Brain activity during stepping: A novel MRI-compatible device

MR-Safe Cartesian Platform for Active Cardiac Shimming: Preliminary Validation

OBJECTIVE

Implanted Cardioverter Defibrillators (ICDs) induce a large (100 parts per million) inhomogeneous magnetic field in the magnetic resonance imaging (MRI) scanner which cannot be corrected by the scanner's built-in shim coils, leading to significant image artifacts that can make portions of the heart unreadable. To compensate for the field inhomogeneity, an active shim coil capable of countering the field deviation in user-defined regions was designed that must be optimally placed at patient-specific locations. We aim to develop and evaluate an MR-safe robotic solution for automated shim coil positioning.

METHODS

We designed and fabricated an MR-safe Cartesian platform that holds the shim coil inside the scanner. The platform consists of three lead screw stages actuated by pneumatic motors, achieving decoupled translations of 140 mm in each direction. The platform is made of plastics and fiberglass with the control electronics placed outside the scanner room, ensuring MR safety. Mechanical modeling was derived to provide design specifications.

RESULTS

Experiments show that the platform achieves less than 2 mm average motion error and 0.5 mm repeatability in all directions, and reduces the adjustment time from 5 min to a few seconds. Phantom and animal trials were conducted, showing that the proposed system is able to position a heavy shim coil ( kg) for improved ICD artifact suppression.

CONCLUSION

This robotic platform provides an effective method for reliable shim coil positioning inside the scanner.

SIGNIFICANCE

This work contributes to improving cardiac MRI quality that could facilitate accurate diagnosis and treatment planning for patients with implanted ICDs.

Mobile neuroimaging: What we have learned about the neural control of human walking, with an emphasis on EEG-based research

Our understanding of the neural control of human walking has changed significantly over the last twenty years and mobile brain imaging methods have contributed substantially to current knowledge. High-density electroencephalography (EEG) has the advantages of being lightweight and mobile while providing temporal resolution of brain changes within a gait cycle. Advances in EEG hardware and processing methods have led to a proliferation of research on the neural control of locomotion in neurologically intact adults. We provide a narrative review of the advantages and disadvantages of different mobile brain imaging methods, then summarize findings from mobile EEG studies quantifying electrocortical activity during human walking. Contrary to historical views on the neural control of locomotion, recent studies highlight the widespread involvement of many areas, such as the anterior cingulate, posterior parietal, prefrontal, premotor, sensorimotor, supplementary motor, and occipital cortices, that show active fluctuations in electrical power during walking. The electrocortical activity changes with speed, stability, perturbations, and gait adaptation. We end with a discussion on the next steps in mobile EEG research.

Characterizing the supraspinal sensorimotor control of walking using MRI-compatible system: a systematic review

BACKGROUND

The regulation of gait is critical to many activities of everyday life. When walking, somatosensory information obtained from mechanoreceptors throughout body is delivered to numerous supraspinal networks and used to execute the appropriate motion to meet ever-changing environmental and task demands. Aging and age-related conditions oftentimes alter the supraspinal sensorimotor control of walking, including the responsiveness of the cortical brain regions to the sensorimotor inputs obtained from the peripheral nervous system, resulting in diminished mobility in the older adult population. It is thus important to explicitly characterize such supraspinal sensorimotor elements of walking, providing knowledge informing novel rehabilitative targets. The past efforts majorly relied upon mental imagery or virtual reality to study the supraspinal control of walking. Recent efforts have been made to develop magnetic resonance imaging (MRI)-compatible devices simulating specific somatosensory and/or motor aspects of walking. However, there exists large variance in the design and functionality of these devices, and as such inconsistent functional MRI (fMRI) observations.

METHODS

We have therefore completed a systematic review to summarize current achievements in the development of these MRI-compatible devices and synthesize available imaging results emanating from studies that have utilized these devices.

RESULTS

The device design, study protocol and neuroimaging observations of 26 studies using 13 types of devices were extracted. Three of these devices can provide somatosensory stimuli, eight motor stimuli, and two both types of stimuli. Our review demonstrated that using these devices, fMRI data of brain activation can be successfully obtained when participants remain motionless and experience sensorimotor stimulation during fMRI acquisition. The activation in multiple cortical (e.g., primary sensorimotor cortex) and subcortical (e.g., cerebellum) regions has been each linked to these types of walking-related sensorimotor stimuli.

CONCLUSION

The observations of these publications suggest the promise of implementing these devices to characterize the supraspinal sensorimotor control of walking. Still, the evidence level of these neuroimaging observations was still low due to small sample size and varied study protocols, which thus needs to be confirmed via studies with more rigorous design.

Lower extremity Interlimb coordination associated brain activity in young female athletes: A biomechanically instrumented neuroimaging study

Bilateral sensorimotor coordination is required for everyday activities, such as walking and sitting down/standing up from a chair. Sensorimotor coordination functional neuroimaging (fMRI) paradigms (e.g., stepping, cycling) increase activity in the sensorimotor cortex, supplementary motor area, insula, and cerebellum. Although these paradigms are designed to assay coordination, performance measures are rarely collected simultaneously with fMRI. Therefore, we aimed to identify neural correlates of lower extremity coordination using a bilateral, in-phase, multi-joint coordination task with concurrent MRI-compatible 3D motion analysis. Seventeen female athletes (15.0 ± 1.4 years) completed a bilateral, multi-joint lower-extremity coordination task during brain fMRI. Interlimb coordination was quantified from kinematic data as the correlation between peak-to-peak knee flexion cycle time between legs. Standard preprocessing and whole-brain analyses for task-based fMRI were completed in FSL, controlling for total movement cycles and neuroanatomical differences, with interlimb coordination as a covariate of interest. A clusterwise multi-comparison correction was applied at z > 3.1 and p < .05. Less interlimb coordination during the task was associated with greater activation in the posterior cingulate and precuneus (zmax  = 6.41, p < .01) and the lateral occipital cortex (zmax  = 7.55, p = .02). The inability to maintain interlimb coordination alongside greater activity in attention- and sensory-related brain regions may indicate a failed compensatory neural strategy to execute the task. Alternatively, greater activity could be secondary to reduced afferent acuity that may be elevating central demand to maintain in-phase lower extremity motor coordination. Future research aiming to improve sensorimotor coordination should consider interventional approaches uniquely capable of promoting adaptive neuroplasticity to enhance motor control.

Stepping in time: Alpha-mu and beta oscillations during a walking synchronization task

Interpersonal behavioral synchrony is referred to as temporal coordination of action between two or more individuals. Humans tend to synchronize their movements during repetitive movement tasks such as walking. Mobile EEG technology now allows us to examine how this happens during gait. 18 participants equipped with foot accelerometers and mobile EEG walked with an experimenter in three conditions: With their view of the experimenter blocked, walking naturally, and trying to synchronize their steps with the experimenter. The experimenter walked following a headphone metronome to keep their steps consistent for all conditions. Step behavior and synchronization between the experimenter and participant were compared between conditions. Additionally, event-related spectral perturbations (ERSPs) were time-warped to the gait cycle in order to analyze alpha-mu (7.5-12.5 Hz) and beta (16-32 Hz) rhythms over the whole gait cycle. Step synchronization was significantly higher in the synchrony condition than in the natural condition. Likewise regarding ERSPs, right parietal channel (C4, C6, CP4, CP6) alpha-mu and central channel (C1, Cz, C2) beta power were suppressed from baseline in the walking synchrony condition compared to the natural walking condition. The natural and blocked conditions were not found to be significantly different in behavioral or spectral comparisons. Our results are compatible with the view that intentional synchronization employs systems associated with social interaction as well as the central motor system.

Revealing Sex Differences During Upper and Lower Extremity Neuromuscular Fatigue in Older Adults Through a Neuroergonomics Approach

Background: Sex differences in neuromuscular fatigue is well-documented, however the underlying mechanisms remain understudied, particularly for the aging population. Objective: This study investigated sex differences in fatigability of the upper and lower extremity of older adults using a neuroergonomics approach. Methods: Thirty community-dwelling older adults (65 years or older; 15 M, 15 F) performed intermittent submaximal fatiguing handgrip and knee extension exercises until voluntary exhaustion on separate days. Muscle activity from prime muscles of the hand/arm and knee extensors were monitored using electromyography, neural activity from the frontal, motor, and sensory areas were monitored using functional near infrared spectroscopy, and force output were obtained. Results: While older males were stronger than females across both muscle groups, they exhibited longer endurance times and greater strength loss during knee extension exercises. These lower extremity findings were associated with greater force complexity over time and concomitant increase in left motor and right sensory motor regions. While fatigability during handgrip exercises was comparable across sexes, older females exhibited concurrent increases in the activation of the ipsilateral motor regions over time. Discussion: We identified differences in the underlying central neural strategies adopted by males and females in maintaining downstream motor outputs during handgrip fatigue that were not evident with traditional ergonomics measures. Additionally, enhanced neural activation in males during knee exercises that accompanied longer time to exhaustion point to potential rehabilitation/exercise strategies to improve neuromotor outcomes in more fatigable older adults.

Mechanical Consequences of Dynamically Loaded NiTi Wires under Typical Actuator Conditions in Rehabilitation and Neuroscience

In the field of rehabilitation and neuroscience, shape memory alloys play a crucial role as lightweight actuators. Devices are exploiting the shape memory effect by transforming heat into mechanical work. In rehabilitation applications, dynamic loading of the respective device occurs, which in turn influences the mechanical consequences of the phase transforming alloy. Hence in this work, dynamic thermomechanical material behavior of temperature-triggered phase transforming NiTi shape memory alloy (SMA) wires with different chemical compositions and geometries was experimentally investigated. Storage modulus and mechanical loss factor of NiTi alloys at different temperatures and loading frequencies were analyzed under force-controlled conditions. Counterintuitive storage modulus- and loss factor-dependent trends regarding the loading frequency dependency of the mechanical properties on the materials’ composition and geometry were, hence, obtained. It was revealed that loss factors showed a pronounced loading frequency dependency, whereas the storage modulus was not affected. It was shown that force-controlled conditions led to a lower storage modulus than expected. Furthermore, it turned out that a simple empirical relation could capture the characteristic temperature dependency of the storage modulus, which is an important input relation for modeling the rehabilitation device behavior under different dynamic and temperature loading conditions, taking directly into account the material behavior of the shape memory alloy.

Development of a trunk motor paradigm for use in neuroimaging

The purpose of this study was to quantify head motion between isometric erector spinae (ES) contraction strategies, paradigms, and intensities in the development of a neuroimaging protocol for the study of neural activity associated with trunk motor control in individuals with low back pain. Ten healthy participants completed two contraction strategies; (1) a supine upper spine (US) press and (2) a supine lower extremity (LE) press. Each contraction strategy was performed at electromyographic (EMG) contraction intensities of 30, 40, 50, and 60% of an individually determined maximum voluntary contraction (MVC) (±10% range for each respective intensity) with real-time, EMG biofeedback. A cyclic contraction paradigm was performed at 30% of MVC with US and LE contraction strategies. Inertial measurement units (IMUs) quantified head motion to determine the viability of each paradigm for neuroimaging. US vs LE hold contractions induced no differences in head motion. Hold contractions elicited significantly less head motion relative to cyclic contractions. Contraction intensity increased head motion in a linear fashion with 30% MVC having the least head motion and 60% the highest. The LE hold contraction strategy, below 50% MVC, was found to be the most viable trunk motor control neuroimaging paradigm.

Evaluating a novel MR-compatible foot pedal device for unipedal and bipedal motion: Test-retest reliability of evoked brain activity

The purpose of this study was to develop and evaluate a new, open‐source MR‐compatible device capable of assessing unipedal and bipedal lower extremity movement with minimal head motion and high test–retest reliability. To evaluate the prototype, 20 healthy adults participated in two magnetic resonance imaging (MRI) visits, separated by 2–6 months, in which they performed a visually guided dorsiflexion/plantar flexion task with their left foot, right foot, and alternating feet. Dependent measures included: evoked blood oxygen level‐dependent (BOLD) signal in the motor network, head movement associated with dorsiflexion/plantar flexion, the test–retest reliability of these measurements. Left and right unipedal movement led to a significant increase in BOLD signal compared to rest in the medial portion of the right and left primary motor cortex (respectively), and the ipsilateral cerebellum (FWE corrected, p < .001). Average head motion was 0.10 ± 0.02 mm. The test–retest reliability was high for the functional MRI data (intraclass correlation coefficients [ICCs]: >0.75) and the angular displacement of the ankle joint (ICC: 0.842). This bipedal device can robustly isolate activity in the motor network during alternating plantarflexion and dorsiflexion with minimal head movement, while providing high test–retest reliability. Ultimately, these data and open‐source building instructions will provide a new, economical tool for investigators interested in evaluating brain function resulting from lower extremity movement.

Graphical interface for automated management of motion artifact within fMRI acquisitions: INFOBAR

Independent Component Analysis-based Automatic Removal of Motion Artifacts (ICA-AROMA; Pruim et al., 2015) is a robust approach to remove brain activity related to head motion within functional magnetic resonance imaging (fMRI) datasets. However, ICA-AROMA requires command line implementation and customized code to batch process large datasets. We developed a cross-platform, open-source graphical user Interface for Batch processing fMRI datasets using ICA-AROMA (INFOBAR). INFOBAR allows a user to search directories, identify appropriate datasets, and batch execute ICA-AROMA. INFOBAR also has additional data processing options and visualization features to support all researchers interested in mitigating head motion artifact in post-processing using ICA-AROMA.

Neural activity for hip-knee control in those with anterior cruciate ligament reconstruction: A task-based functional connectivity analysis

Anterior cruciate ligament injury may induce neurophysiological changes for sensorimotor control. Neuroimaging investigations have revealed unique brain activity patterns for knee movement following injury, indicating potential neural mechanisms underlying aberrant neuromuscular control that may contribute to heightened risk of secondary injury, altered movement patterns and poor patient outcomes. However, neuroimaging paradigms thus far have been limited to single joint, single motion knee tasks. Therefore, we sought to overcome prior limitations to understand the effects of injury on neural control of lower extremity movement by employing a multi-joint motor paradigm and determining differences in neural activity between ACL-reconstructed (ACLr) individuals relative to healthy matched controls. Fifteen patients with left anterior cruciate ligament reconstruction and fifteen matched healthy controls participated in this study. Neural activity was examined using functional magnetic resonance imaging during a block-designed knee-hip movement paradigm (similar to a supine heel-slide). Participants for each group were monitored and task performance was controlled via a metronome to ensure the same spatial-temporal parameters. We observed that those with ACL reconstruction displayed increased activation within the intracalcarine cortex, lingual gyrus, occipital fusiform gyrus, lateral occipital cortex, angular gyrus, and superior parietal lobule relative to controls. A follow-up task-based functional connectivity analyses using seed regions identified from the group analysis revealed connectivity among fronto-insular-temporal and sensorimotor regions within the ACLr participants. The results of this fMRI investigation suggest ACLr individuals require increased activity and connectivity in areas responsible for visual-spatial cognition and orientation, and attention for hip and knee motor control.

An MRI-Compatible Foot-Sole Stimulation System Enabling Characterization of the Brain Response to Walking-Related Tactile Stimuli

Foot-sole somatosensory impairment is a main contributor to balance decline and falls in aging and disease. The cortical networks involved in walking-related foot sole somatosensation, however, remain poorly understood. We thus created and tested a novel MRI-compatible device to enable study of the cortical response to pressure stimuli applied to the foot sole that mimic those stimuli experienced when walking. The device consists of a dual-drive stimulator equipped with two pneumatic cylinders, which are separately programed to apply pressure waveforms to the entire foot sole. In a sample of nine healthy younger adults, the pressure curve applied to the foot sole closely correlated with that experienced during over ground walking (r = 0.811 ± 0.043, P < 0.01). MRI compatibility testing indicated that the device has no or negligible impact on MR image quality. Gradient-recalled echo-planar images of nine healthy young adults using a block-designed 3.5-min walking-related stimulation revealed significant activation within the supplementary motor area, supramarginal gyrus, paracingulate gyri, insula, precentral gyrus, middle temporal gyrus, and hippocampus (uncorrected P < 0.001, k ≥ 10). Together, these results indicate that this stimulation system is MRI-compatible and capable of mimicking walking-related pressure waveforms on foot sole. It may thus be used as a research tool to identify cortical targets for interventions (e.g., non-invasive brain stimulation) aimed at enhancing this important source of input to the locomotor control system.

A Novel Approach to Evaluate Brain Activation for Lower Extremity Motor Control

BACKGROUND AND PURPOSE

The purpose of this study was to assess the consistency of a novel MR safe lower extremity motor control neuroimaging paradigm to elicit reliable sensorimotor region brain activity.

METHODS

Participants completed multiple sets of unilateral leg presses combining ankle, knee, and hip extension and flexion movements against resistance at a pace of 1.2 Hz while lying supine in a 3T MRI scanner. Regions of Interest (ROI) consisted of regions primarily involved in lower extremity motor control (right and left primary motor cortex, primary somatosensory cortex, premotor cortex, secondary somatosensory cortex, basal ganglia, and the cerebellum).

RESULTS

The group analysis based on mixed effects paired samples t-test revealed no differences for brain activity between sessions (P > .05). Intraclass correlation coefficients in the sensorimotor regions were good to excellent for average percent signal change (.621 to .918) and Z-score (.697 to .883), with the exception of the left secondary somatosensory cortex percent signal change (.165).

CONCLUSIONS

These results indicate that a loaded lower extremity force production and attenuation task that simulates the range of motion of squatting, stepping, and landing from a jump is reliable for longitudinal neuroimaging applications and support the use of this paradigm in further studies examining therapeutic interventions and changes in dynamic lower extremity motor function.

Cardiovascular responses to leg muscle loading during head-down tilt at rest and after dynamic exercises

The physiological processes underlying hemodynamic homeostasis can be modulated by muscle activity and gravitational loading. The effects of leg muscle activity on cardiovascular regulation have been observed during orthostatic stress. Here, we evaluated such effects during head-down tilt (HDT). In this posture, the gravitational gradient along the body is different than in upright position, leading to increased central blood volume and reduced venous pooling. We compared the cardiovascular signals obtained with and without leg muscle loading during HDT in healthy human subjects, both at rest and during recovery from leg-press exercises using a robotic device. Further, we compared such cardiovascular responses to those obtained during upright position. Loading leg muscles during HDT at rest led to significantly higher values of arterial blood pressure than without muscle loading, and restored systolic values to those observed during upright posture. Maintaining muscle loading post-exercise altered the short-term cardiovascular responses, but not the values of the signals five minutes after the exercise. These results suggest that leg muscle activity modulates cardiovascular regulation during HDT. This modulation should therefore be considered when interpreting cardiovascular responses to conditions that affect both gravity loading and muscle activity, for example bed rest or microgravity.

Turning a cylindrical treadmill with feet: An MR-compatible device for assessment of the neural correlates of lower-limb movement

BACKGROUND

Locomotion, which is one of the most basic motor functions, is critical for performing various daily-life activities. Despite its essential function, assessment of brain activity during lower-limb movement is still limited because of the constraints of existing brain imaging methods.

NEW METHOD

Here, we describe an MR-compatible, cylindrical treadmill device that allows participants to perform stepping movements on an MRI scanner table. The device was constructed from wood and all of the parts were handmade by the authors.

RESULTS

We confirmed the MR-compatibility of the device by evaluating the temporal signal-to-noise ratio of 64 voxels of a phantom during scanning. Brain activity was measured while twenty participants turned the treadmill with feet in sync with metronome sounds. The rotary speed of the cylinder was encoded by optical fibers. The post/pre-central gyrus and cerebellum showed significant activity during the movements, which was comparable to the activity patterns reported in previous studies. Head movement on the y- and z-axes was influenced more by lower-limb movement than was head movement on the x-axis. Among the 60 runs (3 runs × 20 participants), head movement during two of the runs (3.3%) was excessive due to the lower-limb movement.

COMPARISON WITH EXISTING METHODS

Compared to MR-compatible devices proposed in the previous studies, the advantage of this device may be simple structure and replicability to realize stepping movement with a supine position.

CONCLUSIONS

Collectively, our results suggest that the treadmill device is useful for evaluating lower-limb-related neural activity.

Effect of Error Augmentation on Brain Activation and Motor Learning of a Complex Locomotor Task

Up to date, the functional gains obtained after robot-aided gait rehabilitation training are limited. Error augmenting strategies have a great potential to enhance motor learning of simple motor tasks. However, little is known about the effect of these error modulating strategies on complex tasks, such as relearning to walk after a neurologic accident. Additionally, neuroimaging evaluation of brain regions involved in learning processes could provide valuable information on behavioral outcomes. We investigated the effect of robotic training strategies that augment errors—error amplification and random force disturbance—and training without perturbations on brain activation and motor learning of a complex locomotor task. Thirty-four healthy subjects performed the experiment with a robotic stepper (MARCOS) in a 1.5 T MR scanner. The task consisted in tracking a Lissajous figure presented on a display by coordinating the legs in a gait-like movement pattern. Behavioral results showed that training without perturbations enhanced motor learning in initially less skilled subjects, while error amplification benefited better-skilled subjects. Training with error amplification, however, hampered transfer of learning. Randomly disturbing forces induced learning and promoted transfer in all subjects, probably because the unexpected forces increased subjects' attention. Functional MRI revealed main effects of training strategy and skill level during training. A main effect of training strategy was seen in brain regions typically associated with motor control and learning, such as, the basal ganglia, cerebellum, intraparietal sulcus, and angular gyrus. Especially, random disturbance and no perturbation lead to stronger brain activation in similar brain regions than error amplification. Skill-level related effects were observed in the IPS, in parts of the superior parietal lobe (SPL), i.e., precuneus, and temporal cortex. These neuroimaging findings indicate that gait-like motor learning depends on interplay between subcortical, cerebellar, and fronto-parietal brain regions. An interesting observation was the low activation observed in the brain's reward system after training with error amplification compared to training without perturbations. Our results suggest that to enhance learning of a locomotor task, errors should be augmented based on subjects' skill level. The impacts of these strategies on motor learning, brain activation, and motivation in neurological patients need further investigation.

Quantitative Testing of fMRI-Compatibility of an Electrically Active Mechatronic Device for Robot-Assisted Sensorimotor Protocols

OBJECTIVE

To develop a quantitative set of methods for testing the functional magnetic resonance imaging (fMRI) compatibility of an electrically-active mechatronic device developed to support sensorimotor protocols during fMRI.

METHODS

The set of methods includes phantom and in vivo experiments to measure the effect of a progressively broader set of noise sources potentially introduced by the device. Phantom experiments measure the radio-frequency (RF) noise and temporal noise-to-signal ratio (tNSR) introduced by the device. The in vivo experiment assesses the effect of the device on measured brain activation for a human subject performing a representative sensorimotor task. The proposed protocol was validated via experiments using a 3T MRI scanner operated under nominal conditions and with the inclusion of an electrically-active mechatronic device - the MR-SoftWrist - as the equipment under test (EUT).

RESULTS

Quantitative analysis of RF noise data allows detection of active RF noise sources both in controlled RF noise conditions, and in conditions resembling improper filtering of the EUT's electrical signals. In conditions where no RF noise was detectable, the presence and operation of the EUT did not introduce any significant increase in tNSR. A quantitative analysis conducted on in vivo measurements of the number of active voxels in visual and motor areas further showed no significant difference between EUT and baseline conditions.

CONCLUSION AND SIGNIFICANCE

The proposed set of quantitative methods supports the development and troubleshooting of electrically-active mechatronic devices for use in sensorimotor protocols with fMRI, and may be used for future testing of such devices.

An fMRI-compatible force measurement system for the evaluation of the neural correlates of step initiation

Knowledge of brain correlates of postural control is limited by the technical difficulties in performing controlled experiments with currently available neuroimaging methods. Here we present a system that allows the measurement of anticipatory postural adjustment of human legs to be synchronized with the acquisition of functional magnetic resonance imaging data. The device is composed of Magnetic Resonance Imaging (MRI) compatible force sensors able to measure the level of force applied by both feet. We tested the device in a group of healthy young subjects and a group of elderly subjects with Parkinson’s disease using an event-related functional MRI (fMRI) experiment design. In both groups the postural behavior inside the magnetic resonance was correlated to the behavior during gait initiation outside the scanner. The system did not produce noticeable imaging artifacts in the data. Healthy young people showed brain activation patterns coherent with movement planning. Parkinson’s disease patients demonstrated an altered pattern of activation within the motor circuitry. We concluded that this force measurement system is able to index both normal and abnormal preparation for gait initiation within an fMRI experiment.

Quantitative Assessment of Head Motion toward Functional Magnetic Resonance Imaging during Stepping

Purpose:

Stepping motions have been often used as gait-like patterns in functional magnetic resonance imaging (fMRI) to understand gait control. However, it is still very difficult to stabilize the task-related head motion. Our main purpose is to provide characteristics of the task-related head motion during stepping to develop robust restraints toward fMRI.

Methods:

Multidirectional head and knee position during stepping were acquired using a motion capture system outside MRI room in 13 healthy participants. Six phases in a stepping motion were defined by reference to the left knee angles and the mean of superior-inferior head velocity (V_mean) in each phase was investigated. Furthermore, the correlation between the standard deviation of the knee angle (θ_sd) and the maximum of the head velocity (V_max) was evaluated.

Results:

The standard deviation of each superior-inferior head position and pitch were significantly larger than the other measurements. V_mean showed a characteristic repeating pattern associated with the knee angle. Additionally, there were significant correlations between θ_sd and V_max.

Conclusions:

This is the first report to reveal the characteristics of the task-related head motion during stepping. Our findings are an essential step in the development of robust restraint toward fMRI during stepping task.

Design and Evaluation of a Cable-Driven fMRI-Compatible Haptic Interface to Investigate Precision Grip Control

Our hands and fingers are involved in almost all activities of daily living and, as such, have a disproportionately large neural representation. Functional magnetic resonance imaging investigations into the neural control of the hand have revealed great advances, but the harsh MRI environment has proven to be a challenge to devices capable of delivering a large variety of stimuli necessary for well-controlled studies. This paper presents a fMRI-compatible haptic interface to investigate the neural mechanisms underlying precision grasp control. The interface, located at the scanner bore, is controlled remotely through a shielded electromagnetic actuation system positioned at the end of the scanner bed and then through a high stiffness, low inertia cable transmission. We present the system design, taking into account requirements defined by the biomechanics and dynamics of the human hand, as well as the fMRI environment. Performance evaluation revealed a structural stiffness of 3.3 N/mm, renderable forces up to 94 N, and a position control bandwidth of at least 19 Hz. MRI-compatibility tests showed no degradation in the operation of the haptic interface or the image quality. A preliminary fMRI experiment during a pilot study validated the usability of the haptic interface, illustrating the possibilities offered by this device.

Test-retest reliability of fMRI experiments during robot-assisted active and passive stepping

BACKGROUND

Brain activity has been shown to undergo cortical and sub-cortical functional reorganisation over the course of gait rehabilitation in patients suffering from a spinal cord injury or a stroke. These changes however, have not been completely elucidated by neuroimaging to date, mainly due to the scarcity of long-term, follow-up investigations. The magnetic resonance imaging (MRI) compatible stepper MARCOS was specifically developed to enable the investigation of the supraspinal adaptations in paretic patients undergoing gait-rehabilitation in a controlled and repeatable manner. In view of future clinical research, the present study aims at examining the test-retest reliability of functional MRI (fMRI) experiments using MARCOS.

METHODS

The effect of repeated active and passive stepping movements on brain activity was investigated in 16 healthy participants from fMRI data collected in two separate imaging sessions six weeks apart. Root mean square errors (RMSE) were calculated for the metrics of motor performance. Regional overlap of brain activation between sessions, as well as an intra-class correlation coefficient (ICC) was computed from the single-subject and group activation maps for five regions of interest (ROI).

RESULTS

Data from eight participants had to be excluded due to excessive head motion. Reliability of motor performance was higher during passive than active movements, as seen in 4.5- to 13-fold lower RMSE for passive movements. In contrast, ICC ranged from 0.48 to 0.72 during passive movements and from 0.77 to 0.85 during active movements. Regional overlap of activations was also higher during active than during passive movements.

CONCLUSION

These findings imply that an increased variability of motor performance during active movements of healthy participants may be associated with a stable neuronal activation pattern across repeated measurements. In contrast, a stable motor performance during passive movements may be accompanied by a confined reliability of brain activation across repeated measurements.

Test-retest reliability of fMRI experiments during robot-assisted active and passive stepping

Background

Brain activity has been shown to undergo cortical and sub-cortical functional reorganisation over the course of gait rehabilitation in patients suffering from a spinal cord injury or a stroke. These changes however, have not been completely elucidated by neuroimaging to date, mainly due to the scarcity of long-term, follow-up investigations. The magnetic resonance imaging (MRI) compatible stepper MARCOS was specifically developed to enable the investigation of the supraspinal adaptations in paretic patients undergoing gait-rehabilitation in a controlled and repeatable manner. In view of future clinical research, the present study aims at examining the test-retest reliability of functional MRI (fMRI) experiments using MARCOS.

Methods

The effect of repeated active and passive stepping movements on brain activity was investigated in 16 healthy participants from fMRI data collected in two separate imaging sessions six weeks apart. Root mean square errors (RMSE) were calculated for the metrics of motor performance. Regional overlap of brain activation between sessions, as well as an intra-class correlation coefficient (ICC) was computed from the single-subject and group activation maps for five regions of interest (ROI).

Results

Data from eight participants had to be excluded due to excessive head motion. Reliability of motor performance was higher during passive than active movements, as seen in 4.5- to 13-fold lower RMSE for passive movements. In contrast, ICC ranged from 0.48 to 0.72 during passive movements and from 0.77 to 0.85 during active movements. Regional overlap of activations was also higher during active than during passive movements.

Conclusion

These findings imply that an increased variability of motor performance during active movements of healthy participants may be associated with a stable neuronal activation pattern across repeated measurements. In contrast, a stable motor performance during passive movements may be accompanied by a confined reliability of brain activation across repeated measurements.

On the Modulation of Brain Activation During Simulated Weight Bearing in Supine Gait-Like Stepping

To date, the neurophysiological correlates of muscle activation required for weight bearing during walking are poorly understood although, a supraspinal involvement has been discussed in the literature for many years. The present study investigates the effect of simulated ground reaction forces (0, 20, and 40% of individual body weight) on brain activation in sixteen healthy participants. A magnetic resonance compatible robot was applied to render three different levels of load against the feet of the participants during active and passive gait-like stepping movements. Brain activation was analyzed by the means of voxel-wise whole brain analysis as well as by a region-of-interest analysis. A significant modulation of brain activation in sensorimotor areas by the load level could neither be demonstrated during active nor during passive stepping. These observations suggest that the regulation of muscle activation under different weight-bearing conditions during stepping occurs at the level of spinal circuitry or the brainstem rather than at the supraspinal level.

Robot assistance of motor learning: A neuro-cognitive perspective

The last several years have seen a number of approaches to robot assistance of motor learning. Experimental studies have produced a range of findings from beneficial effects through null-effects to detrimental effects of robot assistance. In this review we seek an answer to the question under which conditions which outcomes should be expected. For this purpose we derive tentative predictions based on a classification of learning tasks in terms of the products of learning, the mechanisms involved, and the modulation of these mechanisms by robot assistance. Consistent with these predictions, the learning of dynamic features of trajectories is facilitated and the learning of kinematic and dynamic transformations is impeded by robotic guidance, whereas the learning of dynamic transformations can profit from robot assistance with error-amplifying forces. Deviating from the predictions, learning of spatial features of trajectories is impeded by haptic guidance, but can be facilitated by divergent force fields. The deviations point to the existence of additional effects of robot assistance beyond the modulation of learning mechanisms, e.g., the induction of a passive role of the motor system during practice with haptic guidance.

Prefrontal, posterior parietal and sensorimotor network activity underlying speed control during walking

Accumulating evidence suggests cortical circuits may contribute to control of human locomotion. Here, noninvasive electroencephalography (EEG) recorded from able-bodied volunteers during a novel treadmill walking paradigm was used to assess neural correlates of walking. A systematic processing method, including a recently developed subspace reconstruction algorithm, reduced movement-related EEG artifact prior to independent component analysis and dipole source localization. We quantified cortical activity while participants tracked slow and fast target speeds across two treadmill conditions: an active mode that adjusted belt speed based on user movements and a passive mode reflecting a typical treadmill. Our results reveal frequency specific, multi-focal task related changes in cortical oscillations elicited by active walking. Low γ band power, localized to the prefrontal and posterior parietal cortices, was significantly increased during double support and early swing phases, critical points in the gait cycle since the active controller adjusted speed based on pelvis position and swing foot velocity. These phasic γ band synchronizations provide evidence that prefrontal and posterior parietal networks, previously implicated in visuo-spatial and somotosensory integration, are engaged to enhance lower limb control during gait. Sustained μ and β band desynchronization within sensorimotor cortex, a neural correlate for movement, was observed during walking thereby validating our methods for isolating cortical activity. Our results also demonstrate the utility of EEG recorded during locomotion for probing the multi-regional cortical networks which underpin its execution. For example, the cortical network engagement elicited by the active treadmill suggests that it may enhance neuroplasticity for more effective motor training.

Activation of brain areas following ankle dorsiflexion versus plantar flexion: Functional magnetic resonance imaging verification

Changes in activated areas of the brain during ankle active dorsiflexion and ankle active plantar flexion were observed in six healthy subjects using functional magnetic resonance imaging. Excited areas of ankle active dorsiflexion involved the bilateral primary motor area and the primary somatosensory area, as well as the bilateral supplementary sensory area, the primary visual area, the right second visual area, and the vermis of cerebellum. Excited areas of ankle active plantar flexion included the ipsilateral supplementary motor area, the limbic system, and the contralateral corpus striatum. Fine movements of the cerebral cortex control the function of the ankle dorsiflexion to a larger extent than ankle plate flexion, and the function of ankle plate flexion is more controlled by the subcortical area.

Brain activation associated with active and passive lower limb stepping

Reports about standardized and repeatable experimental procedures investigating supraspinal activation in patients with gait disorders are scarce in current neuro-imaging literature. Well-designed and executed tasks are important to gain insight into the effects of gait-rehabilitation on sensorimotor centers of the brain. The present study aims to demonstrate the feasibility of a novel imaging paradigm, combining the magnetic resonance (MR)-compatible stepping robot (MARCOS) with sparse sampling functional magnetic resonance imaging (fMRI) to measure task-related BOLD signal changes and to delineate the supraspinal contribution specific to active and passive stepping. Twenty-four healthy participants underwent fMRI during active and passive, periodic, bilateral, multi-joint, lower limb flexion and extension akin to human gait. Active and passive stepping engaged several cortical and subcortical areas of the sensorimotor network, with higher relative activation of those areas during active movement. Our results indicate that the combination of MARCOS and sparse sampling fMRI is feasible for the detection of lower limb motor related supraspinal activation. Activation of the anterior cingulate and medial frontal areas suggests motor response inhibition during passive movement in healthy participants. Our results are of relevance for understanding the neural mechanisms underlying gait in the healthy.

MRI-compatible device for examining brain activation related to stepping

Repetitive and alternating lower limb movements are a specific component of human gait. Due to technical challenges, the neural mechanisms underlying such movements have not been previously studied with functional magnetic resonance imaging. In this study, we present a novel treadmill device employed to investigate the kinematics and the brain activation patterns involved in alternating and repetitive movements of the lower limbs. Once inside the scanner, 19 healthy subjects were guided by two visual cues and instructed to perform a motor task which involved repetitive and alternating movements of both lower limbs while selecting their individual comfortable amplitude on the treadmill. The device facilitated the performance of coordinated stepping while registering the concurrent lower-limb displacements, which allowed us to quantify some movement primary kinematic features such as amplitude and frequency. During stepping, significant blood oxygen level dependent signal increases were observed bilaterally in primary and secondary sensorimotor cortex, the supplementary motor area, premotor cortex, prefrontal cortex, superior and inferior parietal lobules, putamen and cerebellum, regions that are known to be involved in lower limb motor control. Brain activations related to individual adjustments during motor performance were identified in a right lateralized network including striatal, extrastriatal, and fronto-parietal areas.

Different evolutionary origins for the reach and the grasp: an explanation for dual visuomotor channels in primate parietofrontal cortex

The Dual Visuomotor Channel Theory proposes that manual prehension consists of two temporally integrated movements, each subserved by distinct visuomotor pathways in occipitoparietofrontal cortex. The Reach is mediated by a dorsomedial pathway and transports the hand in relation to the target's extrinsic properties (i.e., location and orientation). The Grasp is mediated by a dorsolateral pathway and opens, preshapes, and closes the hand in relation to the target's intrinsic properties (i.e., size and shape). Here, neuropsychological, developmental, and comparative evidence is reviewed to show that the Reach and the Grasp have different evolutionary origins. First, the removal or degradation of vision causes prehension to decompose into its constituent Reach and Grasp components, which are then executed in sequence or isolation. Similar decomposition occurs in optic ataxic patients following cortical injury to the Reach and the Grasp pathways and after corticospinal tract lesions in non-human primates. Second, early non-visual PreReach and PreGrasp movements develop into mature Reach and Grasp movements but are only integrated under visual control after a prolonged developmental period. Third, comparative studies reveal many similarities between stepping movements and the Reach and between food handling movements and the Grasp, suggesting that the Reach and the Grasp are derived from different evolutionary antecedents. The evidence is discussed in relation to the ideas that dual visuomotor channels in primate parietofrontal cortex emerged as a result of distinct evolutionary origins for the Reach and the Grasp; that foveated vision in primates serves to integrate the Reach and the Grasp into a single prehensile act; and, that flexible recombination of discrete Reach and Grasp movements under various forms of sensory and cognitive control can produce adaptive behavior.

Non-linear adaptive controllers for an over-actuated pneumatic MR-compatible stepper

Pneumatics is one of the few actuation principles that can be used in an MR environment, since it can produce high forces without affecting imaging quality. However, pneumatic control is challenging, due to the air high compliance and cylinders non-linearities. Furthermore, the system's properties may change for each subject. Here, we present novel control strategies that adapt to the subject's individual anatomy and needs while performing accurate periodic gait-like movements with an MRI compatible pneumatically driven robot. In subject-passive mode, an iterative learning controller (ILC) was implemented to reduce the system's periodic disturbances. To allow the subjects to intend the task by themselves, a zero-force controller minimized the interaction forces between subject and robot. To assist patients who may be too weak, an assist-as-needed controller that adapts the assistance based on online measurement of the subject's performance was designed. The controllers were experimentally tested. The ILC successfully learned to reduce the variability and tracking errors. The zero-force controller allowed subjects to step in a transparent environment. The assist-as-needed controller adapted the assistance based on individual needs, while still challenged the subjects to perform the task. The presented controllers can provide accurate pneumatic control in MR environments to allow assessments of brain activation.

Level of participation in robotic-assisted treadmill walking modulates midline sensorimotor EEG rhythms in able-bodied subjects

In robot assisted gait training, a pattern of human locomotion is executed repetitively with the intention to restore the motor programs associated with walking. Several studies showed that active contribution to the movement is critical for the encoding of motor memory. We propose to use brain monitoring techniques during gait training to encourage active participation in the movement. We investigated the spectral patterns in the electroencephalogram (EEG) that are related to active and passive robot assisted gait. Fourteen healthy participants were considered. Infomax independent component analysis separated the EEG into independent components representing brain, muscle, and eye movement activity, as well as other artifacts. An equivalent current dipole was calculated for each independent component. Independent components were clustered across participants based on their anatomical position and frequency spectra. Four clusters were identified in the sensorimotor cortices that accounted for differences between active and passive walking or showed activity related to the gait cycle. We show that in central midline areas the mu (8-12 Hz) and beta (18-21 Hz) rhythms are suppressed during active compared to passive walking. These changes are statistically significant: mu (F(1, 13)=11.2 p ≤ 0.01) and beta (F(1, 13)=7.7, p ≤ 0.05). We also show that these differences depend on the gait cycle phases. We provide first evidence of modulations of the gamma rhythm in the band 25 to 40 Hz, localized in central midline areas related to the phases of the gait cycle. We observed a trend (F(1, 8)=11.03, p ≤ 0.06) for suppressed low gamma rhythm when comparing active and passive walking. Additionally we found significant suppressions of the mu (F(1, 11)=20.1 p ≤ 0.01), beta (F(1, 11)=11.3 p ≤ 0.05) and gamma (F(1, 11)=4.9 p ≤ 0.05) rhythms near C3 (in the right hand area of the primary motor cortex) during phases of active vs. passive robot assisted walking. To our knowledge this is the first study showing EEG analysis during robot assisted walking. We provide evidence for significant differences in cortical activation between active and passive robot assisted gait. Our findings may help to define appropriate features for single trial detection of active participation in gait training. This work is a further step toward the evaluation of brain monitoring techniques and brain-computer interface technologies for improving gait rehabilitation therapies in a top-down approach.