Control of leg-powered paraplegic cycling using stimulation of the lumbo-sacral anterior spinal nerve roots

Contributions of the Cybathlon championship to the literature on functional electrical stimulation cycling among individuals with spinal cord injury: A bibliometric review

BACKGROUND

Due to its clinically proven safety and health benefits, functional electrical stimulation (FES) cycling has become a popular exercise modality for individuals with spinal cord injury (SCI). Since its inception in 2013, the Cybathlon championship has been a platform for publicizing the potential of FES cycling in rehabilitation and exercise for individuals with SCI. This study aimed to evaluate the contribution of the Cybathlon championship to the literature on FES cycling for individuals with SCI 3 years pre and post the staging of the Cybathlon championship in 2016.

METHODS

Web of Science, Scopus, ScienceDirect, IEEE Xplore, and Google Scholar databases were searched for relevant studies published between January 2013 and July 2019. The quality of the included studies was objectively evaluated using the Downs and Black checklist.

RESULTS

A total of 129 articles on FES cycling were retained for analysis. A total of 51 articles related to Cybathlon were reviewed, and 14 articles were ultimately evaluated for the quality. In 2017, the year following the Cybathlon championship, Web of Science cited 23 published studies on the championship, which was almost 5-fold more than that in 2016 (n = 5). Training was most often reported as a topic of interest in these studies, which mostly (76.7%) highlighted the training parameters of interest to participating teams in their effort to maximize their FES cycling performance during the Cybathlon championship.

CONCLUSION

The present study indicates that the Cybathlon championship in 2016 contributed to the number of literature published in 2017 on FES cycling for individuals with SCI. This finding may contribute to the lessons that can be learned from participation in the Cybathlon and potentially provide additional insights into research in the field of race-based FES cycling.

A Distributed Automatic Control Framework for Simultaneous Control of Torque and Cadence in Functional Electrical Stimulation Cycling

One of the major challenges facing functional electrical stimulation (FES) cycling is the design of an automatic control system that addresses the problem of disturbance with unknown bound and time-varying behavior of the muscular system. The previous methods for FES-cycling are based on the system modeling and require pre-adjustment of the control parameters which are based on the model parameters. These will degrade the FES-cycling performance and limit the clinical application of the methods. In this paper, a distributed cooperative control framework, which is based on an adaptive higher-order sliding mode (AHOSM) controller, is proposed for simultaneous control of torque and cadence in FES-cycling. The proposed control system is free-model which does not require any pre-adjustment of the control parameters and does not need the boundary of the disturbance to be known. Another major issue in FES-cycling is the stimulation pattern. In the paper, an automatic pattern generator is proposed which is capable of providing not only the regions of the crank angle in which each muscle group should be stimulated but also a specific gain for each muscle group. The results of the simulation studies and experiments on three spinal cord injuries showed that the proposed control strategy significantly increases the efficiency and tracking accuracy of motor-assisted FES-cycling in paraplegic patients and decreases the power consumption compared to HOSM controller with the fixed stimulation pattern. Reducing power consumption can slow down muscle fatigue and consequently increase cycling endurance. The average of cadence and torque tracking errors over three subjects using the proposed method are 5.77± 0.5% and 5.23± 0.8%, respectively.

Chronic nerve health following implantation of femoral nerve cuff electrodes

BACKGROUND

Peripheral nerve stimulation with implanted nerve cuff electrodes can restore standing, stepping and other functions to individuals with spinal cord injury (SCI). We performed the first study to evaluate the clinical electrodiagnostic changes due to electrode implantation acutely, chronic presence on the nerve peri- and post-operatively, and long-term delivery of electrical stimulation.

METHODS

A man with bilateral lower extremity paralysis secondary to cervical SCI sustained 5 years prior to enrollment received an implanted standing neuroprosthesis including composite flat interface nerve electrodes (C-FINEs) electrodes implanted around the proximal femoral nerves near the inguinal ligaments. Electromyography quantified neurophysiology preoperatively, intraoperatively, and through 1 year postoperatively. Stimulation charge thresholds, evoked knee extension moments, and weight distribution during standing quantified neuroprosthesis function over the same interval.

RESULTS

Femoral compound motor unit action potentials increased 31% in amplitude and 34% in area while evoked knee extension moments increased significantly (p < 0.01) by 79% over 1 year of rehabilitation with standing and quadriceps exercises. Charge thresholds were low and stable, averaging 19.7 nC ± 6.2 (SEM). Changes in saphenous nerve action potentials and needle electromyography suggested minor nerve irritation perioperatively.

CONCLUSIONS

This is the first human trial reporting acute and chronic neurophysiologic changes due to application of and stimulation through nerve cuff electrodes. Electrodiagnostics indicated preserved nerve health with strengthened responses following stimulated exercise. Temporary electrodiagnostic changes suggest minor nerve irritation only intra- and peri-operatively, not continuing chronically nor impacting function. These outcomes follow implantation of a neuroprosthesis enabling standing and demonstrate the ability to safely implant electrodes on the proximal femoral nerve close to the inguinal ligament. We demonstrate the electrodiagnostic findings that can be expected from implanting nerve cuff electrodes and their time-course for resolution, potentially applicable to prostheses modulating other peripheral nerves and functions.

TRIAL REGISTRATION

ClinicalTrials.gov NCT01923662 , retrospectively registered August 15, 2013.

Design of an isokinetic knee dynamometer for evaluation of functional electrical stimulation strategies

BACKGROUND

The limitations of functional electrical stimulation (FES) cycling directly affect the health benefits acquired from this technology and prevents its' full potential to be realised. Experiments should be done on a test bed which can isolate and focus only on one muscle group, namely the quadriceps. The aim of this work was to design and develop an isokinetic robotic leg extension/flexion dynamometer which can mimic knee joint motion during actual cycling to be used for evaluation of novel functional electrical stimulation strategies. Although the main motivation for development of the dynamometer was for application in FES studies, it has the potential to be used for various different muscle physiology studies.

METHODS

A feedback control system with integrated electrical stimulation for isokinetic knee joint torque measurement has been developed and tested for safety and functionality. The leg extension/flexion device was modified and equipped with a DC motor drive system to imitate isokinetic knee joint motion during cycling when the hip joint remains fixed. Real-time bi-directional effective torque on the lever arm was measured by a magnetostrictive torque sensor and a load cell. Closed-loop motor control system was also designed to mimic the cyclical motion at desired angular velocity.

RESULTS

A functional model of the robotic dynamometer was developed and evaluated. The dynamometer is capable of simulating the knee angle during cycling at a cadence of up to 70 rpm with range of motion of 72^∘. The magnetostrictive torque sensor can measure torque values up to 75 Nm. The lever arm can be adjusted and the target knee angle was controlled with RMSE tracking error of less than 2.1^∘ in tests with and without a test person, and with and without muscle stimulation.

CONCLUSIONS

The isokinetic knee joint torque measurement system was designed and validated in this work, and subsequently used to develop and evaluate novel muscle activation strategies. This is important for fundamental research on effective stimulation patterns and novel activation strategies. This will, in turn, enhance the efficiency of FES cycling exercise and has the potential to improve the health-beneficial effects.

FES Cycling in Stroke: Novel Closed-Loop Algorithm Accommodates Differences in Functional Impairments

OBJECTIVE

The objective of this paper was to develop and test a novel control algorithm that enables stroke survivors to pedal a cycle in a desired cadence range despite varying levels of functional abilities after stroke.

METHODS

A novel algorithm was developed which automatically adjusts 1) the intensity of functional electrical stimulation (FES) delivered to the leg muscles, and 2) the current delivered to an electric motor. The algorithm automatically switches between assistive, uncontrolled, and resistive modes to accommodate for differences in functional impairment, based on the mismatch between the desired and actual cadence. Lyapunov-based methods were used to theoretically prove that the rider's cadence converges to the desired cadence range. To demonstrate the controller's real-world performance, nine chronic stroke survivors performed two cycling trials: 1) volitional effort only and 2) volitional effort accompanied by the control algorithm assisting and resisting pedaling as needed.

RESULTS

With a desired cadence range of 50-55 r/min, the developed controller resulted in an average rms cadence error of 1.90 r/min, compared to 6.16 r/min during volitional-only trials.

CONCLUSION

Using FES and an electric motor with a two-sided cadence control objective to assist and resist volitional efforts enabled stroke patients with varying strength and abilities to pedal within a desired cadence range.

SIGNIFICANCE

A protocol design that constrains volitional movements with assistance and resistance from FES and a motor shows potential for FES cycles and other rehabilitation robots during stroke rehabilitation.

Design and Feasibility Study of a Leg-exoskeleton Assistive Wheelchair Robot with Tests on Gluteus Medius Muscles

The muscles of the lower limbs directly influence leg motion, therefore, lower limb muscle exercise is important for persons living with lower limb disabilities. This paper presents a medical assistive robot with leg exoskeletons for locomotion and leg muscle exercises. It also presents a novel pedal-cycling actuation method with a crank-rocker mechanism. The mechanism is driven by a single motor with a mechanical structure that ensures user safety. A control system is designed based on a master-slave control with sensor fusion method. Here, the intended motion of the user is detected by pedal-based force sensors and is then used in combination with joystick movements as control signals for leg-exoskeleton and wheelchair motions. Experimental data is presented and then analyzed to determine robotic motion characteristics as well as the assistance efficiency with attached electromyogram (EMG) sensors. A typical muscle EMG signal analysis shows that the exercise efficiency for EMG activated amplitudes of the gluteus medius muscles approximates a walking at speed of 3 m/s when cycling at different speeds (i.e., from 16 to 80 r/min) in a wheelchair. As such, the present wheelchair robot is a good candidate for enabling effective gluteus medius muscle exercises for persons living with gluteus medius muscle disabilities.

Setting the pace: insights and advancements gained while preparing for an FES bike race

The reduction in physical activity following a spinal cord injury often leads to a decline in mental and physical health. Developing an exercise program that is effective and enjoyable is paramount for this population. Although functional electrical stimulation (FES) stationary cycling has been utilized in rehabilitation settings, implementing an overground cycling program for those with spinal cord injuries has greater technical challenges. Recently our laboratory team focused on training five individuals with compete spinal cord injuries utilizing an implanted pulse generator for an overground FES bike race in CYBATHLON 2016 held in Zurich, Switzerland. The advancements in muscle strength and endurance and ultimately cycling power our pilots made during this training period not only helped propel our competing pilot to win gold at the CYBATHLON 2016, but allowed our pilots to ride their bikes outside within their communities. Such a positive outcome has encouraged us to put effort into developing more widespread use of FES overground cycling as a rehabilitative tool for those with spinal cord injuries. This commentary will describe our approach to the CYBATHLON 2016 including technological advancements, bike design and the training program.

Towards Parameters and Protocols to Recommend FES-Cycling in Cases of Paraplegia: A Preliminary Report

Functional Electrical Stimulation assisted cycling (FES-Cycling) is increasingly becoming an alternative option recommended to people with spinal cord injury struggling with paraplegia and interested in practicing sports. In order to propose preconditions to guide FES-Cycling recommendation, we aimed to investigate some features and their potential relationships with responsiveness to Neuromuscular Electrical Stimulation (NMES). Fourteen volunteers attended a public recruitment forum to be assessed about their responsiveness through the 16-sessions of NMES. Volunteers were separated in two groups (responsive and non-responsive to NMES) which were investigated in the light of some personal, clinical, structural and functional features. Fifty seven percent of the initial sample responded to electrical stimulation with a visual contraction. This responsive group was predominantly composed by subjects presenting traumatic spinal cord injuries above T12 vertebral level. Only two subjects became responsive at the 3rd and 16th sessions. Among the observed features, the etiology and level of injuries seems to be more associated to responsiveness. Our observations seem to indicate that subjects with traumatic spinal cord injury above T12 level were the best potential candidates for FES-cycling.

Switched Control of Cadence During Stationary Cycling Induced by Functional Electrical Stimulation

Functional electrical stimulation (FES) can be used to activate the dysfunctional lower limb muscles of individuals with neurological disorders to produce cycling as a means of rehabilitation. However, previous literature suggests that poor muscle control and nonphysiological muscle fiber recruitment during FES-cycling causes lower efficiency and power output at the cycle crank than able-bodied cycling, thus motivating the investigation of improved control methods for FES-cycling. In this paper, a stimulation pattern is designed based on the kinematic effectiveness of the rider's hip and knee joints to produce a forward torque about the cycle crank. A robust controller is designed for the uncertain, nonlinear cycle-rider system with autonomous, state-dependent switching. Provided sufficient conditions are satisfied, the switched controller yields ultimately bounded tracking of a desired cadence. Experimental results on four able-bodied subjects demonstrate cadence tracking errors of 0.05 ±1.59 and 5.27 ±2.14 revolutions per minute during volitional and FES-induced cycling, respectively. To establish feasibility of FES-assisted cycling in subjects with Parkinson's disease, experimental results with one subject demonstrate tracking errors of 0.43 ± 4.06 and 0.17 ±3.11 revolutions per minute during volitional and FES-induced cycling, respectively.

A biomechanical cause of low power production during FES cycling of subjects with SCI

BACKGROUND

The goal of Functional Electrical Stimulation (FES) cycling is to provide the health benefits of exercise to persons with paralysis. To achieve the greatest health advantages, patients should produce the highest possible mechanical power. However, the mechanical power output (PO) produced during FES cycling is very low. Unfavorable biomechanics is one of the important factors reducing PO. The purpose of this study was to investigate the primary joints and muscles responsible for power generation and the role of antagonistic co-contraction in FES cycling.

METHODS

Sixteen subjects with complete spinal cord injury (SCI) pedaled a stationary recumbent FES tricycle at 60 rpm and a workload of 15 W per leg, while pedal forces and crank angle were recorded. The joint muscle moments, power and work were calculated using inverse dynamics equations.

RESULTS

Two characteristic patterns were found; in 12 subjects most work was generated by the knee extensors in the propulsion phase (83% of total work), while in 4 subjects most work was shared between by the knee extensors (42%) and flexors (44%), respectively during propulsive and recovery phases. Hip extensors produced only low net work (12 & 7%). For both patterns, extra concentric work was necessary to overcome considerable eccentric work (-82 & -96%).

CONCLUSIONS

The primary power sources were the knee extensors of the quadriceps and the knee flexors of the hamstrings. The antagonistic activity was generally low in subjects with SCI because of the weakness of the hamstrings (compared to quadriceps) and the superficial and insufficient hamstring mass activation with FES.

Leg general muscle moment and power patterns in able-bodied subjects during recumbent cycle ergometry with ankle immobilization

Rehabilitation of persons with pareses commonly uses recumbent pedalling and a rigid pedal boot that fixes the ankle joint from moving. This study was performed to provide general muscle moments (GMM) and joint power data from able-bodied subjects performing recumbent cycling at two workloads. Twenty-six able-bodied subjects pedalled a stationary recumbent tricycle at 60 rpm during passive cycling and at two workloads (low 15 W and high 40 W per leg) while leg kinematics and pedal forces were recorded. GMM and power were calculated using inverse dynamic equations. During the high workload, the hip and knee muscles produced extensor/flexor moments throughout the extensions/flexions phases of the joints. For low workload, a prolonged (crank angle 0-258°) hip extension moment and a shortened range (350-150°) of knee extension moment were observed compared to the corresponding extension phases of each joint. The knee and hip joints generated approximately equal power. At the high workload the hip and knee extensors generated increased power in the propulsion phase. For the first time, this study provides GMM and power patterns for able-bodied subjects performing recumbent cycling with an immobilized ankle. The patterns showed greater similarities to upright cycling with a free ankle, than previously supposed.

Fully automatic control of paraplegic FES pedaling using higher-order sliding mode and fuzzy logic control

In this paper, a fully automatic robust control strategy is proposed for control of paraplegic pedaling using functional electrical stimulation (FES). The method is based on higher-order sliding mode (HOSM) control and fuzzy logic control. In FES, the strength of muscle contraction can be altered either by varying the pulse width (PW) or by the pulse amplitude (PA) of the stimulation signal. The proposed control strategy regulates simultaneously both PA and PW (i.e., PA/PW modulation). A HOSM controller is designed for regulating the PW and a fuzzy logic controller for the PA. The proposed control scheme is free-model and does not require any offline training phase and subject-specific information. Simulation studies on a virtual patient and experiments on three paraplegic subjects demonstrate good tracking performance and robustness of the proposed control strategy against muscle fatigue and external disturbances during FES-induced pedaling. The results of simulation studies show that the power and cadence tracking errors are 5.4% and 4.8%, respectively. The experimental results indicate that the proposed controller can improve pedaling system efficacy and increase the endurance of FES pedaling. The average of power tracking error over three paraplegic subjects is 7.4±1.4% using PA/PW modulation, while the tracking error is 10.2±1.2% when PW modulation is used. The subjects could pedal for 15 min with about 4.1% power loss at the end of experiment using proposed control strategy, while the power loss is 14.3% using PW modulation. The controller could adjust the stimulation intensity to compensate the muscle fatigue during long period of FES pedaling.

Selective activation of the human tibial and common peroneal nerves with a flat interface nerve electrode

OBJECTIVE

Electrical stimulation has been shown effective in restoring basic lower extremity motor function in individuals with paralysis. We tested the hypothesis that a flat interface nerve electrode (FINE) placed around the human tibial or common peroneal nerve above the knee can selectively activate each of the most important muscles these nerves innervate for use in a neuroprosthesis to control ankle motion.

APPROACH

During intraoperative trials involving three subjects, an eight-contact FINE was placed around the tibial and/or common peroneal nerve, proximal to the popliteal fossa. The FINE's ability to selectively recruit muscles innervated by these nerves was assessed. Data were used to estimate the potential to restore active plantarflexion or dorsiflexion while balancing inversion and eversion using a biomechanical simulation.

MAIN RESULTS

With minimal spillover to non-targets, at least three of the four targets in the tibial nerve, including two of the three muscles constituting the triceps surae, were independently and selectively recruited in all subjects. As acceptable levels of spillover increased, recruitment of the target muscles increased. Selective activation of muscles innervated by the peroneal nerve was more challenging.

SIGNIFICANCE

Estimated joint moments suggest that plantarflexion sufficient for propulsion during stance phase of gait and dorsiflexion sufficient to prevent foot drop during swing can be achieved, accompanied by a small but tolerable inversion or eversion moment.

A comparison of closed-loop control algorithms for regulating electrically stimulated knee movements in individuals with spinal cord injury

Functional electrical stimulation (FES) is the most commonly used technology for improving motor function in individuals who have spinal cord injury. Despite the wide range of FES applications reported in the literature, few electrical stimulation systems that can generate meaningful functional outcomes are currently available for use outside research laboratories. We tested proportional-integral-derivative, gain scheduling, and sliding mode control closed-loop control algorithms in a simulation of electrically induced knee extension against gravity to uncover some of the reasons why closed-loop control is not being more widely used in real-world FES systems. We also subjected the simulated FES system to muscle fatigue, muscle spasms, and the effects of muscle retraining. All of the controllers exhibited significantly degraded performance when these real-world nonlinear effects were included in the simulation. Moreover, all of the controllers were sensitive to variation in the parameters of the muscle recruitment function, which are subject to change during real-world FES use. We suggest several ways to improve the performance of closed-loop control algorithms for use in FES applications. We believe that closed-loop controllers have an important place in future FES applications, but the performance of these algorithms must be greatly improved before they can be implemented in real-world systems.

Realization of an active book for multichannel intrathecal root stimulation in spinal cord injury--preliminary results

After spinal cord injury, electrical stimulation of the roots inside the spinal column at the level of the cauda equina is a safe and effective way to regain some degree of control over lower body function, e.g. bladder and bowel management and leg movement. The success of current systems used for so-called intrathecal stimulation is limited by the low number of stimulation channels, which are in consequence of the maximum acceptable number of transdural cables. In order to overcome this limitation, we developed an active electrode with integrated electronics, providing four individual stimulation channels that requires one cable only. This paper outlines the different elements of the so-called active book with the emphasis on its preliminary construction and assembly.

Active books: the design of an implantable stimulator that minimizes cable count using integrated circuits very close to electrodes

This paper presents an integrated stimulator that can be embedded in implantable electrode books for interfacing with nerve roots at the cauda equina. The Active Book overcomes the limitation of conventional nerve root stimulators which can only support a small number of stimulating electrodes due to cable count restriction through the dura. Instead, a distributed stimulation system with many tripole electrodes can be configured using several Active Books which are addressed sequentially. The stimulator was fabricated in a 0.6-μm high-voltage CMOS process and occupies a silicon area of 4.2 × 6.5 mm(2). The circuit was designed to deliver up to 8 mA stimulus current to tripole electrodes from an 18 V power supply. Input pad count is limited to five (two power and three control lines) hence requiring a specific procedure for downloading stimulation commands to the chip and extracting information from it. Supported commands include adjusting the amplitude of stimulus current, varying the current ratio at the two anodes in each channel, and measuring relative humidity inside the chip package. In addition to stimulation mode, the chip supports quiescent mode, dissipating less than 100 nA current from the power supply. The performance of the stimulator chip was verified with bench tests including measurements using tripoles in saline.

A generic model of real-world non-ideal behaviour of FES-induced muscle contractions: simulation tool

Functional electrical stimulation (FES) applications are frequently evaluated in simulation prior to testing in human subjects. Such simulations are usually based on the typical muscle responses to electrical stimulation, which may result in an overly optimistic assessment of likely real-world performance. We propose a novel method for simulating FES applications that includes non-ideal muscle behaviour during electrical stimulation resulting from muscle fatigue, spasms and tremors. A 'non-idealities' block that can be incorporated into existing FES simulations and provides a realistic estimate of real-world performance is described. An implementation example is included, showing how the non-idealities block can be incorporated into a simulation of electrically stimulated knee extension against gravity for both a proportional-integral-derivative controller and a sliding mode controller. The results presented in this paper illustrate that the real-world performance of a FES system may be vastly different from the performance obtained in simulation using nominal muscle models. We believe that our non-idealities block should be included in future simulations that involve muscle response to FES, as this tool will provide neural engineers with a realistic simulation of the real-world performance of FES systems. This simulation strategy will help engineers and organizations save time and money by preventing premature human testing. The non-idealities block will become available free of charge at www.toronto-fes.ca in late 2011.

Force-pain relationship in functional magnetic and electrical stimulation of subjects with paresis and preserved sensation

OBJECTIVE

Using "painless" magnetic stimulation (FMS) to support the cycling of paretic subjects with preserved sensation is possible and potentially superior to electrical stimulation (FES). We investigated the dependence of the torque and the pain evoked by FMS and FES on stimulation conditions in order to optimize magnetic stimulation.

METHODS

Torque and pain induced by quadriceps stimulation in 13 subjects with paresis and preserved sensation (due to multiple sclerosis) were compared under the conditions: (1) small vs large stimulated surfaces of the thigh, (2) varying contraction velocities of the muscle (isometric vs 15 and 30 rpm isokinetic speed), (3) FMS vs FES modalities, and (4) varying magnetic coil locations.

RESULTS

Torque and pain significantly depended on the amount of surface and location of stimulation during FMS, on the stimulation modality, and on the muscle contraction velocity during FES and FMS. FMS with a saddle-shaped coil produced more torque (p<0.05) than any other stimulation modality, even at 30 rpm velocity.

CONCLUSIONS

To support leg cycling of subjects with preserved sensation, the application of FMS stimulation with a large-surface saddle-shaped coil and the focusing of stimulation on the lateral-frontal surface of the thigh produces greater torque and less pain than FES.

SIGNIFICANCE

Optimized magnetic stimulation is a superior alternative to electrical stimulation in the rehabilitation of subjects with preserved sensation.

A comparison of functional electrical and magnetic stimulation for propelled cycling of paretic patients

OBJECTIVE

To compare isometric torque and cycling power, smoothness and symmetry using repetitive functional magnetic stimulation (FMS) and functional electrical stimulation (FES) in patients with paretic legs with preserved sensibility and in patients without sensibility.

DESIGN

Repeated-measures design.

SETTING

Laboratory setting.

PARTICIPANTS

Eleven subjects with complete spinal cord injury (SCI) and 29 subjects with chronic hemiparesis (16.6+/-5.5mo poststroke) volunteered.

INTERVENTIONS

Using a tricycle testbed, participants were exposed to isometric measurements and ergometric cycling experiments, performed during both 20Hz FMS and FES stimulation. Subjects with hemiparesis and with complete SCI were stimulated at maximally tolerable level and maximal intensity, respectively.

MAIN OUTCOME MEASURES

Maximal isometric pedaling torque and mean ergometric power, smoothness, and symmetry were recorded for voluntary, FES, and FMS conditions.

RESULTS

Two different patterns of the efficacy of FMS were identified. (1) Patients with complete SCI did not benefit (less torque and power was evoked with FMS than with FES, P<.003 and 10(-4) respectively). (2) Patients with hemiplegia and preserved sensibility could improve their torque output (P<.05), smoothness, and symmetry of pedaling (P<.05) with FMS more than with FES.

CONCLUSIONS

FMS is a potential alternative to surface FES of the large thigh musculature in stimulation-supported cycling of patients with partially or completely preserved sensibility.

Oxygen consumption during functional electrical stimulation-assisted exercise in persons with spinal cord injury: implications for fitness and health

A lesion in the spinal cord leads in most cases to a significant reduction in active muscle mass, whereby the paralysed muscles cannot contribute to oxygen consumption (VO2) during exercise. Consequently, persons with spinal cord injury (SCI) can only achieve high VO2 values by excessively stressing the upper body musculature, which might increase the risk of musculoskeletal overuse injury. Alternatively, the muscle mass involved may be increased by using functional electrical stimulation (FES). FES-assisted cycling, FES-cycling combined with arm cranking (FES-hybrid exercise) and FES-rowing have all been suggested as candidates for cardiovascular training in SCI. In this article, we review the levels of VO2 (peak [VO2peak] and sub-peak [VO2sub-peak]) that have been reported for SCI subjects using these FES exercise modalities. A systematic literature search in MEDLINE, EMBASE, AMED, CINAHL, SportDiscus and the authors' own files revealed 35 studies that reported on 499 observations of VO2 levels achieved during FES-exercise in SCI. The results show that VO2peak during FES-rowing (1.98 L/min, n = 17; 24.1 mL/kg/min, n = 11) and FES-hybrid exercise (1.78 L/min, n = 67; 26.5 mL/kg/min, n = 35) is considerably higher than during FES-cycling (1.05 L/min, n = 264; 14.3 mL/kg/min, n = 171). VO2sub-peak values during FES-hybrid exercise were higher than during FES-cycling. FES-exercise training can produce large increases in VO2peak; the included studies report average increases of +11% after FES-rowing training, +12% after FES-hybrid exercise training and +28% after FES-cycling training. This review shows that VO2 during FES-rowing or FES-hybrid exercise is considerably higher than during FES-cycling. These observations are confirmed by a limited number of direct comparisons; larger studies to test the differences in effectiveness of the various types of FES-exercise as cardiovascular exercise are needed. The results to date suggest that FES-rowing and FES-hybrid are more suited for high-intensity, high-volume exercise training than FES-cycling. In able-bodied people, such exercise programmes have shown to result in superior health and fitness benefits. Future research should examine whether similar high-intensity and high-volume exercise programmes also give persons with SCI superior fitness and health benefits. This kind of research is very timely given the high incidence of physical inactivity-related health conditions in the aging SCI population.

Cycling for children with neuromuscular impairments using electrical stimulation--development of tricycle-based systems

AIM

Cycling using functional electrical stimulation (FES-cycling) is a well defined exercise method for adults with spinal cord injury (SCI). Although little studied thus far, FES-cycling also has the potential to offer a means of exercise to pediatric populations, such as SCI or cerebral palsy (CP), that presently have few alternative options. The primary aim of this study was to develop FES-cycling equipment and methods which can meet the differing needs of children with SCI and CP.

METHODS

Design criteria were determined based on key considerations for pediatric FES-cycling. Two separate prototype systems for training/recreation and laboratory-based research were built to meet these specifications. To experimentally verify the equipment, FES-cycling tests involving one child with motor complete SCI and one child with diplegic spastic CP were performed using the laboratory system.

RESULTS

Experimental verification indicated that FES-cycling experiments involving children with SCI and CP are feasible provided that accurate measurement of both propulsive and resistive torque is achieved. Specific seating and orthotic needs for each subject population were met by both systems.

CONCLUSION

The FES-cycling systems described here may assist in future investigations of pediatric FES-cycling performance and novel exercise regimes designed specifically for children.

Functional electrical stimulation assisted cycling of patients with subacute stroke: kinetic and kinematic analysis

BACKGROUND

Cycling is a safe and functionally effective exercise for patients with early post-stroke and poor balance. Such exercise is considered even more effective when functional electrical stimulation is added. Our principal aim was to determine the biomechanically quantifiable parameters of cycling that can be improved in patients with subacute hemiparesis by incorporating functional electrical stimulation. These parameters were defined as objective goals that can be achieved in clinical applications. A secondary aim was to determine whether they could be used to identify subjects who would benefit from such therapy.

METHODS

Using a tricycle testbed, we tested 39 subacute (mean 10.9 weeks post-stroke (SD 5.9)), hemiplegic subjects. During isometric measurements we recorded volitional and electrically evoked crank torques, the latter at maximal tolerable intensity. During ergometric measurements, volitional pedaling was alternated with combined pedaling (volitional supported by stimulation), performed at 30-s intervals. Power, smoothness, and symmetry of cycling were evaluated.

FINDINGS

Twenty-six percent of the subjects significantly improved the smoothness of their cycling with functional electrical stimulation. Only 8% and 10% significantly increased their power and symmetry, respectively. The improvement in smoothness significantly correlated with the capability of the individual to generate electrical torque (Spearman's rank correlation coefficient=0.66 at P=0.001).

INTERPRETATION

The smoothness of cycling was the most sensitive parameter improved by functional electrical stimulation. This improvement depended on the amount of torque evoked, and the torque achieved, in turn, correlated with the tolerated intensity of stimulation.

An Integrated Implantable Stimulator That is Fail-Safe Without Off-Chip Blocking-Capacitors

We present a neural stimulator chip with an output stage (electrode driving circuit) that is fail-safe under single-fault conditions without the need for off-chip blocking-capacitors. To miniaturize the stimulator output stage two novel techniques are introduced. The first technique is a new current generator circuit reducing to a single step the translation of the digital input bits into the stimulus current, thus minimizing silicon area and power consumption compared to previous works. The current generator uses voltage-controlled resistors implemented by MOS transistors in the deep triode region. The second technique is a new stimulator output stage circuit with blocking-capacitor safety protection using a high-frequency current-switching (HFCS) technique. Unlike conventional stimulator output stage circuits for implantable functional electrical stimulation (FES) systems which require blocking-capacitors in the microfarad range, our proposed approach allows capacitance reduction to the picofarad range, thus the blocking-capacitors can be integrated on-chip. The prototype four-channel neural stimulator chip was fabricated in XFAB's 1-mum silicon-on-insulator CMOS technology and can operate from a power supply between 5-18 V. The stimulus current is generated by active charging and passive discharging. We obtained recordings of action potentials and a strength-duration curve from the sciatic nerve of a frog with the stimulator chip which demonstrate the HFCS technique. The average power consumption for a typical 1-mA 20-Hz single-channel stimulation using a book electrode, is 200 muW from a 6 V power supply. The silicon area occupation is 0.38 mm(2) per channel.

FES cycling

Spinal cord injury (SCI) leads to a partial or complete disruption of motor, sensory, and autonomic nerve pathways below the level of the lesion. In paraplegic patients, functional electrical stimulation (FES) was originally widely considered as a means to restore walking function but this was proved technically very difficult because of the numerous degrees of freedom involved in walking. FES cycling was developed for people with SCI and has the advantages that cycling can be maintained for reasonably long periods in trained muscles and the risk of falls is low. In the article, we review research findings relevant to the successful application of FES cycling including the effects on muscle size, strength and function, and the cardiovascular and bone changes. We also describe important practical considerations in FES cycling regarding the application of surface electrodes, training and setting up the stimulator limitations, implanted stimulators and FES cycling including FES cycling in groups and other FES exercises such as FES rowing.

Energetics of paraplegic cycling: a new theoretical framework and efficiency characterisation for untrained subjects

Complete lower-limb paralysis resulting from spinal cord injury precludes volitional leg exercise, leading to muscle atrophy and physiological de-conditioning. Cycling can be achieved using phased stimulation of the leg muscles. With training there are positive physiological adaptations and health improvement. Prior to training, however, power output may not be sufficient to overcome losses involved in rotating the legs and little is known about the energetics of untrained paralysed muscles. Here we propose efficiency measures appropriate to subjects with severe physical impairment performing cycle ergometry. These account for useful internal work (i.e. muscular work done in moving leg mass) and are applicable even for very low work rates. Experimentally, we estimated total work efficiency of ten untrained subjects with paraplegia to be 7.6 +/- 2.1% (mean +/- SD). This is close to values previously reported for anaesthetised able-bodied individuals performing stimulated cycling exercise, but is less than 1/3 of that of able-bodied subjects cycling volitionally. Correspondingly, oxygen cost of the work (38.8 +/- 13.9 ml min(-1) W(-1)) was found to be approximately 3.5 times higher. This indicates the need, for increased power output from paralysed subjects, to maximise muscle strength through training, and to improve efficiency by determining better methods of stimulating the individual muscles involved in the exercise.

Functional Output Improvement in FES Cycling by Means of Forced Smooth Pedaling

PURPOSE

Investigation of the influence of forced smooth and normal (nonsmooth) pedaling on the functional output of outdoor functional neuromuscular electrical stimulation (FES)-propelled cycling of spinal cord-injured subjects.

SUBJECTS

Twelve subjects with complete spinal cord injury (T4-T12) and limited previous FES training.

METHOD

Each subject participated in two separate outdoor sessions: once while pedaling a tricycle in a fixed gear, and a second time while free pedaling the same tricycle; both times with FES. Data on distance covered until exhaustion, cadence, and pedal forces were collected. Energy balance calculations led to evaluations of jerk loss and joint-related concentric/eccentric work.

RESULTS

First-trial and total session distances were 68 and 103% longer, respectively, in the forced smooth cycling session than in the free cycling session (P < 0.001). Significantly more additional crank work (accompanied by increased concentric work production) was generated in nonsteady cycling phases to overcome increased jerk losses during free than during fixed-gear pedaling. During fixed-gear pedaling, timing and joint location of muscle work generation were more similar to the cycling of able-bodied subjects than during freewheel pedaling, because most work was generated by knee extensors in the power phase during the former pedaling mode.

CONCLUSIONS

The superiority of forced smooth cycling to free cycling, as regards functional output distance, is based on less energy expenditure (less jerk loss and muscle tension) and on more efficient production of energy (more efficient timing and joint location of work production). Some energetic mechanisms that are advantageous for fixed-gear cycling act predominantly in unsteady phases; others work continuously during all phases of cycling.

Comparison of stimulation patterns for FES-cycling using measures of oxygen cost and stimulation cost

AIM

The energy efficiency of FES-cycling in spinal cord injured subjects is very much lower than that of normal cycling, and efficiency is dependent upon the parameters of muscle stimulation. We investigated measures which can be used to evaluate the effect on cycling performance of changes in stimulation parameters, and which might therefore be used to optimise them. We aimed to determine whether oxygen cost and stimulation cost measurements are sensitive enough to allow discrimination between the efficacy of different activation ranges for stimulation of each muscle group during constant-power cycling.

METHODS

We employed a custom FES-cycling ergometer system, with accurate control of cadence and stimulated exercise workrate. Two sets of muscle activation angles ("stimulation patterns"), denoted "P1" and "P2", were applied repeatedly (eight times each) during constant-power cycling, in a repeated measures design with a single paraplegic subject. Pulmonary oxygen uptake was measured in real time and used to determine the oxygen cost of the exercise. A new measure of stimulation cost of the exercise is proposed, which represents the total rate of stimulation charge applied to the stimulated muscle groups during cycling. A number of energy-efficiency measures were also estimated.

RESULTS

Average oxygen cost and stimulation cost of P1 were found to be significantly lower than those for P2 (paired t-test, p<0.05): oxygen costs were 0.56+/-0.03l min-1 and 0.61+/-0.04l min-1 (mean+/-S.D.), respectively; stimulation costs were 74.91+/-12.15 mC min-1 and 100.30+/-14.78 mC min-1 (mean+/-S.D.), respectively. Correspondingly, all efficiency estimates for P1 were greater than those for P2.

CONCLUSION

Oxygen cost and stimulation cost measures both allow discrimination between the efficacy of different muscle activation patterns during constant-power FES-cycling. However, stimulation cost is more easily determined in real time, and responds more rapidly and with greatly improved signal-to-noise properties than the ventilatory oxygen uptake measurements required for estimation of oxygen cost. These measures may find utility in the adjustment of stimulation patterns for achievement of optimal cycling performance.

Fahrradfahren Querschnittgel�hmter mittels funktioneller Elektrostimulation

Cycling using functional electrical stimulation offers paraplegics the possibility of muscle and cardiovascular training as well as the chance for independent locomotion. To investigate whether this method might be suitable for a large group of paraplegics, the first German feasibility study of functional electrical stimulation (FES) cycling with seven paraplegic patients was started at the beginning of 2003. Even at the beginning of the study, and without training, these patients were able to drive distances of 0.5-1.6 km. To stimulate cardiovascular adaptation processes in the case of FES ergometer training or to cover useful distances in the case of FES cycling, a minimum amount of generated mechanical output power is required, which as a rule cannot be achieved yet. In this study, we point out two particular aspects of FES cycling, which impair power output: prolonged fatigue mode and viscous joint friction of the paraplegic FES cyclist. We discuss current possibilities for increasing output power and endurance.