Bimanual training in stroke: How do coupling and symmetry-breaking matter?

Bilateral versus unilateral upper limb training in (sub)acute stroke: A systematic and meta-analysis

Background

Integrating high dosage bilateral movements to improve upper limb (UL) recovery after stroke is a rehabilitation strategy that could potentially improve bimanual activities.

Objectives

This study aims to compare the effects of bilateral with unilateral UL training on upper limb impairments and functional independence in (sub)acute stroke.

Method

Five electronic databases (PubMed, Scopus, PEDro, ScienceDirect, Web of Science) were systematically searched from inception to June 2023. Randomised controlled trials comparing the effect of bilateral training to unilateral training in stroke survivors (< 6 months poststroke) were included. The treatment effect was computed by the standard mean differences (SMDs).

Results

The review included 14 studies involving 706 participants. Bilateral training yielded a significant improvement on UL impairments measured by FMA-UE compared to unilateral training (SMD = 0.48; 95% CI: 0.08 to 0.88; P = 0.02). In addition, subgroup analysis based on the severity of UL impairments reported significant results in favour of bilateral UL training in improving UL impairments compared to unilateral training in "no motor capacity" patients (SMD = 0.66; 95% CI: 0.16 to 1.15; P = 0.009). Furthermore, a significant difference was observed in favour of bilateral UL training compared to unilateral UL training on daily activities measured by Functional Independence Measure (SMD = 0.45; 0.13 to 0.78; P = 0.006).

Conclusion

Bilateral UL training was superior to unilateral training in improving impairments measured by FMA-UE and functional independence in daily activities measured by Functional Independence Measure in (sub)acute stroke.

Clinical implications

Bilateral upper limb training promotes recovery of impairments and daily activities in (sub)acute phase of stroke.

In-depth quantification of bimanual coordination using the Kinarm exoskeleton robot in children with unilateral cerebral palsy

BACKGROUND

Robots have been proposed as tools to measure bimanual coordination in children with unilateral cerebral palsy (uCP). However, previous research only examined one task and clinical interpretation remains challenging due to the large amount of generated data. This cross-sectional study aims to examine bimanual coordination by using multiple bimanual robotics tasks in children with uCP, and their relation to task execution and unimanual performance.

METHODS

The Kinarm exoskeleton robot was used in 50 children with uCP (mean age: 11 years 11 months ± 2 years 10 months, Manual Ability Classification system (MACS-levels: l = 27, ll = 16, lll = 7)) and 50 individually matched typically developing children (TDC). All participants performed three tasks: object-hit (hit falling balls), ball-on-bar (balance a ball on a bar while moving to a target) and circuit task (move a cursor along a circuit by making horizontal and vertical motions with their right and left hand, respectively). Bimanual parameters provided information about bimanual coupling and interlimb differences. Differences between groups and MACS-levels were investigated using ANCOVA with age as covariate (α < 0.05, [Formula: see text]). Correlation analysis (r) linked bimanual coordination to task execution and unimanual parameters.

RESULTS

Children with uCP exhibited worse bimanual coordination compared to TDC in all tasks (p ≤ 0.05, [Formula: see text] = 0.05-0.34). The ball-on-bar task displayed high effect size differences between groups in both bimanual coupling and interlimb differences (p < 0.001, [Formula: see text] = 0.18-0.36), while the object-hit task exhibited variations in interlimb differences (p < 0.001, [Formula: see text] = 0.22-0.34) and the circuit task in bimanual coupling (p < 0.001, [Formula: see text] = 0.31). Mainly the performance of the ball-on-bar task (p < 0.05, [Formula: see text] = 0.18-0.51) was modulated by MACS-levels, showing that children with MACS-level lll had worse bimanual coordination compared to children with MACS-level l and/or II. Ball-on-bar outcomes were highly related to task execution (r = - 0.75-0.70), whereas more interlimb differences of the object-hit task were moderately associated with a worse performance of the non-dominant hand (r = - 0.69-(- 0.53)).

CONCLUSION

This study gained first insight in important robotic tasks and outcome measures to quantify bimanual coordination deficits in children with uCP. The ball-on-bar task showed the most discriminative ability for both bimanual coupling and interlimb differences, while the object-hit and circuit tasks are unique to interlimb differences and bimanual coupling, respectively.

Investigating the Effect of Novel Gamified Stepper on Lower Limb Biomechanics in Seated Healthy Subjects

The present study introduces a new gamified stepper device designed for bilateral lower limb rehabilitation, which is combined with a 3-D exergame. To the best of our knowledge, this is the initial study to utilize the stepping exercise for seated lower limb rehabilitation. The device comprises a stepping mechanism and a magnetic encoder. The modified stepper facilitates the bilateral training in the lower limb within its workspace. The magnetic encoder provides real-time rotational angle data during the exercise. A task-specific exergame platform was created and integrated with the device to enhance user compliance and engagement with the exercise. Experiments were conducted with ten healthy individuals with no history of lower limb injury to evaluate the system's feasibility for providing bilateral training and the effectiveness of the exergame platform. Participants were asked to perform bilateral lower limb exercise with a metronome and gamified stepper device in a seated position. Lower limb range of motion (ROM) and EMG activations were recorded during the exercises. The results indicate that the device was capable of providing cyclical ROM training with reduced muscle activation of the lower limb, and the exergame platform increased motivation to continue the exercises. This study can serve as the foundation for developing a robotic version of the proposed stepper device.

Redundancy Resolution in Trimanual vs. Bimanual Tracking Tasks

Supernumerary limbs promise to allow users to perform complex tasks that would otherwise require the actions of teams. However, how the user's capability for multimanual coordination compares to bimanual coordination, and how the motor system decides to configure its limb contributions given task redundancy is unclear. We conducted bimanual and trimanual (with the foot as a third-hand controller) virtual reality visuomotor tracking experiments to study how 32 healthy participants changed their limb coordination in response to uninstructed cursor mapping changes. This used a shared cursor mapped to the average limbs' position for different limb combinations. The results show that most participants correctly identified the different mappings during bimanual tracking, and accordingly minimized task-irrelevant motion. Instead during trimanual coordination, participants consistently moved all three limbs concurrently, showing weaker ipsilateral hand-foot coordination. These findings show how redundancy resolution and the resulting coordination patterns differ between similar bimanual and trimanual tasks. Further research is needed to consider the effect of learning on coordination behaviour.

Factors Affecting the Delay of intravenous Thrombolysis in Hyperacute Ischemic Stroke Patients: A Single Centre Study

Introduction

Intravenous thrombolysis with r-tPA is the gold standard procedure in managing acute ischemic stroke recommended by the World Stroke Association, which is performed by injecting the drug r-tPA (Alteplase) intravenously. Generally, the preparation time to achieve thrombolysis is divided into pre-hospital and in-hospital. If this time can be shortened, the efficacy of thrombolysis can be increased. This study aims to determine the factors that can affect the delay in thrombolysis.

Methods

This is an analytic observational study with a retrospective cohort design in ischemic stroke confirmed by a neurologist at the neurology emergency unit of Hasan Sadikin Hospital (RSHS) from January 2021 to December 2021 and divided into two groups, delay and non-delay thrombolysis. A logistic regression test was performed to determine the independent predictor of delayed thrombolysis.

Results

There were 141 patients with an ischemic stroke diagnosis confirmed by a neurologist at the neurological emergency unit at Hasan Sadikin Hospital (RSHS) from January 2021 to December 2021. A total of 118 (83.69%) patients were included in the "delay" category, while 23 (16.31%) patients were included in the "non-delay" category. Patients included in the "delay" category had an average age of 58.29+11.19 years with a male-to-female sex ratio of 57%, while patients included in the "non-delay" category had an average age of 55.57+15.55 years with a male-to-female sex ratio of 66%. The NIHSS admission score was a significant risk factor for delayed thrombolysis. Through multiple logistic regression, it was found that age, onset, female gender, NIHSS admission score, and NIHSS discharge score were independent predictors of delayed thrombolysis. However, all of them were not statistically significant.

Conclusion

Gender, risk factors for dyslipidemia, and arrival onset are independent predictors of delayed thrombolysis. Prehospital factors contribute relatively more to the delay in thrombolytic action.

The effect of elastic and viscous force fields on bimanual coordination

Bimanual in-phase and anti-phase coordination modes represent two basic movement patterns with distinct characteristics-homologous muscle contraction and non-homologous muscle contraction, respectively. A method to understand the contribution of each limb to the overall coordination pattern involves detuning (Δω) the natural eigenfrequency of each limb. In the present experiment, we experimentally broke the symmetry between the two upper limbs by adding elastic and viscous force fields using a Kinarm robot exoskeleton. We measured the effect of this symmetry breaking on coordination stability as participants performed bimanual in-phase and anti-phase movements using their left and right hand in 1:1 frequency locking mode. Differences between uncoupled frequencies were manipulated via the application of viscous & elastic force fields and using fast and slow oscillation frequencies with a custom task developed using the Kinarm robotic exoskeleton. The effects of manipulating the asymmetry between the limbs were measured through the mean and variability of relative phase (ϕ) from the intended modes of 0 ° or 180 °. In general, participants deviated less from intended phase irrespective of coordination mode in all matched conditions, except for when elastic loads are applied to both arms in the anti-phase coordination. Second, we found that when force fields were mismatched participants exhibited a larger deviation from the intended phase. Overall, there was increased phase deviation during anti-phase coordination. Finally, participants exhibited higher variability in relative phase in mismatched force conditions compared to matched force conditions, with overall higher variability during anti-phase coordination mode. We extend previous research by demonstrating that symmetry breaking caused by force differences between the limbs disrupts stability in each coordination mode.

How virtual and mechanical coupling impact bimanual tracking

Bilateral training systems look to promote the paretic hand's use in individuals with hemiplegia. Although this is normally achieved using mechanical coupling (i.e., a physical connection between the hands), a virtual reality system relying on virtual coupling (i.e., through a shared virtual object) would be simpler to use and prevent slacking. However, it is not clear whether different coupling modes differently impact task performance and effort distribution between the hands. We explored how 18 healthy right-handed participants changed their motor behaviors in response to the uninstructed addition of mechanical coupling, and virtual coupling using a shared cursor mapped to the average hands' position. In a second experiment, we then studied the impact of connection stiffness on performance, perception, and effort imbalance. The results indicated that both coupling types can induce the hands to actively contribute to the task. However, the task asymmetry introduced by using a cursor mapped to either the left or right hand only modulated the hands' contribution when not mechanically coupled. The tracking performance was similar for all coupling types, independent of the connection stiffness, although the mechanical coupling was preferred and induced the hands to move with greater correlation. These findings suggest that virtual coupling can induce the hands to actively contribute to a task in healthy participants without hindering their performance. Further investigation on the coupling types' impact on the performance and hands' effort distribution in patients with hemiplegia could allow for the design of simpler training systems that promote the affected hand's use.NEW & NOTEWORTHY We showed that the uninstructed addition of a virtual and/or a mechanical coupling can induce both hands to actively contribute in a continuous redundant bimanual tracking task without impacting performance. In addition, we showed that the task asymmetry can only alter the effort distribution when the hands are not connected, independent of the connection stiffness. Our findings suggest that virtual coupling could be used in the development of simpler VR-based training devices.

Lateralization of Impedance Control in Dynamic Versus Static Bimanual Tasks

In activities of daily living that require bimanual coordination, humans often assign a role to each hand. How do task requirements affect this role assignment? To address this question, we investigated how healthy right-handed participants bimanually manipulated a static or dynamic virtual object using wrist flexion/extension while receiving haptic feedback through the interacting object's torque. On selected trials, the object shook strongly to destabilize the bimanual grip. Our results show that participants reacted to the shaking by increasing their wrist co-contraction. Unlike in previous work, handedness was not the determining factor in choosing which wrist to co-contract to stabilize the object. However, each participant preferred to co-contract one hand over the other, a choice that was consistent for both the static and dynamic objects. While role allocation did not seem to be affected by task requirements, it may have resulted in different motor behaviours as indicated by the changes in the object torque. Further investigation is needed to elucidate the factors that determine the preference in stabilizing with either the dominant or non-dominant hand.

Construct Validity of the Upper-Limb Interlimb Coordination Test in Stroke

Background

Coordination impairments are under-evaluated in patients with stroke due to the lack of validated assessments resulting in an unclear relationship between coordination deficits and functional limitations.

Objective

Determine the construct validity of the new clinical upper-limb (UL) Interlimb Coordination test (ILC2) in individuals with chronic stroke.

Methods

Thirteen individuals with stroke, ≥40 years, with ≥30° isolated supination of the more-affected (MAff) arm, who could understand instructions and 13 healthy controls of similar age participated in a cross-sectional study. Participants performed synchronous bilateral anti-phase forearm rotations for 10 seconds in 4 conditions: self-paced internally-paced (IP1), fast internally-paced (IP2), slow externally-paced (EP1), and fast externally-paced (EP2). Primary (continuous relative phase-CRP, cross-correlation, lag) and secondary outcome measures (UL and trunk kinematics) were compared between groups.

Results

Participants with stroke made slower UL movements than controls in all conditions, except EP1. Cross-correlation coefficients were lower (i.e., closer to 0) in stroke in IP1, but CRP and lag were similar between groups. In IP1 and matched-speed conditions (IP1 for healthy and IP2 for stroke), stroke participants used compensatory trunk and shoulder movements. The synchronicity sub-scale and total scores of ILC2 were related to temporal coordination in IP2. Interlimb Coordination test total score was related to greater shoulder rotation of the MAff arm. Interlimb Coordination test scores were not related to clinical scores.

Conclusion

Interlimb Coordination test is a valid clinical measure that may be used to objectively assess UL interlimb coordination in individuals with chronic stroke. Further reliability testing is needed to determine the clinical utility of the scale.

Bimanual motor performance in everyday life activities of children with hemiplegic cerebral palsy

BACKGROUND

Motor impairments in children with cerebral palsy significantly reduce their ability to learn and adapt bimanual actions into their life roles. The current evidence on bimanual coordination performance in children with hemiplegic cerebral palsy were mostly drawn from kinematic studies. Whether these kinematic findings on bimanual motor performance can be observed when performing daily life activities in a natural environment is not clear. Further, there is no evidence what and how the verbal prompting influences bilateral motor performance. We intend to explore its role on bimanual motor performance as well.

AIM

This study aimed to investigate the bimanual motor performance in everyday life activities of children with hemiplegic cerebral palsy and the role of verbal prompts in facilitating affected hand use.

DESIGN

Observational study.

SETTING

Local medical center and community.

POPULATION

Twenty-five children with hemiplegic cerebral palsy and 25 age-matched typically developing children.

METHODS

The Observation-based Test of Capacity, Performance, and Developmental Disregard and Melbourne Assessment 2 were used to assess the quantitative and qualitative use of hands in everyday activities.

RESULTS

Children with hemiplegic cerebral palsy, demonstrated different motor coordination patterns in daily bimanual activities compared with their counterparts. With verbal prompts, children with hemiplegic cerebral palsy significantly increased the use of their affected hands in bimanual activities. However, the increases were observed only in basic motor components, such as reaching and grasping, and not in complex motor components such as manipulation.

CONCLUSIONS

These findings will assist researchers and clinicians to develop and refine intervention programs that maximize rehabilitation benefits in improving bimanual hand coordination performance for children with hemiplegic cerebral palsy.

CLINICAL REHABILITATION IMPACT

This study increased our understanding of bimanual motor performance of children with hemiplegic cerebral palsy in everyday life activities. The results demonstrated children with cerebral palsy rely more on their less-affected hand to perform bimanual activities with or without verbal prompts. Incorporating bimanual activities and verbal prompts during intervention may only be effective on facilitating basic hand movements but not on improving complex movements of affected hands. Further research is needed to explore other intervention strategies to facilitate complex bilateral hand movements.

Kinematic Measures of Bimanual Performance are Associated With Callosum White Matter Change in People With Chronic Stroke

Objectives

To investigate the relationship between bimanual performance deficits measured using kinematics and callosum (CC) white matter changes that occur in people with chronic stroke.

Design

Cross-sectional, observational study of participants with chronic stroke and age-matched controls.

Setting

Recruitment and assessments occurred at a stroke recovery research center. Behavioral assessments were performed in a controlled laboratory setting. Magnetic resonance imaging scans were performed at the Center for Biomedical Imaging.

Participants

Individuals were enrolled and completed the study (N=39; 21 participants with chronic stroke; 18 age-matched controls with at least 2 stroke risk factors).

Main Outcome Measures

Diffusion imaging metrics were obtained for each individual’s CC and corticospinal tract (CST), including mean kurtosis (MK) and fractional anisotropy (FA). A battery of motor assessments, including bimanual kinematics, were collected from individuals while performing bimanual reaching.

Results

Participants with stroke had lower FA and MK in the CST of the lesioned hemisphere when compared with the non-lesioned hemisphere. The FA and MK values in the CST were correlated with measures of unimanual hand performance. In addition, participants with stroke had significantly lower FA and MK in the CC than matched controls. CC diffusion metrics positively correlated with hand asymmetry and trunk displacement during bimanual performance, even when correcting for age and lesion volume.

Conclusions

These data confirm previous studies that linked CST integrity to unimanual performance and provide new data demonstrating a link between CC integrity and both bimanual motor deficits and compensatory movements.

•

Fractional anisotropy and mean kurtosis in the corpus callosum are lower in participants with stroke.

•

Hand position symmetry and trunk displacement are disrupted during bimanual tasks.

•

Corpus callosum white matter correlated with bimanual kinematics in participants with stroke.

Development and evaluation of a novel music-based therapeutic device for upper extremity movement training: A pre-clinical, single-arm trial

Restoration of upper limb motor function and patient functional independence are crucial treatment targets in neurological rehabilitation. Growing evidence indicates that music-based intervention is a promising therapeutic approach for the restoration of upper extremity functional abilities in neurologic conditions such as cerebral palsy, stroke, and Parkinson's Disease. In this context, music technology may be particularly useful to increase the availability and accessibility of music-based therapy and assist therapists in the implementation and assessment of targeted therapeutic goals. In the present study, we conducted a pre-clinical, single-arm trial to evaluate a novel music-based therapeutic device (SONATA) for upper limb extremity movement training. The device consists of a graphical user interface generated by a single-board computer displayed on a 32" touchscreen with built-in speakers controlled wirelessly by a computer tablet. The system includes two operational modes that allow users to play musical melodies on a virtual keyboard or draw figures/shapes whereby every action input results in controllable sensory feedback. Four motor tasks involving hand/finger movement were performed with 21 healthy individuals (13 males, aged 26.4 ± 3.5 years) to evaluate the device's operational modes and main features. The results of the functional tests suggest that the device is a reliable system to present pre-defined sequences of audiovisual stimuli and shapes and to record response and movement data. This preliminary study also suggests that the device is feasible and adequate for use with healthy individuals. These findings open new avenues for future clinical research to further investigate the feasibility and usability of the SONATA as a tool for upper extremity motor function training in neurological rehabilitation. Directions for future clinical research are discussed.

Transient changes in paretic and non-paretic isometric force control during bimanual submaximal and maximal contractions

Purpose

The purpose of this study was to investigate transient bimanual effects on the force control capabilities of the paretic and non-paretic arms in individuals post stroke across submaximal and maximal force control tasks.

Methods

Fourteen chronic stroke patients (mean age = 63.8 ± 15.9; stroke duration = 38.7 ± 45.2 months) completed two isometric force control tasks: (a) submaximal control and (b) maximal sustained force production. Participants executed both tasks with their wrist and fingers extending across unimanual (paretic and non-paretic arms) and bimanual conditions. Mean force, force variability using coefficient of variation, force regularity using sample entropy were calculated for each condition.

Results

During the submaximal force control tasks (i.e., 5, 25, and 50% of maximum voluntary contraction), the asymmetrical mean force between the paretic and non-paretic arms decreased from unimanual to bimanual conditions. The asymmetry of force variability and regularity between the two arms while executing unimanual force control tended to decrease in the bimanual condition because of greater increases in the force variability and regularity for the non-paretic arm than those for the paretic arm. During the maximal sustained force production tasks (i.e., 100% of maximum voluntary contraction), the paretic arm increased maximal forces and decreased force variability in the bimanual condition, whereas the non-paretic arm reduced maximal forces and elevated force variability from unimanual to bimanual conditions.

Conclusions

The current findings support a proposition that repetitive bimanual isometric training with higher execution intensity may facilitate progress toward stroke motor recovery.

Musical mirror-symmetrical movement tasks: comparison of rhythm versus melody-playing

Bimanual mirror-symmetrical movement (MSM) is relatively easy to control movement. Different MSM tasks may have different activations and interhemispheric interactions. The purpose of this study is to compare anatomo-physiological features such as hemispheric activations and dominance of two different MSMs, namely melody-playing and rhythm. We examined functional MRI (fMRI) recordings in a group of fifteen right-handed pianists performing two separate tasks: bimanual rhythm and bimanual melody-playing on two different keyboards with standard key order for right hand and reversed for left hand, which allows homolog fingers' movements. Activations and laterality indices on fMRI were examined. The results show that significant cerebellar activations (especially in anterior cerebellum) in both groups. Significant primary sensorimotor cortical activations are observed in the melody-playing group. While there are also bilaterally symmetric activations, and laterality indices suggest overall lateralization towards the left hemisphere in both groups. Activations in the left fronto-parietal cortex, left putamen and left thalamus in conjunction with right cerebellar activations suggest that the left cortico-thalamo-cerebellar loop may be a dominant loop. Dynamic causal modeling (DCM) indicates the presence of causal influences from the left to the right cerebral cortex. In conclusion, melody-playing with bimanual MSM is a complex in-phase task and may help activate the bilateral cortical areas, and left hemisphere is dominant according to laterality indices and DCM results. On the other hand, bimanual rhythm is a simpler in-phase task and may help activate subcortical areas, which might be independent of the voluntary cortical task.

Individuals With Hemiparetic Stroke Accurately Match Torques They Generate About Each Elbow Joint

Background: Successful execution of a task as simple as drinking from a cup and as complicated as cutting food with a fork and knife requires accurate perception of the torques that one generates in each arm. Prior studies have shown that individuals with hemiparetic stroke inaccurately judge their self-generated torques during bimanual tasks; yet, it remains unclear whether these individuals inaccurately judge their self-generated torques during unimanual tasks. Objective: The goal of this work was to determine whether stroke affected how accurately individuals with stroke perceive their self-generated torques during a single-arm task. Methods: Fifteen individuals with hemiparetic stroke and fifteen individuals without neurological impairments partook in this study. Participants generated a target torque about their testing elbow while receiving visual feedback, relaxed, and then matched the target torque about the same elbow without receiving feedback. This task was performed for two target torques (5 Nm, 25% of maximum voluntary torque), two movement directions (flexion, extension), and two arms (left, right). Results: Clinical assessments indicate that eleven participants with stroke had kinaesthetic deficits and two had altered pressure sense; their motor impairments spanned from mild to severe. These participants matched torques at each elbow, for each target torque and movement direction, with a similar accuracy and precision to controls, regardless of the arm tested (p > 0.050). Conclusions: These results indicate that an individual with sensorimotor deficits post-hemiparetic stroke may accurately judge the torques that they generate within each arm. Therefore, while survivors of a hemiparetic stroke may have deficits in accurately judging the torques they generate during bimanual tasks, such deficits do not appear to occur during unimanual tasks.

Bimanual Coordination Functions between Paretic and Nonparetic Arms: A Systematic Review and Meta-analysis

BACKGROUND

Bimanual coordination is essential for performing many everyday interlimb actions that require successful spatiotemporal interactions between the 2 arms. This systematic review and meta-analysis investigates bimanual coordination function of the upper extremities in patients with stroke.

METHODS

Seventeen studies that compared bimanual coordination functions in patients with stroke and age-matched healthy controls qualified for this meta-analysis. We categorized 25 comparisons from the 17 qualified studies into 6 types of bimanual actions based on 3 task constraints: (1), symmetry versus asymmetry movements, (2) parallel versus cooperative movements, and (3) independent goals versus a common goal.

RESULTS

Random effects meta-analysis revealed that patients with stroke had impaired kinematic (Hedges's g = -1.232 and P < .0001) and kinetic (Hedges's g = -.712 and P = .001) control of bimanual coordination as compared with the age-matched healthy controls. The moderator variable analysis on the 6 types of bimanual actions showed that bimanual coordination impairments after stroke appeared while performing both asymmetrical bimanual movements and symmetrical bimanual movements to achieve a common goal. Moreover, we observed a potential relationship between greater time since stroke onset and increased interlimb coordination impairments for chronic patients.

CONCLUSIONS

These findings suggest that restoring interlimb coordination functions after stroke may be a crucial rehabilitation goal for facilitating progress toward stroke motor recovery.

Model for prompt and effective classification of motion recovery after stroke considering muscle strength and coordination factors

Background

Muscle synergies are now widely discussed as a method for evaluating the existence of redundant neural networks that can be activated to enhance stroke rehabilitation. However, this approach was initially conceived to study muscle coordination during learned motions in healthy individuals. After brain damage, there are several neural adaptations that contribute to the recovery of motor strength, with muscle coordination being one of them. In this study, a model is proposed that assesses motion based on surface electromyography (sEMG) according to two main factors closely related to the neural adaptations underlying motor recovery: (1) the correct coordination of the muscles involved in a particular motion and (2) the ability to tune the effective strength of each muscle through muscle fiber contractions. These two factors are hypothesized to be affected differently by brain damage. Therefore, their independent evaluation will play an important role in understanding the origin of stroke-related motor impairments.

Results

The model proposed was validated by analyzing sEMG data from 18 stroke patients with different paralysis levels and 30 healthy subjects. While the factors necessary to describe motion were stable across heathy subjects, there was an increasing disassociation for stroke patients with severe motor impairment.

Conclusions

The clear dissociation between the coordination of muscles and the tuning of their strength demonstrates the importance of evaluating these factors in order to choose appropriate rehabilitation therapies. The model described in this research provides an efficient approach to promptly evaluate these factors through the use of two intuitive indexes.

Development of Sensor-Based Measures of Upper Extremity Interlimb Coordination

The development of motor impairment after the onset of an injury such as stroke may result in long-term compensatory behaviors. Because compensation often evolves in ambient settings (outside the purview of monitoring clinicians), there is a need for quantitative tools capable of accurately detecting the subtleties of compensation and related reduction in interlimb coordination. Improvement in interlimb coordination may serve as a marker of recovery from stroke, and rehabilitation progress. The current study investigates measures of upper extremity interlimb coordination in persons post-stroke and healthy controls. It introduces a novel algorithm for objective characterization of interlimb coordination during the performance of real-world tasks.

Accuracy of Individuals Post-hemiparetic Stroke in Matching Torques Between Arms Depends on the Arm Referenced

Background: Prior work indicates that 50–75% of individuals post-hemiparetic stroke have upper-extremity weakness and, in turn, inaccurately judge the relative torques that their arms generate during a bimanual task. Recent findings also reveal that these individuals judge the relative torques their arms generate differently depending on whether they reference their paretic vs. non-paretic arm.

Objective: Our goal was to determine whether individuals with hemiparetic stroke inaccurately matched torques between arms, regardless of the arm that they referenced.

Methods: Fifteen participants with hemiparetic stroke and 10 right-hand dominant controls matched torques between arms. Participants performed this task with their right arm referencing their left arm, and vice versa. Participants generated (1) 5 Nm and (2) 25% of their reference elbow's maximum voluntary torque (MVT) in flexion and extension using their reference arm while receiving audiovisual feedback. Then, participants matched the reference torque using their opposite arm without receiving feedback on their matching performance.

Results: Participants with stroke had greater magnitudes of error in matching torques than controls when referencing their paretic arm (p < 0.050), yet not when referencing their non-paretic arm (p > 0.050). The mean magnitude of error when participants with stroke referenced their paretic and non-paretic arm and controls referenced their dominant and non-dominant arm to generate 5 Nm in flexion was 9.4, 2.6, 4.2, and 2.5 Nm, respectively, and in extension was 5.3, 2.8, 2.5, and 2.3 Nm, respectively. However, when the torques generated at each arm were normalized by the corresponding MVT, no differences were found in matching errors regardless of the arm participants referenced (p > 0.050).

Conclusions: Results demonstrate the importance of the arm referenced, i.e., paretic vs. non-paretic, on how accurately individuals post-hemiparetic stroke judge their torques during a bimanual task. Results also indicate that individuals with hemiparetic stroke judge torques primarily based on their perceived effort. Finally, findings support the notion that training individuals post-hemiparetic stroke to accurately perceive their self-generated torques, with a focus of their non-paretic arm in relation to their paretic arm, may lead to an improved ability to perform bimanual activities of daily living.

Jerk Decomposition during Bimanual Independent Arm Cranking

The relationship between the smoothness of the upper limb endpoint movement and multi joint angular motion is a function of the individual joint angular velocities, accelerations, and jerks as well as the instantaneous arm configuration and its rate of change during movement execution. We compared the contribution of jerk components to the total endpoint jerk in able bodied participants who performed arm cranking movements on an arm cranking device where the two arms could crank independently. The results of this investigation suggest that the most dominant components of the end effector jerk are related to both the angular jerks and to the change of arm configuration pose. This jerk partitioning is much stronger as it was found previously for both reaching arm movements and single hand cranking. This shows the task specificity of the decomposition of endpoint jerk and the effect that bi-manual tasks can have on the smoothness of movements. The proposed decomposition may give useful information in why certain bi-manual rehabilitation processes are more useful than others.

Chronic stroke survivors show task-dependent modulation of motor variability during bimanual coordination

Stroke often results in hemiparesis, leaving one side of the body "affected" relative to the other side. Prior research has shown that the affected arm has higher variability; however, the extent to which this variability can be modulated is unclear. Here we used a shared bimanual task to examine the degree to which participants could modulate the variability in the affected arm after stroke. Participants with chronic stroke ( n = 11) and age-matched controls ( n = 11) performed unimanual and bimanual reaching movements to move a cursor on a screen to different targets. In the unimanual condition, the cursor was controlled only by the movement of a single arm, whereas, in the bimanual condition, the cursor position was "shared" between the two arms by using a weighted average of the two hand positions. Unknown to the participants, we altered the weightings of the affected and unaffected arms to cursor motion and examined how the movement variability on each arm changed depending on its contribution to the task. Results showed that stroke survivors had higher movement variability on the affected arm; however, like age-matched controls, they were able to modulate the variability in both the affected and unaffected arms according to the weighting condition. Specifically, as the weighting on a particular arm increased (i.e., it became more important to the task), the movement variability decreased. These results show that stroke survivors are capable of modulating variability depending on the task context, and this feature may potentially be exploited for rehabilitation paradigms. NEW & NOTEWORTHY We show that chronic stroke survivors, similar to age-matched controls, are able to modulate variability in their affected and unaffected limbs in redundant bimanual tasks as a function of how these limbs contribute to the task. Specifically, in both affected and unaffected limbs, the variability of the limb increases as its contribution to the task decreases. This feature may potentially be exploited in rehabilitation paradigms using bimanual tasks.

Toward Controllable Hydraulic Coupling of Joints in a Wearable Robot

In this paper, we develop theoretical foundations for a new class of rehabilitation robot: body powered devices that route power between a user's joints. By harvesting power from a healthy joint to assist an impaired joint, novel bimanual and self-assist therapies are enabled. This approach complements existing robotic therapies aimed at promoting recovery of motor function after neurological injury. We employ hydraulic transmissions for routing power, or equivalently for coupling the motions of a user's joints. Fluid power routed through flexible tubing imposes constraints within a limb or between homologous joints across the body. Variable transmissions allow constraints to be steered on the fly, and simple valve switching realizes free space and locked motion. We examine two methods for realizing variable hydraulic transmissions: using valves to switch among redundant cylinders (digital hydraulics) or using an intervening electromechanical link. For both methods, we present a rigorous mathematical framework for describing and controlling the resulting constraints. Theoretical developments are supported by experiments using a prototype fluid-power exoskeleton.

Bimanual coordination during a physically coupled task in unilateral spastic cerebral palsy children

Background

Single object bimanual manipulation, or physically-coupled bimanual tasks, are ubiquitous in daily lives. However, the predominant focus of previous studies has been on uncoupled bimanual actions, where the two hands act independently to manipulate two disconnected objects. In this paper, we explore interlimb coordination among children with unilateral spastic cerebral palsy (USCP), by investigating upper limb motor control during a single object bimanual lifting task.

Methods

15 children with USCP and 17 typically developing (TD) children performed a simple single-object bimanual lifting task. The object was an instrumented cube that can record the contact force on each of its faces alongside estimating its trajectory during a prescribed two-handed lifting motion. The subject’s performance was measured in terms of the duration of individual phases, linearity and monotonicity of the grasp-to-load force synergy, interlimb force asymmetry, and movement smoothness.

Results

Similar to their TD counterparts, USCP subjects were able to produce a linear grasp-to-load force synergy. However, they demonstrated difficulties in producing monotonic forces and generating smooth movements. No impairment of anticipatory control was observed within the USCP subjects. However, our analysis showed that the USCP subjects shifted the weight of the cube onto their more-abled side, potentially to minimise the load on the impaired side, which suggests a developed strategy of compensating for inter-limb asymmetries, such as muscle strength.

Conclusion

Bimanual interaction with a single mutual object has the potential to facilitate anticipation and sequencing of force control in USCP children unlike previous studies which showed deficits during uncoupled bimanual actions. We suggest that this difference could be partly due to the provision of adequate cutaneous and kinaesthetic information gathered from the dynamic exchange of forces between the two hands, mediated through the physical coupling.

Bimanual coordination: A missing piece of arm rehabilitation after stroke

Inability to use the arm in daily actions significantly lowers quality of life after stroke. Most contemporary post-stroke arm rehabilitation strategies that aspire to re-engage the weaker arm in functional activities have been greatly limited in their effectiveness. Most actions of daily life engage the two arms in a highly coordinated manner. In contrast, most rehabilitation approaches predominantly focus on restitution of the impairments and unilateral practice of the weaker hand alone. We present a perspective that this misalignment between real world requirements and intervention strategies may limit the transfer of unimanual capability to spontaneous arm use and functional recovery. We propose that if improving spontaneous engagement and use of the weaker arm in real life is the goal, arm rehabilitation research and treatment need to address the coordinated interaction between arms in targeted theory-guided interventions. Current narrow focus on unimanual deficits alone, difficulty in quantifying bimanual coordination in real-world actions and limited theory-guided focus on control and remediation of different coordination modes are some of the biggest obstacles to successful implementation of effective interventions to improve bimanual coordination in the real world. We present a theory-guided taxonomy of bimanual actions that will facilitate quantification of coordination for different real-world tasks and provide treatment targets for addressing coordination deficits. We then present evidence in the literature that points to bimanual coordination deficits in stroke survivors and demonstrate how current rehabilitation approaches are limited in their impact on bimanual coordination. Importantly, we suggest theory-based areas of future investigation that may assist quantification, identification of neural mechanisms and scientifically-based training/remediation approaches for bimanual coordination deficits post-stroke. Advancing the science and practice of arm rehabilitation to incorporate bimanual coordination will lead to a more complete functional recovery of the weaker arm, thus improving the effectiveness of rehabilitation interventions and augmenting quality of life after stroke.

Two Processes in Early Bimanual Motor Skill Learning

Most daily activities are bimanual and their efficient performance requires learning and retention of bimanual coordination. Despite in-depth knowledge of the various stages of motor skill learning in general, how new bimanual coordination control policies are established is still unclear. We designed a new cooperative bimanual task in which subjects had to move a cursor across a complex path (a circuit) as fast and as accurately as possible through coordinated bimanual movements. By looking at the transfer of the skill between different circuits and by looking at training with varying circuits, we identified two processes in early bimanual motor learning. Loss of performance due to the switch in circuit after 15 min of training amounted to 20%, which suggests that a significant portion of improvements in bimanual performance is specific to the used circuit (circuit-specific skill). In contrast, the loss of performance due to the switch in circuit was 5% after 4 min of training. This suggests that learning the new bimanual coordination control policy dominates early in the training and is independent of the used circuit. Finally, switching between two circuits throughout training did not affect the early stage of learning (i.e., the first few minutes), but did affect the later stage. Together, these results suggest that early bimanual motor skill learning includes two different processes. Learning the new bimanual coordination control policy predominates in the first minutes whereas circuit-specific skill improvements unfold later in parallel with further improvements in the bimanual coordination control policy.

Prospective clinical study of rehabilitation interventions with multisensory interactive training in patients with cerebral infarction: study protocol for a randomised controlled trial

BACKGROUND

Multisensory interactive training has an increasingly prominent role in stroke rehabilitation. Currently, there is insufficient evidence to demonstrate its efficacy on gait improvement, upper limb and lower limb functional improvement, global motor function and cognitive improvement. A recent Cochrane review confirmed that published studies on virtual reality (VR) training have the limitations of lack of powered sample size, did not evaluate the benefits over a long-term period and lacked trial quality on cognitive function. Another systematic review also concluded that the evidence for the use of VR in gait and balance improvement is limited. This study investigates the effects of multisensory training on gait pattern, upper and lower limb biomechanics, upper limb gross and fine motor functions, and lower limb functional recovery over a medium- to long-term period.

METHODS

Two hundred and twenty-four acute stroke patients will be recruited from a single centre over a period of 6 years. Participants will be randomly assigned to either conventional therapy or conventional therapy with VR training. Outcomes will be recorded at baseline, post intervention and at 3, 6 and 12 months post intervention. Primary outcome measure is gait speed. Secondary outcome measures include kinematic data of upper and lower limb motion, muscle tone, Action Research Arm Test and Short Orientation Memory Concentration Test.

DISCUSSION

The results of this trial will provide in-depth understanding of the effect of early VR interventions on gait, upper and lower limb biomechanics and how it may relate to changes in functional outcomes and muscle tone.

TRIAL REGISTRATION

Chinese Clinical Trial Registry (Registration No.: ChiCTR-IOC-15006064 ). Registered on 11 May 2015.

On the assessment of coordination between upper extremities: towards a common language between rehabilitation engineers, clinicians and neuroscientists

Well-developed coordination of the upper extremities is critical for function in everyday life. Interlimb coordination is an intuitive, yet subjective concept that refers to spatio-temporal relationships between kinematic, kinetic and physiological variables of two or more limbs executing a motor task with a common goal. While both the clinical and neuroscience communities agree on the relevance of assessing and quantifying interlimb coordination, rehabilitation engineers struggle to translate the knowledge and needs of clinicians and neuroscientists into technological devices for the impaired. The use of ambiguous definitions in the scientific literature, and lack of common agreement on what should be measured, present large barriers to advancements in this area. Here, we present the different definitions and approaches to assess and quantify interlimb coordination in the clinic, in motor control studies, and by state-of-the-art robotic devices. We then propose a taxonomy of interlimb activities and give recommendations for future neuroscience-based robotic- and sensor-based assessments of upper limb function that are applicable to the everyday clinical practice. We believe this is the first step towards our long-term goal of unifying different fields and help the generation of more consistent and effective tools for neurorehabilitation.

Correlations between arm motor behavior and brain function following bilateral arm training after stroke: a systematic review

BACKGROUND

Bilateral training (BT) of the upper limb (UL) might enhance recovery of arm function after stroke. To better understand the therapeutic potential of BT, this study aimed to determine the correlation between arm motor behavior and brain structure/function as a result of bilateral arm training poststroke.

METHODS

A systematic review of quantitative studies of BT evaluating both UL motor behavior and neuroplasticity was conducted. Eleven electronic databases were searched. Two reviewers independently selected studies, extracted data and assessed methodological quality, using the Effective Public Health Practice Project (EPHPP) tool.

RESULTS

Eight studies comprising 164 participants met the inclusion criteria. Only two studies rated "strong" on the EPHPP tool. Considerable heterogeneity of participants, BT modes, comparator interventions and measures contraindicated pooled outcome analysis. Modes of BT included: in-phase and anti-phase; functional movements involving objects; and movements only. Movements were mechanically coupled, free, auditory-cued, or self-paced. The Fugl-Meyer Assessment (UL section) was used in six of eight studies, however, different subsections were used by different studies. Neural correlates were measured using fMRI and TMS in three and five studies, respectively, using a wide variety of variables. Associations between changes in UL function and neural plasticity were inconsistent and only two studies reported a statistical correlation following BT.

CONCLUSIONS

No clear pattern of association between UL motor and neural response to BT was apparent from this review, indicating that the neural correlates of motor behavior response to BT after stroke remain unknown. To understand the full therapeutic potential of BT and its different modes, further investigation is required.

Effect of motor training involving the less-affected side (MTLA) in post-stroke subjects: a pilot randomized controlled trial

INTRODUCTION

Poststroke, less-severe motor impairment occurs on the ipsilesional side of body. The objective of the present study was to evaluate the effectiveness of the motor training involving the less-affected side (MTLA) in stroke.

METHODS

This was a randomized, controlled, double-blinded pilot study conducted in the occupational therapy unit of a rehabilitation Institute. A convenience sample of 35 stroke subjects (mean poststroke duration, 28.76 weeks) was randomized into two groups (the experimental group: 17 and control group: 18). Thirty-two participants completed the entire study protocol. The experimental group and control group were provided MTLA and neurophysiological-based conventional therapy respectively. Both the groups received 24 treatment sessions (60 minutes each) over the period of two months. The Affected side was assessed using Brunnstrom recovery stage (BRS) and Fugl-Meyer assessment (FMA) whereas the less-affected side was evaluated by Minnesota manual dexterity test (MMDT), Purdue peg board test (PPBT) and Manual Muscle Testing (MMT).

RESULTS

Postintervention, the less-affected side of experimental group demonstrated significant improvement for MMDT (P = 0.003), PPBT (P = 0.01) and MMT (P <  0.001 to 0.043) in comparison to the control group. Further, as compared to the control group, the experimental group exhibited positive significant change for the measure of affected side [BRS (P <  0.001) and FMA (P <  0.001 to 0.03)] at post assessment.

CONCLUSION

MTLA enhanced the muscle strength, dexterity and coordination of the less-affected side as well as the motor recovery of the affected side in poststroke hemiparetic subjects.

Bimanual force variability and chronic stroke: asymmetrical hand control

The purpose of this study was to investigate force variability generated by both the paretic and non-paretic hands during bimanual force control. Nine chronic stroke individuals and nine age-matched individuals with no stroke history performed a force control task with both hands simultaneously. The task involved extending the wrist and fingers at 5%, 25%, and 50% of maximum voluntary contraction. Bimanual and unimanual force variability during bimanual force control was determined by calculating the coefficient of variation. Analyses revealed two main findings: (a) greater bimanual force variability in the stroke group than the control group and (b) increased force variability by the paretic hands during bimanual force control in comparison to the non-paretic hands at the 5% and 25% force production conditions. A primary conclusion is that post stroke bimanual force variability is asymmetrical between hands.

Aging induced loss of complexity and dedifferentiation: consequences for coordination dynamics within and between brain, muscular and behavioral levels

Growing evidence demonstrates that aging not only leads to structural and functional alterations of individual components of the neuro-musculo-skeletal system (NMSS) but also results in a systemic re-organization of interactions within and between the different levels and functional domains. Understanding the principles that drive the dynamics of these re-organizations is an important challenge for aging research. The present Hypothesis and Theory paper is a contribution in this direction. We propose that age-related declines in brain and behavior that have been characterized in the literature as dedifferentiation and the loss of complexity (LOC) are: (i) synonymous; and (ii) integrated. We argue that a causal link between the aforementioned phenomena exists, evident in the dynamic changes occurring in the aging NMSS. Through models and methods provided by a dynamical systems approach to coordination processes in complex living systems, we: (i) formalize operational hypotheses about the general principles of changes in cross-level and cross-domain interactions during aging; and (ii) develop a theory of the aging NMSS based on the combination of the frameworks of coordination dynamics (CD), dedifferentiation, and LOC. Finally, we provide operational predictions in the study of aging at neural, muscular, and behavioral levels, which lead to testable hypotheses and an experimental agenda to explore the link between CD, LOC and dedifferentiation within and between these different levels.

Upper limb rehabilitation following stroke: current evidence and future perspectives

Stroke is a leading cause of disability worldwide, with its risk increasing with age. Upper limb hemiparesis is common and associated with persistent impairments and associated disabilities. Older stroke populations often suffer multiple comorbidities and restoring independence is complex. Recovery of upper limb function can be crucial for individuals to return to independent living and to participate in community life. This review describes upper limb recovery post-stroke, and some of the new therapeutic approaches available to promote recovery. Technologies (including virtual reality and telehealth) offer the opportunity for more home-based therapies, longer programs and greater access to rehabilitation for older individuals. However, the trials continue to exclude older individuals, so acceptability is poorly understood. Upper limb rehabilitation remains a research frontier, which has been energized by new technologies, but is grounded by the basic need to find ways to allow older individuals to recover independence. This paper aims to review the applicability and generalizability of current research to the older stoke survivor. Future research priorities need to be tailored to consider the older mean age of individuals in stroke rehabilitation.

Left visual field preference for a bimanual grasping task with ecologically valid object sizes

Grasping using two forelimbs in opposition to one another is evolutionary older than the hand with an opposable thumb (Whishaw and Coles in Behav Brain Res 77:135-148, 1996); yet, the mechanisms for bimanual grasps remain unclear. Similar to unimanual grasping, the localization of matching stable grasp points on an object is computationally expensive and so it makes sense for the signals to converge in a single cortical hemisphere. Indeed, bimanual grasps are faster and more accurate in the left visual field, and are disrupted if there is transcranial stimulation of the right hemisphere (Le and Niemeier in Exp Brain Res 224:263-273, 2013; Le et al. in Cereb Cortex. doi: 10.1093/cercor/bht115, 2013). However, research so far has tested the right hemisphere dominance based on small objects only, which are usually grasped with one hand, whereas bimanual grasping is more commonly used for objects that are too big for a single hand. Because grasping large objects might involve different neural circuits than grasping small objects (Grol et al. in J Neurosci 27:11877-11887, 2007), here we tested whether a left visual field/right hemisphere dominance for bimanual grasping exists with large and thus more ecologically valid objects or whether the right hemisphere dominance is a function of object size. We asked participants to fixate to the left or right of an object and to grasp the object with the index and middle fingers of both hands. Consistent with previous observations, we found that for objects in the left visual field, the maximum grip apertures were scaled closer to the object width and were smaller and less variable, than for objects in the right visual field. Our results demonstrate that bimanual grasping is predominantly controlled by the right hemisphere, even in the context of grasping larger objects.

Somatosensory-related limitations for bimanual coordination after stroke

BACKGROUND

Bimanual coordinated movements may be impaired after stroke, so an assessment of causes is necessary to optimize rehabilitation strategies.

OBJECTIVE

We assessed the role of afference-based sources of coordination, including phase entrainment and error correction based on visual and somatosensory feedback.

METHODS

In all, 10 persons with unilateral chronic stroke and 8 age-matched controls participated in a kinesthetic tracking protocol, in which the hemiparetic upper limb was passively driven by the machine. The task consisted of matching the trajectory of the driven limb as accurately as possible with the freely moving limb in 2 conditions: eyes closed and eyes open. We analyzed the continuous relative phase (CRP), the mean absolute difference between positions (ADP) between the positions of the 2 limbs, and the jerk of the matching limb.

RESULTS

Coordination instability (CRP standard deviation) and mean ADP were significantly higher for patients with eyes closed, compared with patients with eyes open, controls with eyes closed, and controls with eyes open. Moreover, the jerk was higher for the nonparetic limb of patients than for the control group. Thus, the nonparetic limb did not produce optimally smooth movements even as the motor-driven paretic limb did.

CONCLUSION

Besides deficits caused by interhemispheric competition and motor execution of the paretic limb, somatosensory feedback is a limiting factor in bimanual coordination after stroke. The findings have clinical implications pertaining to the design and individualization of efficient bimanual movement therapy.

Changes in bimanual coordination during the first 6 weeks after moderate hemiparetic stroke

BACKGROUND

Better understanding of how bimanual coordination changes over the first weeks of recovery after stroke is required to address the potential utility for bimanual rehabilitation. Three-dimensional kinematic analysis can provide quantitative assessment of unimanual and bimanual movements.

OBJECTIVE

To assess the natural evolution of reaching kinematics during standard poststroke rehabilitation, focusing on bimanual coordination.

METHODS

A total of 12 hemiparetic, moderately impaired patients were included within 30 days after a first unilateral ischemic/hemorrhagic stroke; 7 kinematic assessments were performed once a week for 6 weeks and at 3 months after inclusion. The reach-to-grasp task was performed in 3 different conditions: unimanual with the healthy limb (UN), unimanual with the paretic limb (UP), and bimanual (BN/BP).

RESULTS

For the paretic limb, movement fluency (number of movement units and total movement time) was lower for bimanual reaching compared with unimanual reaching. For bimanual reaching, (1) movement kinematics were similar for both limbs, (2) recovery patterns of both limbs followed a similar profile with a plateau phase at 6 weeks poststroke, and (3) intertrial variability of between-hands synchronization decreased over sessions, although the mean delays remained the same.

CONCLUSIONS

Bimanual coordination started to become efficient 6 weeks after onset of stroke, so for patients such as those we tested, this time could be most opportune to start bimanual-oriented rehabilitation. The challenge in future research includes determining the characteristics of patients who may best benefit from bimanual therapy.

Skill transfer from symmetric and asymmetric bimanual training using a robotic system to single limb performance

Background

Humans are capable of fast adaptation to new unknown dynamics that affect their movements. Such motor learning is also believed to be an important part of motor rehabilitation. Bimanual training can improve post-stroke rehabilitation outcome and is associated with interlimb coordination between both limbs. Some studies indicate partial transfer of skills among limbs of healthy individuals. Another aspect of bimanual training is the (a)symmetry of bimanual movements and how these affect motor learning and possibly post-stroke rehabilitation.

Methods

A novel bimanual 2-DOF robotic system was used for both bimanual and unimanual reaching movements. 35 young healthy adults participated in the study. They were divided into 5 test groups that performed movements under different conditions (bimanual or unimanual movements and symmetric or asymmetric bimanual arm loads). The subjects performed a simple tracking exercise with the bimanual system. The exercise was developed to stimulate motor learning by applying a velocity-dependent disturbance torque to the handlebar. Each subject performed 255 trials divided into three phases: baseline without disturbance torque, training phase with disturbance torque and evaluation phase with disturbance torque.

Results

Performance was assessed with the maximal values of rotation errors of the handlebar. After exposure to disturbance torque, the errors decreased for both unimanual and bimanual training. Errors in unimanual evaluation following the bimanual training phase were not significantly different from errors in unimanual evaluation following unimanual training. There was no difference in performance following symmetric or asymmetric training. Changing the arm force symmetry during bimanual movements from asymmetric to symmetric had little influence on performance.

Conclusions

Subjects could adapt to an unknown disturbance torque that was changing the dynamics of the movements. The learning effect was present during both unimanual and bimanual training. Transfer of learned skills from bimanual training to unimanual movements was also observed, as bimanual training also improved single limb performance with the dominant arm. Changes of force symmetry did not have an effect on motor learning. As motor learning is believed to be an important mechanism of rehabilitation, our findings could be tested for future post-stroke rehabilitation systems.

Bimanual force control strategies in chronic stroke: finger extension versus power grip

Stroke leads to motor asymmetries in the flexor and extensor muscles of the hand. Typically, the strength deficits in the extensors are greater than the flexors. The impact of differential motor abilities of these muscle groups on the execution of bimanual force control tasks in individuals with stroke is unknown. The primary purpose of this study was to determine the influence of task constraints on visually guided bimanual force control in chronic stroke. Stroke survivors and age-matched individuals performed bimanual isometric contractions for 20s to match target submaximal force levels. Online visual feedback of the total force (sum of the forces produced by both hands) was provided. The task constraints were manipulated by (a) finger extension, and (b) finger flexion (power grip). Force asymmetry was indexed by the proportion of force contributed by the paretic hand to the total force. The stroke group demonstrated task-specific asymmetry in bimanual force control. Specifically, the paretic hand contributed less force than the non-paretic hand in finger extension whereas this relationship was reversed in power grip. Importantly, regardless of the nature of the task, reduction in motor impairments was associated with increased symmetry and coordination in bimanual tasks. Further, bimanual submaximal grip force control revealed asymmetry and coordination deficits that are not identified by investigating bimanual maximal force production alone. The motor control strategy adopted to optimize performance on bimanual tasks revealed the altered force production of the paretic hand due to the combined effect of extensor weakness and enhanced flexor bias following stroke. Bimanual asymmetries in stroke survivors highlight the need for identifying and treating the task-specific impairments for maximizing motor recovery post stroke.