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

Six-Bar Linkage Models of a Recumbent Tricycle Mechanism to Increase Power Throughput in FES Cycling

This paper presents the kinematic and static analysis of two mechanisms to improve power throughput for persons with tetra- or paraplegia pedaling a performance tricycle via FES. FES, or functional electrical stimulation, activates muscles by passing small electrical currents through the muscle creating a contraction. The use of FES can build muscle in patients, relieve soreness, and promote cardiovascular health. Compared to an able-bodied rider, a cyclist stimulated via FES produces an order of magnitude less power creating some notable pedaling difficulties especially pertaining to inactive zones. An inactive zone occurs when the leg position is unable to produce enough power to propel the tricycle via muscle stimulation. An inactive zone is typically present when one leg is fully bent and the other leg is fully extended. Altering the motion of a cyclist’s legs relative to the crank position can potentially reduce inactive zones and increase power throughput. Some recently marketed bicycles showcase pedal mechanisms utilizing alternate leg motions. This work considers performance tricycle designs based on the Stephenson III and Watt II six-bar mechanisms where the legs define two of the system’s links. The architecture based on the Stephenson III is referred to throughout as the CDT due to the legs’ push acting to coupler-drive the four-bar component of the system. The architecture based on the Watt II is referred to throughout as the CRT due to the legs’ push acting to drive the rocker link of the four-bar component of the system. The unmodified or traditional recumbent tricycle (TRT) provides a benchmarks by which the designs proposed herein may be evaluated. Using knee and hip torques and angular velocities consistent with a previous study, this numerical study using a quasi-static power model of the CRT suggests a roughly 50% increase and the CDT suggests roughly a doubling in average crank power, respectively, for a typical FES cyclist.

Assessment of Spasticity by a Pendulum Test in SCI Patients Who Exercise FES Cycling or Receive Only Conventional Therapy

Increased muscle tone and exaggerated tendon reflexes characterize most of the individuals after a spinal cord injury (SCI). We estimated seven parameters from the pendulum test and used them to compare with the Ashworth modified scale of spasticity grades in three populations (retrospective study) to assess their spasticity. Three ASIA B SCI patients who exercised on a stationary FES bicycle formed group F, six ASIA B SCI patients who received only conventional therapy were in the group C, and six healthy individuals constituted the group H. The parameters from the pendulum test were used to form a single measure, termed the PT score, for each subject. The pendulum test parameters show differences between the F and C groups, but not between the F and H groups, however, statistical significance was limited due to the small study size. Results show a small deviation from the mean for all parameters in the F group and substantial deviations from the mean for the parameters in the C group. PT scores show significant differences between the F and C groups and the C and H groups and no differences between the F and C groups. The correlation between the PT score and Ashworth score was 0.88.

Training with FES-assisted cycling in a subject with spinal cord injury: Psychological, physical and physiological considerations

CONTEXT

People with spinal cord injury (SCI) experience the effects of a sedentary lifestyle very early on. Literature data suggest that programs using FES-assisted cycling would contribute to reduce the consequences of physical inactivity. The objective was to assess the feasibility of 12-month training on a FES-assisted bike of a subject with paraplegia for 21 years, T3, Asia Impairment Scale (AIS) A. An evaluation of morbidity, self-esteem, satisfaction, quality of life and duration of pedaling was performed. The impact on pain, cardiorespiratory function, body composition and bone metabolism were also assessed.

FINDINGS

The acceptability score of the training constraints increased from 51 to 59/65 and satisfaction was high around 8/10. The pedaling duration increased from 1' to 26' on the recumbent bike and from 1' to 15' on open terrain. No significant changes were found with BMD and cardiorespiratory measures during exercise tests. SF 36 showed significant improvement of more than 10% and the Rosenberg Self Esteem score rapidly improved from 36 to 39/40. At the end of the training, the patient reached the objective of the Cybathlon 2016 by covering 750 m in less than 8 minutes, at an average speed of 5.80 km/hr.

CONCLUSION/CLINICAL RELEVANCE

A person with high and complete level of SCI for more than 20 years can undertake this type of challenge if the prerequisites are met; this training is without danger if the safety precautions are respected; the challenge of participating in a competition had a powerful impact on JP's self-esteem and perceived quality of life.

Participation to the first Cybathlon: an overview of the FREEWHEELS team FES-cycling solution

This article is a contribution to a special issue aiming at collecting data and documenting the different specificities of the teams which participated into Cybathlon 2016 FES-bike discipline. Our team prepared one paraplegic pilot over one year and developed a FES-cycling device based on existing commercial products. Our pilot (47 y.o, spinal cord lesion T3 AIS A since year 1995) was qualified for the final race and finished in 6th position over 12 participants in the discipline, covering a total distance of 750m at an average speed of 5.71km/h, propelled by his own quadriceps and hamstrings muscles.

Functional electrical stimulation cycling strategies tested during preparation for the First Cybathlon Competition - a practical report from team ENS de Lyon

Whether it is from the patient’s or the physical therapist’s point of view, FES cycling can be considered either as a recreational activity, or an engaging rehabilitation tool. In both cases, it keeps patients with lower-limb paralysis motivated to sustain a regular physical activity. Thus, it is not surprising that it was selected as one of the six disciplines of the first Cybathlon competition held on October 8, 2016. However, many unresolved issues prevent FES cycling from being an activity practiced outdoors on a daily basis; such as, low power production, rapid muscle fatigue, precise electrode positioning, lack of systematic procedures to determine stimulation patterns, and the difficulty of transferring disabled riders from their wheelchair to the tricycle. This article documents the challenges we faced during preparation for the Cybathlon 2016 FES cycling race, and provides results obtained during different phases of the process. A particular specificity of our team was that, unlike most other teams where pilots were mainly paraplegic, both the primary and backup pilots for team ENS de Lyon are C6/C7 tetraplegics, with neither voluntary control of their abdominal muscles nor hand grip, and only partial use of their arms.

Cadence Tracking and Disturbance Rejection in Functional Electrical Stimulation Cycling for Paraplegic Subjects: A Case Study

Functional electrical stimulation cycling has been proposed as an assistive technology with numerous health and fitness benefits for people with spinal cord injury, such as improvement in cardiovascular function, increase in muscular mass, and reduction of bone mass loss. However, some limitations, for example, lack of optimal control strategies that would delay fatigue, may still prevent this technology from achieving its full potential. In this work, we performed experiments on a person with complete spinal cord injury using a stationary tadpole trike when both cadence tracking and disturbance rejection were evaluated. In addition, two sets of experiments were conducted 6 months apart and considering activation of different muscles. The results showed that reference tracking is achieved above the cadence of 25 rpm with mean absolute errors between 1.9 and 10% when only quadriceps are activated. The disturbance test revealed that interferences may drop the cadence but do not interrupt a continuous movement if the cadence does not drop below 25 rpm, again when only quadriceps are activated. When other muscle groups were added, strong spasticity caused larger errors on reference tracking, but not when a disturbance was applied. In addition, spasticity caused the last experiments to result in less smooth 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.

Comparison of the pedalling performance induced by magnetic and electrical stimulation cycle ergometry in able-bodied subjects

The purpose of the study was to compare the mechanical power and work generated by able-bodied subjects during functional magnetic stimulation (FMS) vs. functional electrical stimulation (FES) induced ergometer training conditions. Both stimulation methods were applied at a 30 Hz frequency to the quadriceps muscles of 22 healthy able-bodied subjects to induce cycling for 4× four minutes or until exhaustion. FMS was performed via large surface, cooled coils, while FES was applied with a typical stimulation setup used for cycling. Significantly more (p<10(-3)) muscular power was generated by FMS (23.8 ± 9.1W [mean ± SD]) than by FES (11.3 ± 11.3 W). Additionally, significantly more (p<10(-6)) work was produced by FMS than by FES (4.413 ± 2.209 kJ vs. 0.974 ± 1.269 kJ). The increase in the work was paralleled by a significant prolongation of time to cycling failure (181.8 ± 33.4s vs. 87.0 ± 54.0 s, respectively, p<10(-5)). Compared to FES, FMS can produce more intense and longer cycling exercise in able-bodied subjects. The differing dynamic behaviour of FMS and FES in the presented measurement setup might be related to stimulation induced pain and fatigue mechanisms of the neuromuscular system.

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.

Why is the metabolic efficiency of FES cycling low?

The potential benefits of functional electrically stimulated (FES) cycling for people with spinal cord injury (SCI) are limited by the power output (PO) attainable. To understand why PO and metabolic efficiency are low, it is helpful to distinguish the effect of the SCI from the effects of electrical stimulation. The purpose of this study was to determine the performance of electrically stimulated (ES) muscle under simpler conditions and in able-bodied people in order to answer two questions about the causes of the poor efficiency in FES cycling. Fifteen able-bodied subjects (26.6 years, six male) performed 5 min of intermittent isometric quadriceps contractions at 40% maximum voluntary contraction during both voluntary and ES activation. Subsequently, nine of them performed 5 min of ES intermittent concentric contractions at the same intensity. This intermittent quadriceps activation imitated the muscles' activity during FES cycling at 35 rpm. Metabolic measurements were recorded. Input power relative to the integral of torque produced (W/Nm x s) was significantly higher during ES than voluntary isometric contractions. Efficiency of ES concentric contractions was 29.6 +/-2.9%. Respiratory exchange ratio was high during ES (1.00-1.01) compared with voluntary (0.91) contractions. ES is less economic than voluntary exercise during isometric contractions, probably due to the greater activation of fast muscle fibres. However, during ES concentric contractions, efficiency is near to the expected values for the velocity chosen. Thus there are additional factors that affect the inefficiency observed during FES cycling.

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.