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Li X, Wang KY, Yang ZY. Design and analysis of a lower limb assistive exoskeleton robot. Technol Health Care 2024; 32:79-93. [PMID: 38759039 PMCID: PMC11191495 DOI: 10.3233/thc-248007] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 05/19/2024]
Abstract
BACKGROUND In recent years, exoskeleton robot technology has developed rapidly. Exoskeleton robots that can be worn on a human body and provide additional strength, speed or other abilities. Exoskeleton robots have a wide range of applications, such as medical rehabilitation, logistics and disaster relief and other fields. OBJECTIVE The study goal is to propose a lower limb assistive exoskeleton robot to provide extra power for wearers. METHODS The mechanical structure of the exoskeleton robot was designed by using bionics principle to imitate human body shape, so as to satisfy the coordination of man-machine movement and the comfort of wearing. Then a gait prediction method based on neural network was designed. In addition, a control strategy according to iterative learning control was designed. RESULTS The experiment results showed that the proposed exoskeleton robot can produce effective assistance and reduce the wearer's muscle force output. CONCLUSION A lower limb assistive exoskeleton robot was introduced in this paper. The kinematics model and dynamic model of the exoskeleton robot were established. Tracking effects of joint angle displacement and velocity were analyzed to verify feasibility of the control strategy. The learning error of joint angle can be improved with increase of the number of iterations. The error of trajectory tracking is acceptable.
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Affiliation(s)
- Xiang Li
- College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, Heilongjiang, China
- School of Mechanical and Civil Engineering, Jilin Agricultural Science and Technology University, Jilin, China
| | - Ke-Yi Wang
- College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, Heilongjiang, China
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Esposito D, Centracchio J, Andreozzi E, Gargiulo GD, Naik GR, Bifulco P. Biosignal-Based Human-Machine Interfaces for Assistance and Rehabilitation: A Survey. SENSORS 2021; 21:s21206863. [PMID: 34696076 PMCID: PMC8540117 DOI: 10.3390/s21206863] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 08/31/2021] [Revised: 09/30/2021] [Accepted: 10/12/2021] [Indexed: 12/03/2022]
Abstract
As a definition, Human–Machine Interface (HMI) enables a person to interact with a device. Starting from elementary equipment, the recent development of novel techniques and unobtrusive devices for biosignals monitoring paved the way for a new class of HMIs, which take such biosignals as inputs to control various applications. The current survey aims to review the large literature of the last two decades regarding biosignal-based HMIs for assistance and rehabilitation to outline state-of-the-art and identify emerging technologies and potential future research trends. PubMed and other databases were surveyed by using specific keywords. The found studies were further screened in three levels (title, abstract, full-text), and eventually, 144 journal papers and 37 conference papers were included. Four macrocategories were considered to classify the different biosignals used for HMI control: biopotential, muscle mechanical motion, body motion, and their combinations (hybrid systems). The HMIs were also classified according to their target application by considering six categories: prosthetic control, robotic control, virtual reality control, gesture recognition, communication, and smart environment control. An ever-growing number of publications has been observed over the last years. Most of the studies (about 67%) pertain to the assistive field, while 20% relate to rehabilitation and 13% to assistance and rehabilitation. A moderate increase can be observed in studies focusing on robotic control, prosthetic control, and gesture recognition in the last decade. In contrast, studies on the other targets experienced only a small increase. Biopotentials are no longer the leading control signals, and the use of muscle mechanical motion signals has experienced a considerable rise, especially in prosthetic control. Hybrid technologies are promising, as they could lead to higher performances. However, they also increase HMIs’ complexity, so their usefulness should be carefully evaluated for the specific application.
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Affiliation(s)
- Daniele Esposito
- Department of Electrical Engineering and Information Technologies, Polytechnic and Basic Sciences School, University of Naples “Federico II”, 80125 Naples, Italy; (D.E.); (J.C.); (E.A.); (P.B.)
| | - Jessica Centracchio
- Department of Electrical Engineering and Information Technologies, Polytechnic and Basic Sciences School, University of Naples “Federico II”, 80125 Naples, Italy; (D.E.); (J.C.); (E.A.); (P.B.)
| | - Emilio Andreozzi
- Department of Electrical Engineering and Information Technologies, Polytechnic and Basic Sciences School, University of Naples “Federico II”, 80125 Naples, Italy; (D.E.); (J.C.); (E.A.); (P.B.)
| | - Gaetano D. Gargiulo
- School of Engineering, Design and Built Environment, Western Sydney University, Penrith, NSW 2747, Australia;
- The MARCS Institute, Western Sydney University, Penrith, NSW 2751, Australia
| | - Ganesh R. Naik
- School of Engineering, Design and Built Environment, Western Sydney University, Penrith, NSW 2747, Australia;
- The Adelaide Institute for Sleep Health, Flinders University, Bedford Park, SA 5042, Australia
- Correspondence:
| | - Paolo Bifulco
- Department of Electrical Engineering and Information Technologies, Polytechnic and Basic Sciences School, University of Naples “Federico II”, 80125 Naples, Italy; (D.E.); (J.C.); (E.A.); (P.B.)
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Di Marco R, Rubega M, Lennon O, Formaggio E, Sutaj N, Dazzi G, Venturin C, Bonini I, Ortner R, Cerrel Bazo HA, Tonin L, Tortora S, Masiero S, Del Felice A. Experimental Protocol to Assess Neuromuscular Plasticity Induced by an Exoskeleton Training Session. Methods Protoc 2021; 4:48. [PMID: 34287357 PMCID: PMC8293335 DOI: 10.3390/mps4030048] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/31/2021] [Revised: 07/01/2021] [Accepted: 07/07/2021] [Indexed: 12/13/2022] Open
Abstract
Exoskeleton gait rehabilitation is an emerging area of research, with potential applications in the elderly and in people with central nervous system lesions, e.g., stroke, traumatic brain/spinal cord injury. However, adaptability of such technologies to the user is still an unmet goal. Despite important technological advances, these robotic systems still lack the fine tuning necessary to adapt to the physiological modification of the user and are not yet capable of a proper human-machine interaction. Interfaces based on physiological signals, e.g., recorded by electroencephalography (EEG) and/or electromyography (EMG), could contribute to solving this technological challenge. This protocol aims to: (1) quantify neuro-muscular plasticity induced by a single training session with a robotic exoskeleton on post-stroke people and on a group of age and sex-matched controls; (2) test the feasibility of predicting lower limb motor trajectory from physiological signals for future use as control signal for the robot. An active exoskeleton that can be set in full mode (i.e., the robot fully replaces and drives the user motion), adaptive mode (i.e., assistance to the user can be tuned according to his/her needs), and free mode (i.e., the robot completely follows the user movements) will be used. Participants will undergo a preparation session, i.e., EMG sensors and EEG cap placement and inertial sensors attachment to measure, respectively, muscular and cortical activity, and motion. They will then be asked to walk in a 15 m corridor: (i) self-paced without the exoskeleton (pre-training session); (ii) wearing the exoskeleton and walking with the three modes of use; (iii) self-paced without the exoskeleton (post-training session). From this dataset, we will: (1) quantitatively estimate short-term neuroplasticity of brain connectivity in chronic stroke survivors after a single session of gait training; (2) compare muscle activation patterns during exoskeleton-gait between stroke survivors and age and sex-matched controls; and (3) perform a feasibility analysis on the use of physiological signals to decode gait intentions.
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Affiliation(s)
- Roberto Di Marco
- Department of Neurosciences, Section of Rehabilitation, University of Padova, via Belzoni, 160, 35121 Padova, Italy; (E.F.); (G.D.); (C.V.); (S.M.); (A.D.F.)
| | - Maria Rubega
- Department of Neurosciences, Section of Rehabilitation, University of Padova, via Belzoni, 160, 35121 Padova, Italy; (E.F.); (G.D.); (C.V.); (S.M.); (A.D.F.)
| | - Olive Lennon
- School of Public Health, Physiotherapy and Sports Science, University College Dublin, 4 Dublin, Ireland;
| | - Emanuela Formaggio
- Department of Neurosciences, Section of Rehabilitation, University of Padova, via Belzoni, 160, 35121 Padova, Italy; (E.F.); (G.D.); (C.V.); (S.M.); (A.D.F.)
| | - Ngadhnjim Sutaj
- g.tec Medical Engineering GmbH, 4521 Schiedlberg, Austria; (N.S.); (R.O.)
| | - Giacomo Dazzi
- Department of Neurosciences, Section of Rehabilitation, University of Padova, via Belzoni, 160, 35121 Padova, Italy; (E.F.); (G.D.); (C.V.); (S.M.); (A.D.F.)
| | - Chiara Venturin
- Department of Neurosciences, Section of Rehabilitation, University of Padova, via Belzoni, 160, 35121 Padova, Italy; (E.F.); (G.D.); (C.V.); (S.M.); (A.D.F.)
| | - Ilenia Bonini
- Ospedale Riabilitativo di Alta Specializzazione di Motta di Livenza, 31045 Treviso, Italy; (I.B.); (H.A.C.B.)
| | - Rupert Ortner
- g.tec Medical Engineering GmbH, 4521 Schiedlberg, Austria; (N.S.); (R.O.)
| | | | - Luca Tonin
- Department of Information Engineering, University of Padova, 35131 Padova, Italy; (L.T.); (S.T.)
| | - Stefano Tortora
- Department of Information Engineering, University of Padova, 35131 Padova, Italy; (L.T.); (S.T.)
| | - Stefano Masiero
- Department of Neurosciences, Section of Rehabilitation, University of Padova, via Belzoni, 160, 35121 Padova, Italy; (E.F.); (G.D.); (C.V.); (S.M.); (A.D.F.)
- Padova Neuroscience Center, University of Padova, 35129 Padova, Italy
| | - Alessandra Del Felice
- Department of Neurosciences, Section of Rehabilitation, University of Padova, via Belzoni, 160, 35121 Padova, Italy; (E.F.); (G.D.); (C.V.); (S.M.); (A.D.F.)
- Padova Neuroscience Center, University of Padova, 35129 Padova, Italy
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Nguyen HS, Luu TP. Tremor-Suppression Orthoses for the Upper Limb: Current Developments and Future Challenges. Front Hum Neurosci 2021; 15:622535. [PMID: 33994975 PMCID: PMC8119649 DOI: 10.3389/fnhum.2021.622535] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/28/2020] [Accepted: 03/22/2021] [Indexed: 11/13/2022] Open
Abstract
Introduction: Pathological tremor is the most common motor disorder in adults and characterized by involuntary, rhythmic muscular contraction leading to shaking movements in one or more parts of the body. Functional Electrical Stimulation (FES) and biomechanical loading using wearable orthoses have emerged as effective and non-invasive methods for tremor suppression. A variety of upper-limb orthoses for tremor suppression have been introduced; however, a systematic review of the mechanical design, algorithms for tremor extraction, and the experimental design is still missing. Methods: To address this gap, we applied a standard systematic review methodology to conduct a literature search in the PubMed and PMC databases. Inclusion criteria and full-text access eligibility were used to filter the studies from the search results. Subsequently, we extracted relevant information, such as suppression mechanism, system weights, degrees of freedom (DOF), algorithms for tremor estimation, experimental settings, and the efficacy. Results: The results show that the majority of tremor-suppression orthoses are active with 47% prevalence. Active orthoses are also the heaviest with an average weight of 561 ± 467 g, followed by semi-active 486 ± 395 g, and passive orthoses 191 ± 137 g. Most of the orthoses only support one DOF (54.5%). Two-DOF and three-DOF orthoses account for 33 and 18%, respectively. The average efficacy of tremor suppression using wearable orthoses is 83 ± 13%. Active orthoses are the most efficient with an average efficacy of 83 ± 8%, following by the semi-active 77 ± 19%, and passive orthoses 75 ± 12%. Among different experimental setups, bench testing shows the highest efficacy at 95 ± 5%, this value dropped to 86 ± 8% when evaluating with tremor-affected subjects. The majority of the orthoses (92%) measured voluntary and/or tremorous motions using biomechanical sensors (e.g., IMU, force sensor). Only one system was found to utilize EMG for tremor extraction. Conclusions: Our review showed an improvement in efficacy of using robotic orthoses in tremor suppression. However, significant challenges for the translations of these systems into clinical or home use remain unsolved. Future challenges include improving the wearability of the orthoses (e.g., lightweight, aesthetic, and soft structure), and user control interfaces (i.e., neural machine interface). We also suggest addressing non-technical challenges (e.g., regulatory compliance, insurance reimbursement) to make the technology more accessible.
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Affiliation(s)
- Hoai Son Nguyen
- Group of Advanced Computations in Engineering Science, HCMC University of Technology and Education, Ho Chi Minh City, Vietnam
| | - Trieu Phat Luu
- Noninvasive Brain-Machine Interface System Laboratory, Department of Electrical and Computer Engineering, University of Houston, Houston, TX, United States
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Systematic Review of Exoskeletons towards a General Categorization Model Proposal. APPLIED SCIENCES-BASEL 2020. [DOI: 10.3390/app11010076] [Citation(s) in RCA: 11] [Impact Index Per Article: 2.8] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/17/2022]
Abstract
Exoskeletons are an essential part of humankind’s future. The first records regarding the subject were published several decades ago, and the field has been expanding ever since. Their developments will be imperative for humans in the coming decades due to our constant pursuit of physical enhancement, and the physical constraints the human body has. The principal purpose of this article is to formalize research in the field of exoskeletons and introduce the field to more researchers in hopes of expanding research in the area. Exoskeletons can assist and/or aid in the rehabilitation of a person. Recovery exoskeletons are mostly used in medical and research areas; performance exoskeletons can be used in any area. This systematic review explains the precedents of the exoskeletons and gives a general perspective on their general present-day use, and provides a general categorization model with a brief description of each category. Finally, this paper provides a discussion of the state-of-the-art, and the current control techniques used in exoskeletons.
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Lennon O, Tonellato M, Del Felice A, Di Marco R, Fingleton C, Korik A, Guanziroli E, Molteni F, Guger C, Otner R, Coyle D. A Systematic Review Establishing the Current State-of-the-Art, the Limitations, and the DESIRED Checklist in Studies of Direct Neural Interfacing With Robotic Gait Devices in Stroke Rehabilitation. Front Neurosci 2020; 14:578. [PMID: 32714127 PMCID: PMC7344195 DOI: 10.3389/fnins.2020.00578] [Citation(s) in RCA: 16] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/05/2019] [Accepted: 05/12/2020] [Indexed: 01/16/2023] Open
Abstract
Background: Stroke is a disease with a high associated disability burden. Robotic-assisted gait training offers an opportunity for the practice intensity levels associated with good functional walking outcomes in this population. Neural interfacing technology, electroencephalography (EEG), or electromyography (EMG) can offer new strategies for robotic gait re-education after a stroke by promoting more active engagement in movement intent and/or neurophysiological feedback. Objectives: This study identifies the current state-of-the-art and the limitations in direct neural interfacing with robotic gait devices in stroke rehabilitation. Methods: A pre-registered systematic review was conducted using standardized search operators that included the presence of stroke and robotic gait training and neural biosignals (EMG and/or EEG) and was not limited by study type. Results: From a total of 8,899 papers identified, 13 articles were considered for the final selection. Only five of the 13 studies received a strong or moderate quality rating as a clinical study. Three studies recorded EEG activity during robotic gait, two of which used EEG for BCI purposes. While demonstrating utility for decoding kinematic and EMG-related gait data, no EEG study has been identified to close the loop between robot and human. Twelve of the studies recorded EMG activity during or after robotic walking, primarily as an outcome measure. One study used multisource information fusion from EMG, joint angle, and force to modify robotic commands in real time, with higher error rates observed during active movement. A novel study identified used EMG data during robotic gait to derive the optimal, individualized robot-driven step trajectory. Conclusions: Wide heterogeneity in the reporting and the purpose of neurobiosignal use during robotic gait training after a stroke exists. Neural interfacing with robotic gait after a stroke demonstrates promise as a future field of study. However, as a nascent area, direct neural interfacing with robotic gait after a stroke would benefit from a more standardized protocol for biosignal collection and processing and for robotic deployment. Appropriate reporting for clinical studies of this nature is also required with respect to the study type and the participants' characteristics.
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Affiliation(s)
- Olive Lennon
- School of Public Health, Physiotherapy and Sports Science, University College Dublin, Dublin, Ireland
| | - Michele Tonellato
- Department of Neuroscience, Rehabilitation Unit, University of Padova, Padova, Italy
| | - Alessandra Del Felice
- Department of Neuroscience, NEUROMOVE-Rehab Laboratory, University of Padova, Padova, Italy
- Padova Neuroscience Center, University of Padova, Padova, Italy
| | - Roberto Di Marco
- Department of Neuroscience, NEUROMOVE-Rehab Laboratory, University of Padova, Padova, Italy
| | - Caitriona Fingleton
- Department of Physiotherapy, Mater Misericordiae University Hospital, Dublin, Ireland
| | - Attila Korik
- Intelligent Systems Research Centre, School of Computing, Engineering and Intelligent Systems, Ulster University, Derry, United Kingdom
| | | | - Franco Molteni
- Villa Beretta Rehabilitation Center, Valduce Hospital, Costa Masnaga, Italy
| | | | - Rupert Otner
- g.tec Medical Engineering GmbH, Schiedlberg, Austria
| | - Damien Coyle
- Intelligent Systems Research Centre, School of Computing, Engineering and Intelligent Systems, Ulster University, Derry, United Kingdom
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Hobbs B, Artemiadis P. A Review of Robot-Assisted Lower-Limb Stroke Therapy: Unexplored Paths and Future Directions in Gait Rehabilitation. Front Neurorobot 2020; 14:19. [PMID: 32351377 PMCID: PMC7174593 DOI: 10.3389/fnbot.2020.00019] [Citation(s) in RCA: 60] [Impact Index Per Article: 15.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/25/2020] [Accepted: 03/16/2020] [Indexed: 01/28/2023] Open
Abstract
Stroke affects one out of every six people on Earth. Approximately 90% of stroke survivors have some functional disability with mobility being a major impairment, which not only affects important daily activities but also increases the likelihood of falling. Originally intended to supplement traditional post-stroke gait rehabilitation, robotic systems have gained remarkable attention in recent years as a tool to decrease the strain on physical therapists while increasing the precision and repeatability of the therapy. While some of the current methods for robot-assisted rehabilitation have had many positive and promising outcomes, there is moderate evidence of improvement in walking and motor recovery using robotic devices compared to traditional practice. In order to better understand how and where robot-assisted rehabilitation has been effective, it is imperative to identify the main schools of thought that have prevailed. This review intends to observe those perspectives through three different lenses: the goal and type of interaction, the physical implementation, and the sensorimotor pathways targeted by robotic devices. The ways that researchers approach the problem of restoring gait function are grouped together in an intuitive way. Seeing robot-assisted rehabilitation in this unique light can naturally provoke the development of new directions to potentially fill the current research gaps and eventually discover more effective ways to provide therapy. In particular, the idea of utilizing the human inter-limb coordination mechanisms is brought up as an especially promising area for rehabilitation and is extensively discussed.
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Affiliation(s)
| | - Panagiotis Artemiadis
- Human-Oriented Robotics and Control Laboratory, Department of Mechanical Engineering, University of Delaware, Newark, DE, United States
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Huggins JE, Guger C, Aarnoutse E, Allison B, Anderson CW, Bedrick S, Besio W, Chavarriaga R, Collinger JL, Do AH, Herff C, Hohmann M, Kinsella M, Lee K, Lotte F, Müller-Putz G, Nijholt A, Pels E, Peters B, Putze F, Rupp R, Schalk G, Scott S, Tangermann M, Tubig P, Zander T. Workshops of the Seventh International Brain-Computer Interface Meeting: Not Getting Lost in Translation. BRAIN-COMPUTER INTERFACES 2019; 6:71-101. [PMID: 33033729 PMCID: PMC7539697 DOI: 10.1080/2326263x.2019.1697163] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/29/2019] [Accepted: 10/30/2019] [Indexed: 12/11/2022]
Abstract
The Seventh International Brain-Computer Interface (BCI) Meeting was held May 21-25th, 2018 at the Asilomar Conference Grounds, Pacific Grove, California, United States. The interactive nature of this conference was embodied by 25 workshops covering topics in BCI (also called brain-machine interface) research. Workshops covered foundational topics such as hardware development and signal analysis algorithms, new and imaginative topics such as BCI for virtual reality and multi-brain BCIs, and translational topics such as clinical applications and ethical assumptions of BCI development. BCI research is expanding in the diversity of applications and populations for whom those applications are being developed. BCI applications are moving toward clinical readiness as researchers struggle with the practical considerations to make sure that BCI translational efforts will be successful. This paper summarizes each workshop, providing an overview of the topic of discussion, references for additional information, and identifying future issues for research and development that resulted from the interactions and discussion at the workshop.
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Affiliation(s)
- Jane E Huggins
- Department of Physical Medicine and Rehabilitation, Department of Biomedical Engineering, Neuroscience Graduate Program, University of Michigan, Ann Arbor, Michigan, United States, 325 East Eisenhower, Room 3017; Ann Arbor, Michigan 48108-5744
| | - Christoph Guger
- g.tec medical engineering GmbH/Guger Technologies OG, Austria, Sierningstrasse 14, 4521 Schiedlberg, Austria
| | - Erik Aarnoutse
- UMC Utrecht Brain Center, Department of Neurology & Neurosurgery, University Medical Center Utrecht, Heidelberglaan 100, 3584 CX Utrecht, The Netherlands
| | - Brendan Allison
- Dept. of Cognitive Science, Mail Code 0515, University of California at San Diego, La Jolla, United States
| | - Charles W Anderson
- Department of Computer Science, Molecular, Cellular and Integrative Neurosience Program, Colorado State University, Fort Collins, CO 80523
| | - Steven Bedrick
- Center for Spoken Language Understanding, Oregon Health & Science University, Portland, OR 97239
| | - Walter Besio
- Department of Electrical, Computer, & Biomedical Engineering and Interdisciplinary Neuroscience Program, University of Rhode Island, Kingston, Rhode Island, USA, CREmedical Corp. Kingston, Rhode Island, USA
| | - Ricardo Chavarriaga
- Defitech Chair in Brain-Machine Interface (CNBI), Center for Neuroprosthetics, Ecole Polytechnique Fédérale de Lausanne - EPFL, Switzerland
| | - Jennifer L Collinger
- University of Pittsburgh, Department of Physical Medicine and Rehabilitation, VA Pittsburgh Healthcare System, Department of Veterans Affairs, 3520 5th Ave, Pittsburgh, PA, 15213
| | - An H Do
- UC Irvine Brain Computer Interface Lab, Department of Neurology, University of California, Irvine
| | - Christian Herff
- School of Mental Health and Neuroscience, Maastricht University, Maastricht, The Netherlands
| | - Matthias Hohmann
- Max Planck Institute for Intelligent Systems, Department for Empirical Inference, Max-Planck-Ring 4, 72074 Tübingen, Germany
| | - Michelle Kinsella
- Oregon Health & Science University, Institute on Development & Disability, 707 SW Gaines St, #1290, Portland, OR 97239
| | - Kyuhwa Lee
- Swiss Federal Institute of Technology in Lausanne-EPFL
| | - Fabien Lotte
- Inria Bordeaux Sud-Ouest, LaBRI (Univ. Bordeaux/CNRS/Bordeaux INP), 200 avenue de la vieille tour, 33405, Talence Cedex, France
| | | | - Anton Nijholt
- Faculty EEMCS, University of Twente, Enschede, The Netherlands
| | - Elmar Pels
- UMC Utrecht Brain Center, Department of Neurology & Neurosurgery, University Medical Center Utrecht, Heidelberglaan 100, 3584 CX Utrecht, The Netherlands
| | - Betts Peters
- Oregon Health & Science University, Institute on Development & Disability, 707 SW Gaines St, #1290, Portland, OR 97239
| | - Felix Putze
- University of Bremen, Germany, Cognitive Systems Lab, University of Bremen, Enrique-Schmidt-Straße 5 (Cartesium), 28359 Bremen
| | - Rüdiger Rupp
- Spinal Cord Injury Center, Heidelberg University Hospital
| | - Gerwin Schalk
- National Center for Adaptive Neurotechnologies, Wadsworth Center, NYS Dept. of Health, Dept. of Neurology, Albany Medical College, Dept. of Biomed. Sci., State Univ. of New York at Albany, Center for Medical Sciences 2003, 150 New Scotland Avenue, Albany, New York 12208
| | - Stephanie Scott
- Department of Media Communications, Colorado State University, Fort Collins, CO 80523
| | - Michael Tangermann
- Brain State Decoding Lab, Cluster of Excellence BrainLinks-BrainTools, Computer Science Dept., University of Freiburg, Germany, Autonomous Intelligent Systems Lab, Computer Science Dept., University of Freiburg, Germany
| | - Paul Tubig
- Department of Philosophy, Center for Neurotechnology, University of Washington, Savery Hall, Room 361, Seattle, WA 98195
| | - Thorsten Zander
- Team PhyPA, Biological Psychology and Neuroergonomics, Technische Universität Berlin, Berlin, Germany, 7 Zander Laboratories B.V., Amsterdam, The Netherlands
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He Y, Eguren D, Azorín JM, Grossman RG, Luu TP, Contreras-Vidal JL. Brain-machine interfaces for controlling lower-limb powered robotic systems. J Neural Eng 2019; 15:021004. [PMID: 29345632 DOI: 10.1088/1741-2552/aaa8c0] [Citation(s) in RCA: 76] [Impact Index Per Article: 15.2] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 02/07/2023]
Abstract
OBJECTIVE Lower-limb, powered robotics systems such as exoskeletons and orthoses have emerged as novel robotic interventions to assist or rehabilitate people with walking disabilities. These devices are generally controlled by certain physical maneuvers, for example pressing buttons or shifting body weight. Although effective, these control schemes are not what humans naturally use. The usability and clinical relevance of these robotics systems could be further enhanced by brain-machine interfaces (BMIs). A number of preliminary studies have been published on this topic, but a systematic understanding of the experimental design, tasks, and performance of BMI-exoskeleton systems for restoration of gait is lacking. APPROACH To address this gap, we applied standard systematic review methodology for a literature search in PubMed and EMBASE databases and identified 11 studies involving BMI-robotics systems. The devices, user population, input and output of the BMIs and robot systems respectively, neural features, decoders, denoising techniques, and system performance were reviewed and compared. MAIN RESULTS Results showed BMIs classifying walk versus stand tasks are the most common. The results also indicate that electroencephalography (EEG) is the only recording method for humans. Performance was not clearly presented in most of the studies. Several challenges were summarized, including EEG denoising, safety, responsiveness and others. SIGNIFICANCE We conclude that lower-body powered exoskeletons with automated gait intention detection based on BMIs open new possibilities in the assistance and rehabilitation fields, although the current performance, clinical benefits and several key challenging issues indicate that additional research and development is required to deploy these systems in the clinic and at home. Moreover, rigorous EEG denoising techniques, suitable performance metrics, consistent trial reporting, and more clinical trials are needed to advance the field.
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Affiliation(s)
- Yongtian He
- Department of Electrical and Computer Engineering, Noninvasive Brain-Machine Interface Systems Laboratory, University of Houston, Houston, TX 77204, United States of America
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Sanchez-Villamañan MDC, Gonzalez-Vargas J, Torricelli D, Moreno JC, Pons JL. Compliant lower limb exoskeletons: a comprehensive review on mechanical design principles. J Neuroeng Rehabil 2019; 16:55. [PMID: 31072370 PMCID: PMC6506961 DOI: 10.1186/s12984-019-0517-9] [Citation(s) in RCA: 67] [Impact Index Per Article: 13.4] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/26/2018] [Accepted: 03/26/2019] [Indexed: 12/04/2022] Open
Abstract
Exoskeleton technology has made significant advances during the last decade, resulting in a considerable variety of solutions for gait assistance and rehabilitation. The mechanical design of these devices is a crucial aspect that affects the efficiency and effectiveness of their interaction with the user. Recent developments have pointed towards compliant mechanisms and structures, due to their promising potential in terms of adaptability, safety, efficiency, and comfort. However, there still remain challenges to be solved before compliant lower limb exoskeletons can be deployed in real scenarios. In this review, we analysed 52 lower limb wearable exoskeletons, focusing on three main aspects of compliance: actuation, structure, and interface attachment components. We highlighted the drawbacks and advantages of the different solutions, and suggested a number of promising research lines. We also created and made available a set of data sheets that contain the technical characteristics of the reviewed devices, with the aim of providing researchers and end-users with an updated overview on the existing solutions.
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Affiliation(s)
| | - Jose Gonzalez-Vargas
- Neural Rehabilitation Group, Cajal Institute, Spanish National Research Council (CSIC), Avda Doctor Arce, 37, E-28002 Madrid, Spain
| | - Diego Torricelli
- Neural Rehabilitation Group, Cajal Institute, Spanish National Research Council (CSIC), Avda Doctor Arce, 37, E-28002 Madrid, Spain
| | - Juan C. Moreno
- Neural Rehabilitation Group, Cajal Institute, Spanish National Research Council (CSIC), Avda Doctor Arce, 37, E-28002 Madrid, Spain
| | - Jose L. Pons
- Neural Rehabilitation Group, Cajal Institute, Spanish National Research Council (CSIC), Avda Doctor Arce, 37, E-28002 Madrid, Spain
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A mobile brain-body imaging dataset recorded during treadmill walking with a brain-computer interface. Sci Data 2018; 5:180074. [PMID: 29688217 PMCID: PMC5914288 DOI: 10.1038/sdata.2018.74] [Citation(s) in RCA: 13] [Impact Index Per Article: 2.2] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/03/2017] [Accepted: 03/13/2018] [Indexed: 11/24/2022] Open
Abstract
We present a mobile brain-body imaging (MoBI) dataset acquired during treadmill walking in a brain-computer interface (BCI) task. The data were collected from eight healthy subjects, each having three identical trials. Each trial consisted of three conditions: standing, treadmill walking, and treadmill walking with a closed-loop BCI. During the BCI condition, subjects used their brain activity to control a virtual avatar on a screen to walk in real-time. Robust procedures were designed to record lower limb joint angles (bilateral hip, knee, and ankle) using goniometers synchronized with 60-channel scalp electroencephalography (EEG). Additionally, electrooculogram (EOG), EEG electrodes impedance, and digitized EEG channel locations were acquired to aid artifact removal and EEG dipole-source localization. This dataset is unique in that it is the first published MoBI dataset recorded during walking. It is useful in addressing several important open research questions, such as how EEG is coupled with gait cycle during closed-loop BCI, how BCI influences neural activity during walking, and how a BCI decoder may be optimized.
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12
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Luu TP, Brantley JA, Nakagome S, Zhu F, Contreras-Vidal JL. Electrocortical correlates of human level-ground, slope, and stair walking. PLoS One 2017; 12:e0188500. [PMID: 29190704 PMCID: PMC5708801 DOI: 10.1371/journal.pone.0188500] [Citation(s) in RCA: 32] [Impact Index Per Article: 4.6] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/24/2017] [Accepted: 11/08/2017] [Indexed: 01/29/2023] Open
Abstract
This study investigated electrocortical dynamics of human walking across different unconstrained walking conditions (i.e., level ground (LW), ramp ascent (RA), and stair ascent (SA)). Non-invasive active-electrode scalp electroencephalography (EEG) signals were recorded and a systematic EEG processing method was implemented to reduce artifacts. Source localization combined with independent component analysis and k-means clustering revealed the involvement of four clusters in the brain during the walking tasks: Left and Right Occipital Lobe (LOL, ROL), Posterior Parietal Cortex (PPC), and Central Sensorimotor Cortex (SMC). Results showed that the changes of spectral power in the PPC and SMC clusters were associated with the level of motor task demands. Specifically, we observed α and β suppression at the beginning of the gait cycle in both SA and RA walking (relative to LW) in the SMC. Additionally, we observed significant β rebound (synchronization) at the initial swing phase of the gait cycle, which may be indicative of active cortical signaling involved in maintaining the current locomotor state. An increase of low γ band power in this cluster was also found in SA walking. In the PPC, the low γ band power increased with the level of task demands (from LW to RA and SA). Additionally, our results provide evidence that electrocortical amplitude modulations (relative to average gait cycle) are correlated with the level of difficulty in locomotion tasks. Specifically, the modulations in the PPC shifted to higher frequency bands when the subjects walked in RA and SA conditions. Moreover, low γ modulations in the central sensorimotor area were observed in the LW walking and shifted to lower frequency bands in RA and SA walking. These findings extend our understanding of cortical dynamics of human walking at different level of locomotion task demands and reinforces the growing body of literature supporting a shared-control paradigm between spinal and cortical networks during locomotion.
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Affiliation(s)
- Trieu Phat Luu
- Noninvasive Brain-Machine Interface System Laboratory, Dept. of Electrical and Computer Engineering, University of Houston, Houston, TX, United States of America
| | - Justin A. Brantley
- Noninvasive Brain-Machine Interface System Laboratory, Dept. of Electrical and Computer Engineering, University of Houston, Houston, TX, United States of America
| | - Sho Nakagome
- Noninvasive Brain-Machine Interface System Laboratory, Dept. of Electrical and Computer Engineering, University of Houston, Houston, TX, United States of America
| | - Fangshi Zhu
- Noninvasive Brain-Machine Interface System Laboratory, Dept. of Electrical and Computer Engineering, University of Houston, Houston, TX, United States of America
| | - Jose L. Contreras-Vidal
- Noninvasive Brain-Machine Interface System Laboratory, Dept. of Electrical and Computer Engineering, University of Houston, Houston, TX, United States of America
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Luu TP, Nakagome S, He Y, Contreras-Vidal JL. Real-time EEG-based brain-computer interface to a virtual avatar enhances cortical involvement in human treadmill walking. Sci Rep 2017; 7:8895. [PMID: 28827542 PMCID: PMC5567182 DOI: 10.1038/s41598-017-09187-0] [Citation(s) in RCA: 42] [Impact Index Per Article: 6.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/08/2017] [Accepted: 07/24/2017] [Indexed: 02/04/2023] Open
Abstract
Recent advances in non-invasive brain-computer interface (BCI) technologies have shown the feasibility of neural decoding for both users' gait intent and continuous kinematics. However, the dynamics of cortical involvement in human upright walking with a closed-loop BCI has not been investigated. This study aims to investigate the changes of cortical involvement in human treadmill walking with and without BCI control of a walking avatar. Source localization revealed significant differences in cortical network activity between walking with and without closed-loop BCI control. Our results showed sustained α/µ suppression in the Posterior Parietal Cortex and Inferior Parietal Lobe, indicating increases of cortical involvement during walking with BCI control. We also observed significant increased activity of the Anterior Cingulate Cortex (ACC) in the low frequency band suggesting the presence of a cortical network involved in error monitoring and motor learning. Additionally, the presence of low γ modulations in the ACC and Superior Temporal Gyrus may associate with increases of voluntary control of human gait. This work is a further step toward the development of a novel training paradigm for improving the efficacy of rehabilitation in a top-down approach.
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Affiliation(s)
- Trieu Phat Luu
- Noninvasive Brain-Machine Interface System Laboratory, Dept. of Electrical and Computer Engineering, University of Houston, Houston, TX, 77004, USA.
| | - Sho Nakagome
- Noninvasive Brain-Machine Interface System Laboratory, Dept. of Electrical and Computer Engineering, University of Houston, Houston, TX, 77004, USA
| | - Yongtian He
- Noninvasive Brain-Machine Interface System Laboratory, Dept. of Electrical and Computer Engineering, University of Houston, Houston, TX, 77004, USA
| | - Jose L Contreras-Vidal
- Noninvasive Brain-Machine Interface System Laboratory, Dept. of Electrical and Computer Engineering, University of Houston, Houston, TX, 77004, USA
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He Y, Eguren D, Luu TP, Contreras-Vidal JL. Risk management and regulations for lower limb medical exoskeletons: a review. MEDICAL DEVICES-EVIDENCE AND RESEARCH 2017; 10:89-107. [PMID: 28533700 PMCID: PMC5431736 DOI: 10.2147/mder.s107134] [Citation(s) in RCA: 56] [Impact Index Per Article: 8.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/01/2023] Open
Abstract
Gait disability is a major health care problem worldwide. Powered exoskeletons have recently emerged as devices that can enable users with gait disabilities to ambulate in an upright posture, and potentially bring other clinical benefits. In 2014, the US Food and Drug Administration approved marketing of the ReWalk™ Personal Exoskeleton as a class II medical device with special controls. Since then, Indego™ and Ekso™ have also received regulatory approval. With similar trends worldwide, this industry is likely to grow rapidly. On the other hand, the regulatory science of powered exoskeletons is still developing. The type and extent of probable risks of these devices are yet to be understood, and industry standards are yet to be developed. To address this gap, Manufacturer and User Facility Device Experience, Clinicaltrials.gov, and PubMed databases were searched for reports of adverse events and inclusion and exclusion criteria involving the use of lower limb powered exoskeletons. Current inclusion and exclusion criteria, which can determine probable risks, were found to be diverse. Reported adverse events and identified risks of current devices are also wide-ranging. In light of these findings, current regulations, standards, and regulatory procedures for medical device applications in the USA, Europe, and Japan were also compared. There is a need to raise awareness of probable risks associated with the use of powered exoskeletons and to develop adequate countermeasures, standards, and regulations for these human-machine systems. With appropriate risk mitigation strategies, adequate standards, comprehensive reporting of adverse events, and regulatory oversight, powered exoskeletons may one day allow individuals with gait disabilities to safely and independently ambulate.
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Affiliation(s)
- Yongtian He
- Laboratory for Noninvasive, Brain-Machine Interface Systems, Department of Electrical and Computer Engineering, University of Houston, Houston, TX, USA
| | - David Eguren
- Laboratory for Noninvasive, Brain-Machine Interface Systems, Department of Electrical and Computer Engineering, University of Houston, Houston, TX, USA
| | - Trieu Phat Luu
- Laboratory for Noninvasive, Brain-Machine Interface Systems, Department of Electrical and Computer Engineering, University of Houston, Houston, TX, USA
| | - Jose L Contreras-Vidal
- Laboratory for Noninvasive, Brain-Machine Interface Systems, Department of Electrical and Computer Engineering, University of Houston, Houston, TX, USA
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Ma X, Ma C, Huang J, Zhang P, Xu J, He J. Decoding Lower Limb Muscle Activity and Kinematics from Cortical Neural Spike Trains during Monkey Performing Stand and Squat Movements. Front Neurosci 2017; 11:44. [PMID: 28223914 PMCID: PMC5293822 DOI: 10.3389/fnins.2017.00044] [Citation(s) in RCA: 10] [Impact Index Per Article: 1.4] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/01/2016] [Accepted: 01/20/2017] [Indexed: 11/13/2022] Open
Abstract
Extensive literatures have shown approaches for decoding upper limb kinematics or muscle activity using multichannel cortical spike recordings toward brain machine interface (BMI) applications. However, similar topics regarding lower limb remain relatively scarce. We previously reported a system for training monkeys to perform visually guided stand and squat tasks. The current study, as a follow-up extension, investigates whether lower limb kinematics and muscle activity characterized by electromyography (EMG) signals during monkey performing stand/squat movements can be accurately decoded from neural spike trains in primary motor cortex (M1). Two monkeys were used in this study. Subdermal intramuscular EMG electrodes were implanted to 8 right leg/thigh muscles. With ample data collected from neurons from a large brain area, we performed a spike triggered average (SpTA) analysis and got a series of density contours which revealed the spatial distributions of different muscle-innervating neurons corresponding to each given muscle. Based on the guidance of these results, we identified the locations optimal for chronic electrode implantation and subsequently carried on chronic neural data recordings. A recursive Bayesian estimation framework was proposed for decoding EMG signals together with kinematics from M1 spike trains. Two specific algorithms were implemented: a standard Kalman filter and an unscented Kalman filter. For the latter one, an artificial neural network was incorporated to deal with the nonlinearity in neural tuning. High correlation coefficient and signal to noise ratio between the predicted and the actual data were achieved for both EMG signals and kinematics on both monkeys. Higher decoding accuracy and faster convergence rate could be achieved with the unscented Kalman filter. These results demonstrate that lower limb EMG signals and kinematics during monkey stand/squat can be accurately decoded from a group of M1 neurons with the proposed algorithms. Our findings provide new insights for extending current BMI design concepts and techniques on upper limbs to lower limb circumstances. Brain controlled exoskeleton, prostheses or neuromuscular electrical stimulators for lower limbs are expected to be developed, which enables the subject to manipulate complex biomechatronic devices with mind in more harmonized manner.
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Affiliation(s)
- Xuan Ma
- Neural Interface and Rehabilitation Technology Research Center, School of Automation, Huazhong University of Science and Technology Wuhan, China
| | - Chaolin Ma
- Center for Neuropsychiatric Disorders, Institute of Life Science, Nanchang UniversityNanchang, China; Center for Neural Interface Design, School of Biological and Health Systems Engineering, Arizona State UniversityTempe, AZ, USA
| | - Jian Huang
- Neural Interface and Rehabilitation Technology Research Center, School of Automation, Huazhong University of Science and Technology Wuhan, China
| | - Peng Zhang
- Neural Interface and Rehabilitation Technology Research Center, School of Automation, Huazhong University of Science and Technology Wuhan, China
| | - Jiang Xu
- Department of Rehabilitation Medicine, Tongji Hospital, Tongji Medical College, Huazhong University of Science and Technology Wuhan, China
| | - Jiping He
- Neural Interface and Rehabilitation Technology Research Center, School of Automation, Huazhong University of Science and TechnologyWuhan, China; Center for Neural Interface Design, School of Biological and Health Systems Engineering, Arizona State UniversityTempe, AZ, USA; Collaborative Innovation Center for Brain Science, Huazhong University of Science and TechnologyWuhan, China; Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of TechnologyBeijing, China
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Nathan K, Contreras-Vidal JL. Negligible Motion Artifacts in Scalp Electroencephalography (EEG) During Treadmill Walking. Front Hum Neurosci 2016; 9:708. [PMID: 26793089 PMCID: PMC4710850 DOI: 10.3389/fnhum.2015.00708] [Citation(s) in RCA: 71] [Impact Index Per Article: 8.9] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/18/2015] [Accepted: 12/17/2015] [Indexed: 01/22/2023] Open
Abstract
Recent mobile brain/body imaging (MoBI) techniques based on active electrode scalp electroencephalogram (EEG) allow the acquisition and real-time analysis of brain dynamics during active unrestrained motor behavior involving whole body movements such as treadmill walking, over-ground walking and other locomotive and non-locomotive tasks. Unfortunately, MoBI protocols are prone to physiological and non-physiological artifacts, including motion artifacts that may contaminate the EEG recordings. A few attempts have been made to quantify these artifacts during locomotion tasks but with inconclusive results due in part to methodological pitfalls. In this paper, we investigate the potential contributions of motion artifacts in scalp EEG during treadmill walking at three different speeds (1.5, 3.0, and 4.5 km/h) using a wireless 64 channel active EEG system and a wireless inertial sensor attached to the subject’s head. The experimental setup was designed according to good measurement practices using state-of-the-art commercially available instruments, and the measurements were analyzed using Fourier analysis and wavelet coherence approaches. Contrary to prior claims, the subjects’ motion did not significantly affect their EEG during treadmill walking although precaution should be taken when gait speeds approach 4.5 km/h. Overall, these findings suggest how MoBI methods may be safely deployed in neural, cognitive, and rehabilitation engineering applications.
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Affiliation(s)
- Kevin Nathan
- Laboratory for Non-invasive Brain-Machine Interface Systems, Department of Electrical and Computer Engineering, University of Houston, HoustonTX, USA; The Houston Methodist Research Institute, HoustonTX, USA
| | - Jose L Contreras-Vidal
- Laboratory for Non-invasive Brain-Machine Interface Systems, Department of Electrical and Computer Engineering, University of Houston, HoustonTX, USA; The Houston Methodist Research Institute, HoustonTX, USA
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Luu TP, He Y, Brown S, Nakagome S, Contreras-Vidal JL. A Closed-loop Brain Computer Interface to a Virtual Reality Avatar: Gait Adaptation to Visual Kinematic Perturbations. ... INTERNATIONAL CONFERENCE ON VIRTUAL REHABILITATION. INTERNATIONAL CONFERENCE ON VIRTUAL REHABILITATION 2015; 2015:30-37. [PMID: 27713915 DOI: 10.1109/icvr.2015.7358598] [Citation(s) in RCA: 23] [Impact Index Per Article: 2.6] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 01/16/2023]
Abstract
The control of human bipedal locomotion is of great interest to the field of lower-body brain computer interfaces (BCIs) for rehabilitation of gait. While the feasibility of a closed-loop BCI system for the control of a lower body exoskeleton has been recently shown, multi-day closed-loop neural decoding of human gait in a virtual reality (BCI-VR) environment has yet to be demonstrated. In this study, we propose a real-time closed-loop BCI that decodes lower limb joint angles from scalp electroencephalography (EEG) during treadmill walking to control the walking movements of a virtual avatar. Moreover, virtual kinematic perturbations resulting in asymmetric walking gait patterns of the avatar were also introduced to investigate gait adaptation using the closed-loop BCI-VR system over a period of eight days. Our results demonstrate the feasibility of using a closed-loop BCI to learn to control a walking avatar under normal and altered visuomotor perturbations, which involved cortical adaptations. These findings have implications for the development of BCI-VR systems for gait rehabilitation after stroke and for understanding cortical plasticity induced by a closed-loop BCI system.
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Affiliation(s)
- Trieu Phat Luu
- Department of Electrical and Computer Engineering, University of Houston, Houston, TX 77004, USA
| | - Yongtian He
- Department of Electrical and Computer Engineering, University of Houston, Houston, TX 77004, USA
| | - Samuel Brown
- Department of Electrical and Computer Engineering, University of Houston, Houston, TX 77004, USA
| | - Sho Nakagome
- Department of Electrical and Computer Engineering, University of Houston, Houston, TX 77004, USA
| | - Jose L Contreras-Vidal
- Department of Electrical and Computer Engineering, University of Houston, Houston, TX 77004, USA
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The H2 robotic exoskeleton for gait rehabilitation after stroke: early findings from a clinical study. J Neuroeng Rehabil 2015; 12:54. [PMID: 26076696 PMCID: PMC4469252 DOI: 10.1186/s12984-015-0048-y] [Citation(s) in RCA: 140] [Impact Index Per Article: 15.6] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/30/2014] [Accepted: 06/04/2015] [Indexed: 11/10/2022] Open
Abstract
BACKGROUND Stroke significantly affects thousands of individuals annually, leading to considerable physical impairment and functional disability. Gait is one of the most important activities of daily living affected in stroke survivors. Recent technological developments in powered robotics exoskeletons can create powerful adjunctive tools for rehabilitation and potentially accelerate functional recovery. Here, we present the development and evaluation of a novel lower limb robotic exoskeleton, namely H2 (Technaid S.L., Spain), for gait rehabilitation in stroke survivors. METHODS H2 has six actuated joints and is designed to allow intensive overground gait training. An assistive gait control algorithm was developed to create a force field along a desired trajectory, only applying torque when patients deviate from the prescribed movement pattern. The device was evaluated in 3 hemiparetic stroke patients across 4 weeks of training per individual (approximately 12 sessions). The study was approved by the Institutional Review Board at the University of Houston. The main objective of this initial pre-clinical study was to evaluate the safety and usability of the exoskeleton. A Likert scale was used to measure patient's perception about the easy of use of the device. RESULTS Three stroke patients completed the study. The training was well tolerated and no adverse events occurred. Early findings demonstrate that H2 appears to be safe and easy to use in the participants of this study. The overground training environment employed as a means to enhance active patient engagement proved to be challenging and exciting for patients. These results are promising and encourage future rehabilitation training with a larger cohort of patients. CONCLUSIONS The developed exoskeleton enables longitudinal overground training of walking in hemiparetic patients after stroke. The system is robust and safe when applied to assist a stroke patient performing an overground walking task. Such device opens the opportunity to study means to optimize a rehabilitation treatment that can be customized for individuals. TRIAL REGISTRATION This study was registered at ClinicalTrials.gov ( https://clinicaltrials.gov/show/NCT02114450 ).
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