or exoskeletons, and gait training systems. GED algorithms using acceleration and/or angular velocity signals achieve reasonable performance; however, most are not suited for real-time applications involving clinical populations walking in free-living environments. The aim of this study was to develop and evaluate a real-time rules-based GED algorithm with low latency and high accuracy and sensitivity across different walking states and participant groups. The algorithm was evaluated using gait data collected from seven able-bodied (AB) and seven lower-limb prosthesis user (LLPU) participants for three walking states (level-ground walking (LGW), ramp ascent (RA), ramp descent (RD)). The performance (sensitivity and temporal error) was compared to a validated motion capture system. The overall sensitivity was 98.87% for AB and 97.05% and 93.51% for LLPU intact and prosthetic sides, respectively, across all walking states (LGW, RA, RD). The overall temporal error (in milliseconds) for both FS and FO was 10 (0, 20) for AB and 10 (0, 25) and 10 (0, 20) for the LLPU intact and prosthetic sides, respectively, across all walking states. Finally, the overall error (as a percentage of gait cycle) was 0.96 (0, 1.92) for AB and 0.83 (0, 2.08) and 0.83 (0, 1.66) for the LLPU intact and prosthetic sides, respectively, across all walking states. Compared to other studies and algorithms, the herein-developed algorithm concurrently achieves high sensitivity and low temporal error with near real-time detection of gait in both typical and clinical populations walking over a variety of terrains.

Examination of the Impact of Strength and Velocity of the Knee and Ankle on Gait Speed in Community-Dwelling Older Adults

The muscle strength of the knee extension and plantarflexion plays a crucial role in determining gait speed. Recent studies have shown that no-load angular velocity of the lower limb joints is essential for determining gait speed. However, no reports have compared the extent to which lower limb functions, such as knee extension strength, knee extension velocity, plantarflexion strength, and plantarflexion velocity, impact gait speed in a single study. Therefore, this study aimed to examine the relative importance of maximum strength and no-load angular velocity on gait speed. Overall, 164 community-dwelling older adults (72.9 ± 5.0 years) participated in this study. We measured the gait speed and lower limb function (the strength and velocity of knee extension and plantarflexion). Strength was measured with a hand-held dynamometer, and velocity with a gyroscope. A multiple regression analysis was performed with gait speed as the dependent variable and age, sex, and lower-limb function as independent variables. Plantarflexion velocity (β = 0.25) and plantarflexion strength (β = 0.21) were noted to be significant predictors of gait speed. These findings indicate that no-load plantarflexion velocity is more important than the strength of plantarflexion and knee extensions as a determinant of gait speed, suggesting that improvement in plantarflexion velocity may increase gait speed.

Single- and dual-task gait performance and their diagnostic value in early-stage Parkinson's disease

Background

Gait parameters are considered potential diagnostic markers of Parkinson's disease (PD). We aimed to 1) assess the gait impairment in early-stage PD and its related factors in the single-task (ST) and dual-task (DT) walking tests and 2) evaluate and compare the diagnostic value of gait parameters for early-stage PD under ST and DT conditions.

Methods

A total of 97 early-stage PD patients and 41 healthy controls (HC) were enrolled at Hwa Mei hospital. Gait parameters were gathered and compared between the two groups in the ST and DT walking test, controlling for covariates. Utilizing the receiver operating characteristic curve, diagnostic parameters were investigated.

Results

In the ST walking test, significantly altered gait patterns could be observed in early-stage PD patients in all domains of gait, except for asymmetry (P < 0.05). Compared to the ST walking test, the early-stage PD group performed poorly in the DT walking test in the pace, rhythm, variability and postural control domain (P < 0.05). Older, heavier subjects, as well as those with lower height, lower level of education and lower gait velocity, were found to have a poorer gait performance (P < 0.05). Stride length (AUC = 0.823, sensitivity, 68.0%; specificity, 85.4%; P < 0.001) and heel strike angle (AUC = 0.796, sensitivity, 71.1%; specificity, 80.5%; P < 0.001) could distinguish early-stage PD patients from HCs with moderate accuracy, independent of covariates. The diagnostic accuracy of gait parameters under ST conditions were statistically noninferior to those under DT conditions(P>0.05). Combining all gait parameters with diagnostic values under ST and DT walking test, the predictive power significantly increased with an AUC of 0.924 (sensitivity, 85.4%; specificity, 92.7%; P < 0.001).

Conclusion

Gait patterns altered in patients with early-stage PD but the gait symmetry remained preserved. Stride length and heel strike angle were the two most prominent gait parameters of altered gait in early-stage of PD that could serve as diagnostic markers of early-stage PD. Our findings are helpful to understand the gait pattern of early-stage PD and its related factors and can be conducive to the development of new diagnostic tools for early-stage PD.

Ballistic resistance training has a similar or better effect on mobility than non-ballistic exercise rehabilitation in people with a traumatic brain injury: a randomised trial

QUESTIONS

In people recovering from traumatic brain injury, is a 3-month ballistic resistance training program targeting three lower limb muscle groups more effective than non-ballistic exercise rehabilitation for improving mobility, strength and balance? Does improved mobility translate to better health-related quality of life?

DESIGN

A prospective, multicentre, randomised trial with concealed allocation, intention-to-treat analysis and blinded measurement.

PARTICIPANTS

A total of 144 people with a neurological movement disorder affecting mobility as a result of traumatic brain injury.

INTERVENTION

For 3 months, the experimental group had three 60-minute sessions of non-ballistic exercise rehabilitation per week replaced by ballistic resistance training. The control group had non-ballistic exercise rehabilitation of equivalent time. The non-ballistic exercise rehabilitation consisted of balance exercises, lower limb stretching, conventional strengthening exercises, cardiovascular fitness training and gait training.

OUTCOME MEASURES

The primary outcome was mobility measured using the High-Level Mobility Assessment Tool (HiMAT). Secondary outcomes were walking speed, strength, balance and quality of life. They were measured at baseline (0 months), after completion of the 3-month intervention (3 months) and 3 months after cessation of intervention (6 months).

RESULTS

After 3 months of ballistic resistance training, the experimental group scored 3 points (95% CI 0 to 6) higher on the 54-point HiMAT than the control group and remained 3 points (95% CI -1 to 6) higher at 6 months. Although there was a transient decrement in balance at 3 months in the experimental group, the interventions had similar effects on all secondary outcomes by 6 months. Participants with a baseline HiMAT < 27 gained greater benefit from ballistic training: 6 points (1 to 10) on the HiMAT.

CONCLUSION

This randomised trial shows that ballistic resistance training has a similar or better effect on mobility than non-ballistic training in people with traumatic brain injury. It may be better targeted towards those with more severe mobility limitations.

TRIAL REGISTRATION

ACTRN12611001098921.

Differences in causes of stiff knee gait in knee extensor activity or ankle kinematics: A cross-sectional study

BACKGROUND

Stiff knee gait (SKG), a common occurrence after the onset of stroke, is caused by hyperactivity of the rectus femoris during the swing phase. Another cause of SKG is the weakness of push-off in hemiparetic gait. Prior research did not consider the effect of the magnitude of knee extensors in their subjects.

RESEARCH QUESTION

Does the cause of SKG differ between patients with high and low knee extensor activities during the swing phase?

METHODS

We examined 38 patients with chronic stroke hemiplegia who presented with SKG. After placing an inertia sensor and an electromyogram, patients walked 10 m at a comfortable speed. All patients were categorized per the sign of the principal component 2 (PC2) as a component with large factor loadings of knee extensors attained from the electromyographic amplitude during the early swing phase of the paretic limb. Then, the kinematic parameters of knee flexion and other gait parameters in each group were compared, and a correlation analysis was performed.

RESULTS

In the high PC2 group, the timing of peak knee flexion during the swing phase was early, and vastus lateralis activity during the preswing phase negatively correlated with the knee-flexion angle during the swing phase. In the low PC2 group, the angular velocity of ankle plantar flexion at the toe-off was slow, which positively correlated with the knee-flexion angle during the swing phase.

SIGNIFICANCE

The cause of SKG could be an inappropriate activity of the vastus lateralis rather than the rectus femoris in patients with high knee extensor activity and slow plantar-flexion velocity at toe-off in patients with low knee extensor activity. Not all causes of SKG in patients with hemiplegia are common, and different treatment strategies are needed per the individuality of spastic knee extensor activity.

The short-term effectiveness of scapular focused taping on scapular movement in tennis players with shoulder pain: A within-subject comparison

This study aimed to investigate the short-term effectiveness of scapular focused taping (SFT) on scapular position and kinematics during the tennis serve among professional players with and without shoulder pain. The cohort included 7 players who had no history of non-shoulder pain (NSP) and 6 players with shoulder pain (SP). All participants performed tennis flat serves while the Qualisys motion capture system recorded three-dimensional scapular kinematic data according to the International Society of Biomechanics recommendations. SFT was applied to the participants' torso aligned with the lower trapezius, and the same movements were repeated. In the SP group, the scapula was tilted more posteriorly after the application of SFT as compared to before at ball release and maximally externally rotated humerothoracic joint during tennis serve (t = -5.081, P = .004 and t = -2.623, P = .047, respectively). In the NSP group, the scapula was tilted more posteriorly with SFT as compared to without at first 75% timing of the cocking phase and maximally externally rotated humerothoracic joint (t = -3.733, P = .010 and t = -2.510, P = .046, respectively). And the SP group exhibited a more rotated scapula externally after the application of SFT as compared to before at Ball impact (t = 5.283, P = .003). SFT had a positive immediate effect on the scapular posterior tilting and external rotation during certain phases of the tennis serve among tennis athletes with and without shoulder pain. These findings may help clinicians and sports practitioners to prevent and rehabilitate shoulder injuries for overhead athletes. Level of evidence: Level III; Case-Control Design; Comparative Study.

Reliability and discriminant validity of the quantitative timed up and go in typically developing children and children with cerebral palsy GMFCS levels I-II

PURPOSE

The purpose of this study was to examine the reliability, and discriminant validity of the Quantitative Timed up and Go (QTUG) in typically developing (TD) children and children with cerebral palsy (CP).

METHODS

Twenty-eight TD children and 8 with CP (GMFCS I-II) completed 3 TUG trials while wearing QTUG sensors. Test-retest reliability and discriminative ability were examined for the 57 constituent parameters of the TUG. Relationships between age and these parameters were also examined.

RESULTS

Forty-four of the parameters demonstrated moderate to excellent test-retest reliability, with measures of angular velocity being the most reliable. Twenty-six parameters were different between TD children and those with CP, and twenty-eight gait parameters demonstrated correlations with age, further supporting its discriminative ability.

CONCLUSION

The QTUG is a clinically feasible tool that is capable of both reliably measuring and discriminating many of the movement parameters with the TUG mobility task in TD children and those with CP GMFCS I-II. The results of the present study provide preliminary evidence that the QTUG can discriminate between children on several of the gait parameters within the TUG.

Altered Biomechanics in Individuals With Chronic Ankle Instability Compared With Copers and Controls During Gait

CONTEXT

Given that motions of 1 segment affect those of an adjacent segment, the authors of biomechanical studies must thoroughly investigate the kinematics and kinetics of the proximal joints (hip and knee) as well as the ankle joints in patients with chronic ankle instability (CAI). However, few researchers have investigated the altered movement strategies of the lower extremities of patients with CAI compared with lateral ankle-sprain (LAS) copers and control participants throughout the full gait cycle of walking and jogging.

OBJECTIVE

To evaluate lower extremity biomechanical differences in patients with CAI, LAS copers, and control individuals during gait.

DESIGN

Case-control study.

SETTING

Controlled laboratory setting.

PATIENTS OR OTHER PARTICIPANTS

A total of 54 participants, consisting of 18 patients with CAI (age = 24.6 ± 2.8 years, height = 173.0 ± 8.0 cm, mass = 67.8 ± 14.6 kg), 18 LAS copers (age = 26.0 ± 4.6 years, height = 173.4 ± 7.5 cm, mass = 66.9 ± 10.3 kg), and 18 control individuals (age = 26.2 ± 2.3 years, height = 172.2 ± 8.2 cm, mass = 63.3 ± 11.2 kg).

MAIN OUTCOME MEASURE(S)

Three-dimensional kinematics and kinetics of the lower extremity during walking and jogging.

RESULTS

The CAI group exhibited dorsiflexion deficits and more inverted ankles compared with the LAS coper and control groups during walking and jogging. In addition, the LAS coper group generated greater knee internal-rotation moments than did the CAI group during jogging. The other variables did not differ among groups.

CONCLUSIONS

Participants with CAI demonstrated altered biomechanics, which need to be addressed via intervention programs.

Association of Lower Limb Focal Spasticity With Kinematic Variables During Walking in Traumatic Brain Injury

BACKGROUND AND PURPOSE

Focal muscle spasticity is defined as spasticity that affects a localized group of muscles. It is prevalent in many adult-onset neurological conditions, yet the relationship of focal muscle spasticity with walking remains unclear. Therefore, the aim of this study was to determine the relationship of focal muscle spasticity with the kinematics of walking in traumatic brain injury (TBI).

METHODS

Ninety-one participants with TBI underwent clinical gait analysis and assessment of focal lower limb muscle spasticity in a prospective cross-sectional study. A matched group of 25 healthy controls (HCs) were recruited to establish a reference dataset. Kinematic data for each person with and without focal muscle spasticity following TBI were compared with the HC cohort at a matched walking speed.

RESULTS

The TBI and HC cohorts were well matched. Only those with focal hamstring muscle spasticity walked significantly different to those without. They had significantly greater knee flexion (23.4° compared with 10.5°, P < 0.01) at initial contact. There were no other significant differences in kinematic variables between those with and without focal muscle spasticity. There was no significant association between focal muscle spasticity and walking speed.

DISCUSSION AND CONCLUSIONS

Focal muscle spasticity and abnormal kinematics whilst walking were common in this cohort of people with TBI. However, focal muscle spasticity had little relationship with kinematic variables, and no significant relationship with walking speed. This finding has implications for the treatment of focal muscle spasticity to improve walking following TBI. Focal muscle spasticity had little relationship with kinematic variables and walking speed in this cohort of people with TBI who could walk without assistance.Video Abstract available for more insights from the authors (see the Video, Supplemental Digital Content 1, available at: http://links.lww.com/JNPT/A381).

Ballistic strength training in adults with cerebral palsy may increase rate of force development in plantar flexors, but transition to walking remains unclear: a case series

Background

Persons with cerebral palsy (CP) walk with reduced ankle plantar flexor power compared to typically developing. In this study, we investigated whether a ballistic strength-training programme targeting ankle plantar flexors could improve muscle strength, muscle architecture and walking function in adults with CP.

Methods

Eight adults (mildly affected CP) underwent eight weeks of ballistic strength training, with two sessions per week. Before and after the intervention preferred walking speed, ankle plantar flexion rate of force development (RFD), maximal voluntary contraction (MVC), muscle thickness, pennation angle and fascicle length were measured. Data are presented for individuals, as well as for groups. Group changes were analysed using the Wilcoxon signed-rank test.

Results

Data were analysed for eight participants (five women, mean age 37.9 years; six GMFCS I and two GMFCS II). Two participants increased their walking speed, but there were no significant group changes. In terms of muscle strength, there were significant group changes for RFD at 100 ms and MVC. In the case of muscle architecture, there were no group changes.

Conclusion

In this study, we found that eight weeks of ballistic strength training improved ankle plantar flexor muscle strength but walking function and muscle architecture were unchanged. Larger studies will be needed to obtain conclusive evidence of the efficacy of this training method.

Supplementary Information

The online version contains supplementary material available at 10.1186/s13102-022-00487-1.

Soft robotic exosuit augmented high intensity gait training on stroke survivors: a pilot study

Background

Stroke is a leading cause of serious gait impairments and restoring walking ability is a major goal of physical therapy interventions. Soft robotic exosuits are portable, lightweight, and unobtrusive assistive devices designed to improve the mobility of post-stroke individuals through facilitation of more natural paretic limb function during walking training. However, it is unknown whether long-term gait training using soft robotic exosuits will clinically impact gait function and quality of movement post-stroke.

Objective

The objective of this pilot study was to examine the therapeutic effects of soft robotic exosuit-augmented gait training on clinical and biomechanical gait outcomes in chronic post-stroke individuals.

Methods

Five post-stroke individuals received high intensity gait training augmented with a soft robotic exosuit, delivered in 18 sessions over 6–8 weeks. Performance based clinical outcomes and biomechanical gait quality parameters were measured at baseline, midpoint, and completion.

Results

Clinically meaningful improvements were observed in walking speed (\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$p$$\end{document}p < 0.05) and endurance (\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$p$$\end{document}p < 0.01) together with other traditional gait related outcomes. The gait quality measures including hip (\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$p$$\end{document}p < 0.01) and knee (\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$p$$\end{document}p < 0.05) flexion/extension exhibited an increase in range of motion in a symmetric manner (\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$p$$\end{document}p < 0.05). We also observed an increase in bilateral ankle angular velocities (\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$p$$\end{document}p < 0.05), suggesting biomechanical improvements in walking function.

Conclusions

The results in this study offer preliminary evidence that a soft robotic exosuit can be a useful tool to augment high intensity gait training in a clinical setting. This study justifies more expanded research on soft exosuit technology with a larger post-stroke population for more reliable generalization.

Trial registration This study is registered with ClinicalTrials.gov (ID: NCT04251091)

The Functionality Verification through Pilot Human Subject Testing of MyFlex-δ: An ESR Foot Prosthesis with Spherical Ankle Joint

Most biomechanical research has focused on level-ground walking giving less attention to other conditions. As a result, most lower limb prosthesis studies have focused on sagittal plane movements. In this paper, an ESR foot is presented, of which five different stiffnesses were optimized for as many weight categories of users. It is characterized by a spherical ankle joint, with which, combined with the elastic elements, the authors wanted to create a prosthesis that gives the desired stiffness in the sagittal plane but at the same time, gives flexibility in the other planes to allow the adaptation of the foot prosthesis to the ground conditions. The ESR foot was preliminarily tested by participants with transfemoral amputation. After a brief familiarization with the device, each participant was asked to wear markers and to walk on a sensorized treadmill to measure their kinematics and kinetics. Then, each participant was asked to leave feedback via an evaluation questionnaire. The measurements and feedback allowed us to evaluate the performance of the prosthesis quantitatively and qualitatively. Although there were no significant improvements on the symmetry of the gait, due also to very limited familiarization time, the participants perceived an improvement brought by the spherical ankle joint.

The role of user preference in the customized control of robotic exoskeletons

User preference is a promising objective for the control of robotic exoskeletons because it may capture the multifactorial nature of exoskeleton use. However, to use it, we must first understand its characteristics in the context of exoskeleton control. Here, we systematically measured the control preferences of individuals wearing bilateral ankle exoskeletons during walking. We investigated users' repeatability identifying their preferences and how preference changes with walking speed, device exposure, and between individuals with different technical backgrounds. Twelve naive and 12 knowledgeable nondisabled participants identified their preferred assistance in repeated trials by simultaneously self-tuning the magnitude and timing of peak torque. They were blinded to the control parameters and relied solely on their perception of the assistance to guide their tuning. We found that participants' preferences ranged from 7.9 to 19.4 newton-meters and 54.1 to 59.2 percent of the gait cycle. Across trials, participants repeatably identified their preferences with a mean standard deviation of 1.7 newton-meters and 1.5 percent of the gait cycle. Within a trial, participants converged on their preference in 105 seconds. As the experiment progressed, naive users preferred higher torque magnitude. At faster walking speeds, these individuals were more precise at identifying the magnitude of their preferred assistance. Knowledgeable users preferred higher torque than naive users. These results highlight that although preference is a dynamic quantity, individuals can reliably identify their preferences. This work motivates strategies for the control of lower limb exoskeletons in which individuals customize assistance according to their unique preferences and provides meaningful insight into how users interact with exoskeletons.

The safety and accuracy of home-based ballistic resistance training for people with neurological conditions

AIM

In the past 5-10 years, there has been a growing number of studies implementing ballistic (i.e. fast) resistance training to improve walking. The aim of this study was to determine whether people with neurological conditions could perform ballistic exercises safely and accurately in their home environment.

DESIGN

An observational study of 24 adults with a neurological condition (i.e. stroke, brain injury, multiple sclerosis, and neurosurgical) that limited mobility was carried out. Participants were supervised during seven ballistic exercises over six home-based sessions across three weeks. Safety was determined as the ability to perform the exercise independently. Accuracy was determined as the ability to perform the exercise on pre-determined criteria.

RESULTS

The majority of participants had sustained a traumatic brain injury (n = 13) or stroke (n = 9) with a mean age of 38.3 (SD 15.3, range 17-68) years. The mean walking speed was 1.11 (SD 0.29, range 0.53-1.56) m/s. In terms of safety, participants performed the exercises safely 88% of the time, and accurately 49% of the time. Safe completion of each individual exercise ranged initially from 46% to 100% for participants, but accuracy was lower ranging from 17% to 58%. Threshold self-selected walking speeds for optimal sensitivity and specificity for safety ranged from 0.86 to 1.17 m/s and for accuracy ranged from 0.97 to 1.23 m/s.

CONCLUSION

Most of the home-based ballistic resistance exercises were safe, but accuracy was low for several of the ballistic resistance exercises. Higher self-selected walking speeds were associated with more accurate performance.

Effect of spasticity of the ankle plantar flexors on the walking speed of hemiplegic stroke patients after maximum walking speed exercises

Yamada T, Ohta M, Tamari M. Effect of spasticity of the ankle plantar flexors on the walking speed of hemiplegic stroke patients after maximum walking speed exercises. Jpn J Compr Rehabil Sci 2021; 12: 64-69.

Objective

This study examined the effect of ankle plantar flexor spasticity on the walking speed of hemiplegic stroke patients immediately following maximum walking speed exercises.

Methods

A total of 23 hemiplegic stroke patients were divided into two groups based on the presence (n = 13) or absence (n = 10) of ankle plantar flexor spasticity on the paralyzed side. Gait speed, propulsive force during pre-swing, paretic side ankle plantar flexion movement during pre-swing, paretic side ankle dorsiflexion angle during the stance phase, angular velocity of paretic side dorsiflexion during the stance phase, paretic side trailing limb angle in the terminal stance, paretic side plantar flexion angle in the terminal stance, and the timing of maximum dorsiflexion of the ankle joint on the paretic side were measured before and after the maximum walking speed exercises, using a three-dimensional motion analyzer.

Results

In the spasticity group, no significant improvement was observed in any of the categories. In contrast, in the non-spasticity group, significant improvement was observed in all categories, except for the paretic side ankle dorsiflexion angle.

Conclusion

This study showed that maximum walking speed exercises immediately improved walking speed in hemiplegic stroke patients without ankle plantar flexor spasticity.

Geometrical analysis of motion schemes on fencing experts from competition videos

Geometrical fencing is a scientific approach to fencing pioneered by Camillo Agrippa in the XVIth century which consists of characterizing the geometrical structure of fencing movements. Many geometrical spaces are involved in a duel, which evolve over time according to the skills of the fencers and the game rules. In this article, the concept of motion scheme is introduced as a flexible geometrical structure to represent fencing spaces evolving over time. The method is applied to the video of a duel of the Olympic games 2016. Five main results are presented. First, decisive actions of the duel are deduced from the distance between fencers. Second, footwork is reconstructed from horizontal movements of the feet. Third, a kinematic model is developed and compared with data in the literature. Fourth, the lunge attack is characterized and compared with data in the literature. Fifth, the role of the free hand is studied in the case of protective and balancing gestures. These findings provide rich information on the geometrical structure of fencing movements as well as on the tactical-strategic choices made by the fencers in real competition conditions. Finally, four applications illustrate the scientific value of motion schemes in fencing and other sports.

Can adults with cerebral palsy perform and benefit from ballistic strength training to improve walking outcomes? A mixed methods feasibility study

BACKGROUND

Power bursts of hips and ankle plantar flexors are prerequisites to walking propulsion. However, these power bursts are reduced during gait for persons with cerebral palsy (CP) and mainly in the ankle plantar flexors. Hence, task specific training, such as ballistic strength training, is suggested to increase muscle power in walking but not investigated in adults with CP. Therefore, the aim was to investigate if adults with CP could perform and benefit from ballistic strength training to improve walking, evaluated through physical measures and self-reported measures and interviews.

METHODS

In this mixed methods feasibility study, eight ambulatory adults (aged 24-56) with spastic CP conducted ballistic strength training on a glideboard targeting the ankle plantarflexors two times a week for eight weeks. The feasibility of the training was assessed through objectives described by Orsmond and Cohn. Before and after the intervention, physical measures (6-Minute Walk Test and the eight-item High-level Mobility Assessment Tool) and self-reported measures (Patient Global Impression of Change, Numeric Pain Rating Scale, Fatigue Impact and Severity Self-Assessment, and Walk-12) were collected. After the intervention, semi-structured interviews explored experiences of this training.

RESULTS

The participants experienced training the ankle plantar flexor as relevant but reported it took about four weeks to coordinate the exercises successfully. Although we observed no changes in the physical performance measures, most participants reported improvements; some felt steadier when standing, walking, and hopping.

CONCLUSION

This study demonstrated that ballistic strength training was feasible and suitable in adults with CP. However, guidance and a long (4 weeks) familiarization time were reported necessary to master the exercises. Most participants reported self-experienced improvements, although no physical performance measures improved. Thus, prolonged intervention may be required for perceived physical improvements to emerge. Also, other outcome measures sensitive to power output remains to be investigated.

Accuracy of Temporo-Spatial and Lower Limb Joint Kinematics Parameters Using OpenPose for Various Gait Patterns With Orthosis

A cost-effective gait analysis system without attachments and specialized large environments can provide useful information to determine effective treatment in clinical sites. This study investigates the capability of a single camera-based pose estimation system using OpenPose (OP) to measure the temporo-spatial and joint kinematics parameters during gait with orthosis. Eleven healthy adult males walked under different conditions of speed and foot progression angle (FPA). Temporo-spatial and joint kinematics parameters were measured using a single camera-based system with OP and a three-dimensional motion capture system. The limit of agreement, mean absolute error, absolute agreement (ICC_{2, 1}), and relative consistency (ICC_{3, 1}) between the systems under each condition were assessed for reliability and validity. The results demonstrated that most of the ICC for temporo-spatial parameters and hip and knee kinematics parameters were good to excellent (0.60 - 0.98). Conversely, most of the ICC for ankle kinematics in all conditions were poor to fair (< 0.60). Thus, the gait analysis using OP can be used as a clinical assessment tool for determining the temporo-spatial, hip, and knee sagittal plane angles during gait.

Head Trajectory Diagrams for Gait Symmetry Analysis Using a Single Head-Worn IMU

Gait symmetry analysis plays an important role in the diagnosis and rehabilitation of pathological gait. Recently, wearable devices have also been developed for simple gait analysis solutions. However, measurement in clinical settings can differ from gait in daily life, and simple wearable devices are restricted to a few parameters, providing one-sided trajectories of one arm or leg. Therefore, head-worn devices with sensors (e.g., earbuds) should be considered to analyze gait symmetry because the head sways towards the left and right side depending on steps. This paper proposed new visualization methods using head-worn sensors, able to facilitate gait symmetry analysis outside as well as inside. Data were collected with an inertial measurement unit (IMU) based motion capture system when twelve participants walked on the 400-m running track. From head trajectories on the transverse and frontal plane, three types of diagrams were displayed, and five concepts of parameters were measured for gait symmetry analysis. The mean absolute percentage error (MAPE) of step counting was lower than 0.65%, representing the reliability of measured parameters. The methods enable also left-right step recognition (MAPE ≤ 2.13%). This study can support maintenance and relearning of a balanced healthy gait in various areas with simple and easy-to-use devices.

Walking with robot-generated haptic forces in a virtual environment: a new approach to analyze lower limb coordination

Background

Walking with a haptic tensile force applied to the hand in a virtual environment (VE) can induce adaptation effects in both chronic stroke and non-stroke individuals. These effects are reflected in spatiotemporal outcomes such as gait speed. However, the concurrent kinematic changes occurring in bilateral lower limb coordination have yet to be explored.

Methods

Chronic stroke participants were stratified based on overground gait speed into lower functioning (LF < 0.8 m/s, N = 7) and higher functioning (HF ≥ 0.8 m/s, N = 7) subgroups. These subgroups and an age-matched control group (N = 14, CG) walked on a self-paced treadmill in a VE with either robot-generated haptic leash forces delivered to the hand and then released or with an instrumented cane. Walking in both leash (10 and 15 N) and cane conditions were compared to pre-force baseline values to evaluate changes in lower limb coordination outcomes.

Results

All groups showed some kinematic changes in thigh, leg and foot segments when gait speed increased during force and post-force leash as well as cane walking. These changes were also reflected in intersegmental coordination and 3D phase diagrams, which illustrated increased intersegmental trajectory areas (p < 0.05) and angular velocity. These increases could also be observed when the paretic leg transitions from stance to swing phases while walking with the haptic leash. The Sobolev norm values accounted for both angular position and angular velocity, providing a single value for potentially quantifying bilateral (i.e. non-paretic vs paretic) coordination during walking. These values tended to increase (p < 0.05) proportionally for both limbs during force and post-force epochs as gait speed tended to increase.

Conclusions

Individuals with chronic stroke who increased their gait speed when walking with tensile haptic forces and immediately after force removal, also displayed moderate concurrent changes in lower limb intersegmental coordination patterns in terms of angular displacement and velocity. Similar results were also seen with cane walking. Although symmetry was less affected, these findings appear favourable to the functional recovery of gait. Both the use of 3D phase diagrams and assigning Sobolev norm values are potentially effective for detecting and quantifying these coordination changes.

Research on Kinematic Parameters of Multiple Gait Pattern Transitions

Gait recognition technology is the key technology in the field of exoskeletons. In the current research of gait recognition technology, there is less focus on the recognition of the transition between gait patterns. This study aims to determine which kinematic parameters have significant differences in the transitions (between level and stair walking and between level and ramp walking) of different gait patterns, to determine whether these parameters change differently in different gait pattern transitions, and the order the significant differences occur through a comparative analysis of various kinematic parameters between the transition stride and the before stride in the former pattern. We analyzed 18 parameters concerning both lower limbs and trunk. We compared each time point of the transition strides to the corresponding time points of the before stride using a series of two-sample t-tests, and we then evaluated the difference between the transition stride and the before stride based upon the number of time points within the gait cycle that were statistically different. We found that the sagittal plane angular velocity and the angular acceleration of all joints and the resultant velocity of the thigh and shank of the leading limb had significant differences in the process of transition; the sagittal plane angular velocity of all joints of the trailing limb and the velocity of the trunk in the coronary axis direction also showed a significant difference. The angular acceleration of all joints, the sagittal plane angular velocity of the ankle joint of the leading limb, and the acceleration of the trunk in the coronal axis direction showed a difference in the early stage of the transition. In general, the leading limb had a significant difference earlier than the trailing limb, and the acceleration parameters changed earlier than the velocity parameters. These parameters showed different combinations of changes in the transition of different gait patterns, and the changes in these parameters reflected different gait pattern transitions. Therefore, we believe that the results of this study can provide a reference for the gait pattern transition recognition of wearable exoskeletons.