Walking after incomplete spinal cord injury with an implanted neuromuscular electrical stimulation system and a hinged knee replacement: a single-subject study

An Adaptive Assistance Controller to Optimize the Exoskeleton Contribution in Rehabilitation

In this paper, we present a novel adaptation rule to optimize the exoskeleton assistance in rehabilitation tasks. The proposed method adapts the exoskeleton contribution to user impairment severity without any prior knowledge about the user motor capacity. The proposed controller is a combination of an adaptive feedforward controller and a low gain adaptive PD controller. The PD controller guarantees the stability of the human-exoskeleton system during feedforward torque adaptation by utilizing only the human-exoskeleton joint positions as the sensory feedback for assistive torque optimization. In addition to providing a convergence proof, in order to study the performance of our method we applied it to a simplified 2-DOF model of human-arm and a generic 9-DOF model of lower limb to perform walking. In each simulated task, we implemented the impaired human torque to be insufficient for the task completion. Moreover, the scenarios that violate our convergence proof assumptions are considered. The simulation results show a converging behavior for the proposed controller; the maximum convergence time of 20 s is observed. In addition, a stable control performance that optimally supplements the remaining user motor contribution is observed; the joint angle tracking error in steady condition and its improvement compared to the start of adaptation are as follows: shoulder 0.96±2.53° (76%); elbow −0.35±0.81° (33%); hip 0.10±0.86° (38%); knee −0.19±0.67° (25%); and ankle −0.05±0.20° (60%). The presented simulation results verify the robustness of proposed adaptive method in cases that differ from our mathematical assumptions and indicate its potentials to be used in practice.

Hyperbaric Oxygen Treatment Following Mid-Cervical Spinal Cord Injury Preserves Diaphragm Muscle Function

Oxidative damage to the diaphragm as a result of cervical spinal cord injury (SCI) promotes muscle atrophy and weakness. Respiratory insufficiency is the leading cause of morbidity and mortality in cervical spinal cord injury (SCI) patients, emphasizing the need for strategies to maintain diaphragm function. Hyperbaric oxygen (HBO) increases the amount of oxygen dissolved into the blood, elevating the delivery of oxygen to skeletal muscle and reactive oxygen species (ROS) generation. It is proposed that enhanced ROS production due to HBO treatment stimulates adaptations to diaphragm oxidative capacity, resulting in overall reductions in oxidative stress and inflammation. Therefore, we tested the hypothesis that exposure to HBO therapy acutely following SCI would reduce oxidative damage to the diaphragm muscle, preserving muscle fiber size and contractility. Our results demonstrated that lateral contusion injury at C3/4 results in a significant reduction in diaphragm muscle-specific force production and fiber cross-sectional area, which was associated with augmented mitochondrial hydrogen peroxide emission and a reduced mitochondrial respiratory control ratio. In contrast, rats that underwent SCI followed by HBO exposure consisting of 1 h of 100% oxygen at 3 atmospheres absolute (ATA) delivered for 10 consecutive days demonstrated an improvement in diaphragm-specific force production, and an attenuation of fiber atrophy, mitochondrial dysfunction and ROS production. These beneficial adaptations in the diaphragm were related to HBO-induced increases in antioxidant capacity and a reduction in atrogene expression. These findings suggest that HBO therapy may be an effective adjunctive therapy to promote respiratory health following cervical SCI.