In Vivo Estimation of Human Forearm and Wrist Dynamic Properties

Movement preferences of the wrist and forearm during activities of daily living

BACKGROUND

During activities of daily living, the main degrees of freedom of the forearm and wrist-forearm pronation-supination (PS), wrist flexion-extension (FE), and wrist radial-ulnar deviation (RUD)-combine seamlessly to allow the hand to engage with and manipulate objects in our environment. Yet the combined behavior of these three degrees of freedom is relatively unknown.

PURPOSE

To provide a characterization of natural forearm and wrist kinematics (joint configuration, movement direction, and speed) during activities of daily living.

STUDY DESIGN

This is a descriptive cross-sectional study.

METHODS

Ten healthy subjects performed 24 activities of daily living chosen to represent a wide variety of activities, while we measured their PS, FE, and RUD angles using electromagnetic motion capture. The orientation of the forearm and wrist was represented in the three-dimensional "configuration space" spanned by PS, FE, and RUD. From the time course of forearm and wrist orientation in configuration space, we extracted three-dimensional distributions of joint configuration, movement direction, and speed.

RESULTS

Most joint configurations were focused in a relatively small area: subjects spent roughly 50% of the time in the central 20% of their functional range of motion. Some movement directions were significantly more common than others (p < 0.001); in particular, the direction of the dart-thrower's motion (DTM) was about three times more common than motion perpendicular to it. Most movements were slow: the likelihood of moving at increasing speeds dropped off exponentially. Interestingly, the most common high-speed motion combined the DTM with a twist from pronation to supination. As this motion allows one to pick up an object in front of one's body and bring it to the head, it is essential for self-care. Thus, although many activities of daily living follow the DTM without significant forearm rotation, the greatest importance of the DTM may lie in its combination with forearm rotation.

CONCLUSIONS

Despite the wide variety of activities, we found evidence of preferred movement behavior, and this behavior showed significant coupling between the wrist and forearm.

Effects of Electromyography Bridge on Upper Limb Motor Functions in Stroke Participants: An Exploratory Randomized Controlled Trial

The electromyography bridge (EMGB) plays an important role in promoting the recovery of wrist joint function in stroke patients. We investigated the effects of the EMGB on promoting the recovery of upper limb function in hemiplegia. Twenty-four stroke patients with wrist dorsal extension dysfunction were recruited. Participants were randomized to undergo EMGB treatment or neuromuscular electrical stimulation (NMES). Treatments to wrist extensors were conducted for 25 min, twice a day, 5 days per week, for 1 month. Outcome measures: active range of motion (AROM) of wrist dorsal extension; Fugl-Meyer assessment for upper extremity (FMA-UE); Barthel index (BI); and muscle strength of wrist extensors. After interventions, patients in the NMES group had significantly greater improvement in the AROM of wrist dorsal extension at the 4th week and 1st month follow-up (p < 0.05). However, patients in the EMGB group had a statistically significant increase in AROM only at the follow-up assessment. No significant differences were observed in the AROM between the EMGB group and the NMES group (p > 0.05). For secondary outcomes in the EMGB group, compared to baseline measurements, FMA-UE, BI, extensor carpi radialis and extensor carpi ulnaris muscle strength were significantly different as early as the 4th week (p < 0.05). The muscle strength of the extensor digitorum communis muscle showed significant differences at the follow-up (p < 0.05). There were no statistically significant differences between patients in the two groups in any of the parameters evaluated (p > 0.05). The combination of EMGB or NMES with conventional treatment had similar effects on the improvement of the hemiplegic upper limb as assessed by wrist dorsal extension, FMA-UE, and activities of daily living. The improvement in both groups was maintained until 1 month after the intervention.

Four methods of brain pattern analyses of fMRI signals associated with wrist extension versus wrist flexion studied for potential use in future motor learning BCI

OBJECTIVE

In stroke survivors, a treatment-resistant problem is inability to volitionally differentiate upper limb wrist extension versus flexion. When one intends to extend the wrist, the opposite occurs, wrist flexion, rendering the limb non-functional. Conventional therapeutic approaches have had limited success in achieving functional recovery of patients with chronic and severe upper extremity impairments. Functional magnetic resonance imaging (fMRI) neurofeedback is an emerging strategy that has shown potential for stroke rehabilitation. There is a lack of information regarding unique blood-oxygenation-level dependent (BOLD) cortical activations uniquely controlling execution of wrist extension versus uniquely controlling wrist flexion. Therefore, a first step in providing accurate neural feedback and training to the stroke survivor is to determine the feasibility of classifying (or differentiating) brain activity uniquely associated with wrist extension from that of wrist flexion, first in healthy adults.

APPROACH

We studied brain signal of 10 healthy adults, who performed wrist extension and wrist flexion during fMRI data acquisition. We selected four types of analyses to study the feasibility of differentiating brain signal driving wrist extension versus wrist flexion, as follows: 1) general linear model (GLM) analysis; 2) support vector machine (SVM) classification; 3) 'Winner Take All'; and 4) Relative Dominance.

RESULTS

With these four methods and our data, we found that few voxels were uniquely active during either wrist extension or wrist flexion. SVM resulted in only minimal classification accuracies. There was no significant difference in activation magnitude between wrist extension versus flexion; however, clusters of voxels showed extension signal > flexion signal and other clusters vice versa. Spatial patterns of activation differed among subjects.

SIGNIFICANCE

We encountered a number of obstacles to obtaining clear group results in healthy adults. These obstacles included the following: high variability across healthy adults in all measures studied; close proximity of uniquely active voxels to voxels that were common to both the extension and flexion movements; in general, higher magnitude of signal for the voxels common to both movements versus the magnitude of any given uniquely active voxel for one type of movement. Our results indicate that greater precision in imaging will be required to develop a truly effective method for differentiating wrist extension versus wrist flexion from fMRI data.

Combined real-time fMRI and real time fNIRS brain computer interface (BCI): Training of volitional wrist extension after stroke, a case series pilot study

Objective

Pilot testing of real time functional magnetic resonance imaging (rt-fMRI) and real time functional near infrared spectroscopy (rt-fNIRS) as brain computer interface (BCI) neural feedback systems combined with motor learning for motor recovery in chronic severely impaired stroke survivors.

Approach

We enrolled a four-case series and administered three sequential rt-fMRI and ten rt-fNIRS neural feedback sessions interleaved with motor learning sessions. Measures were: Arm Motor Assessment Tool, functional domain (AMAT-F; 13 complex functional tasks), Fugl-Meyer arm coordination scale (FM); active wrist extension range of motion (ROM); volume of activation (fMRI); and fNIRS HbO concentration. Performance during neural feedback was assessed, in part, using percent successful brain modulations during rt-fNIRS.

Main results

Pre-/post-treatment mean clinically significant improvement in AMAT-F (.49 ± 0.22) and FM (10.0 ± 3.3); active wrist ROM improvement ranged from 20° to 50°. Baseline to follow-up change in brain signal was as follows: fMRI volume of activation was reduced in almost all ROIs for three subjects, and for one subject there was an increase or no change; fNIRS HbO was within normal range, except for one subject who increased beyond normal at post-treatment. During rt-fNIRS neural feedback training, there was successful brain signal modulation (42%–78%).

Significance

Severely impaired stroke survivors successfully engaged in spatially focused BCI systems, rt-fMRI and rt-fNIRS, to clinically significantly improve motor function. At the least, equivalency in motor recovery was demonstrated with prior long-duration motor learning studies (without neural feedback), indicating that no loss of motor improvement resulted from substituting neural feedback sessions for motor learning sessions. Given that the current neural feedback protocol did not prevent the motor improvements observed in other long duration studies, even in the presence of fewer sessions of motor learning in the current work, the results support further study of neural feedback and its potential for recovery of motor function in stroke survivors. In future work, expanding the sophistication of either or both rt-fMRI and rt-fNIRS could hold the potential for further reducing the number of hours of training needed and/or the degree of recovery.

ClinicalTrials.gov ID:NCT02856035.

Biomechanical evaluation of axial-loading simulated experiment in wrist fractures: a finite element analysis

Objective

To assess the biomechanical properties that influence wrist fracture, so as to provide the theoretical basis for simulation experiments to aid the optimal design of wrist protectors.

Methods

Six cadaveric wrists were included as experimental specimens. Wrist specimens wearing wrist protectors formed the experimental group and unprotected wrist specimens formed the control group. The wrist specimens were axially loaded under physiological loads and the stress magnitude and distribution of the experimental and control groups were obtained. A three-dimensional wrist finite element model of a healthy volunteer was developed to verify the rationality and effectiveness of the cadaveric wrist models.

Results

Under normal physiological loads, the stress on the radioulnar palmar unit was high and manifested in the form of pressure, while the stress on the radioulnar dorsal unit was lower and manifested in the form of tension. The stresses on the radial distal palmar, ulnar distal palmar, radial distal dorsal, ulnar distal dorsal, radial proximal palmar and ulnar proximal palmar units in the experimental group were less than those in the control group.

Conclusion

Under physiological loads, wearing a wrist protector can reduce the stress on the radioulnar distal palmar, radioulnar proximal palmar and radioulnar distal dorsal units, while having no obvious effect on the radioulnar proximal dorsal units.

Estimating Human Wrist Stiffness during a Tooling Task

In this work, we propose a practical approach to estimate human joint stiffness during tooling tasks for the purpose of programming a robot by demonstration. More specifically, we estimate the stiffness along the wrist radial-ulnar deviation while a human operator performs flexion-extension movements during a polishing task. The joint stiffness information allows to transfer skills from expert human operators to industrial robots. A typical hand-held, abrasive tool used by humans during finishing tasks was instrumented at the handle (through which both robots and humans are attached to the tool) to assess the 3D force/torque interactions between operator and tool during finishing task, as well as the 3D kinematics of the tool itself. Building upon stochastic methods for human arm impedance estimation, the novelty of our approach is that we rely on the natural variability taking place during the multi-passes task itself to estimate (neuro-)mechanical impedance during motion. Our apparatus (hand-held, finishing tool instrumented with motion capture and multi-axis force/torque sensors) and algorithms (for filtering and impedance estimation) were first tested on an impedance-controlled industrial robot carrying out the finishing task of interest, where the impedance could be pre-programmed. We were able to accurately estimate impedance in this case. The same apparatus and algorithms were then applied to the same task performed by a human operators. The stiffness values of the human operator, at different force level, correlated positively with the muscular activity, measured during the same task.

PDMeter: A Wrist Wearable Device for an at-Home Assessment of the Parkinson's Disease Rigidity

This work focuses on the design and the validation of a wearable mechatronic device for an at-home assessment of wrist stiffness in patients affected by Parkinson's Disease (PD). The device includes one actuated joint and four passive revolute joints with a high overall intrinsic backdriveability. In order to allow the user to freely move the wrist during activities of daily living, we implemented a transparent controller on the basis of the interaction force sensed by the embedded load cell. Conversely, in order to provide perturbations for estimating the wrist flexion-extension rigidity, we implemented a torque controller. Firstly, we report a pilot study that aimed at characterizing the device in terms of range of motion (ROM) allowed, transparency perceived and torque-tracking capability. Then, we present a case study in which we tested our device with seven PD patients in both drug-OFF and drug-ON conditions and we compared the measured stiffness with the one measured in fourteen healthy controls and with the outcome of the most used clinical scale (MDS-UPDRS). The device allowed to successfully estimate the stiffness as different depending on the movement direction. Indeed, extension stiffness was higher than the flexion one, accordingly to the literature. Moreover, the device allowed to discriminate both Healthy subjects from PD subjects, and PD subjects in OFF condition from PD subjects in ON condition. In conclusion, we demonstrate the feasibility of the device in measuring wrist rigidity, thus enabling the possibility to implement an at-home assessment of the PD rigidity.

A geometric framework for the estimation of joint stiffness of the human wrist

Estimating joint stiffness is of paramount importance for studying human motor control and for clinical assessment of neurological diseases. Usually stiffness estimation is performed using cumbersome instrumentations (e.g. robots), and by approximating robot joint angles and torques to the human ones. This paper proposes a methodology and an experimental setup to measure wrist joint stiffness in unstructured environments, with the twofold aim of: 1) providing a geometric framework in order to derive angular displacements and torques at the wrist Flexion/Extension (FE) and Radial/Ulnar Deviation (RUD) axes of rotation, using a subject specific kinematic model; 2) suggesting an experimental setup made of two portable sensors for motion tracking and one load cell, to allow for measurements in out-of-the-lab scenarios. We tested our method on a hardware mockup of wrist kinematics, providing a ground truth for estimated angles and torques at FE and RUD joints. The experimental validation showed average absolute errors in FE and RUD angles of 0.005 rad and 0.0167 rad respectively, and an average error of FE and RUD torques of 0.006 Nm and 0.003 Nm.

Model-based analysis of the stiffness of the wrist joint in active and passive conditions

The control of joint stiffness is a fundamental mechanism used to control human movements. While many studies have observed how stiffness is modulated for tasks involving shoulder and elbow motion, a limited amount of knowledge is available for wrist movements, though the wrist plays a crucial role in manipulation. We have developed a computational framework based on a realistic musculoskeletal model, which al to calculate the passive and active components of the wrist joint stiffness. We first used the framework to validate the musculoskeletal model against experimental measurements of the wrist joint stiffness, and then to study the contribution of different muscle groups to the passive joint stiffness. We finally used the framework to study the effect of muscle co-contraction on the active joint stiffness. The results show that thumb and finger muscles play a crucial role in determining the passive wrist joint stiff- ness: in the neutral posture, the direction of maximum stiffness aligns with the experimental measurements, and the magnitude increases by 113% when they are included. Moreover, the analysis of the controllability of joint stiffness showed that muscle co-contraction positively correlates with the stiffness magnitude and negatively correlates with the variability of the stiffness orientation (p < 0.01 in both cases). Finally, an exhaustive search showed that with appropriate selection of a muscle activation strategy, the joint stiffness orientation can be arbitrarily modulated. This observation suggests the absence of biomechanical constraints on the controllability of the orientation of the wrist joint stiffness.

Control of redundant pointing movements involving the wrist and forearm

The musculoskeletal system can move in more ways than are strictly necessary, allowing many tasks to be accomplished with a variety of limb configurations. Why some configurations are preferred has been a focus of motor control research, but most studies have focused on shoulder-elbow or whole arm movements. This study focuses on movements involving forearm pronation-supination (PS), wrist flexion-extension (FE), and wrist radial-ulnar deviation (RUD) and elucidates how these three degrees of freedom (DOF) combine to perform the common task of pointing, which only requires two DOF. Although pointing is more sensitive to FE and RUD than to PS and could be easily accomplished with FE and RUD alone, subjects tend to involve a small amount of PS. However, why we choose this behavior has been unknown and is the focus of this paper. With the use of a second-order model with lumped parameters, we tested a number of plausible control strategies involving minimization of work, potential energy, torque, and path length. None of these control schemes robustly predicted the observed behavior. However, an alternative control scheme, hypothesized to control the DOF that were most important to the task (FE and RUD) and ignore the less important DOF (PS), matched the observed behavior well. In particular, the behavior observed in PS appears to be a mechanical side effect caused by unopposed interaction torques. We conclude that moderately sized pointing movements involving the wrist and forearm are controlled by ignoring forearm rotation even though this strategy does not robustly minimize work, potential energy, torque, or path length. NEW & NOTEWORTHY Many activities require us to point our hands in a given direction using wrist and forearm rotations. Although there are infinitely many ways to do this, we tend to follow a stereotyped pattern. Why we choose this pattern has been unknown and is the focus of this paper. After testing a variety of hypotheses, we conclude that the pattern results from a simplifying strategy in which we focus on wrist rotations and ignore forearm rotation.